diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--5pq9urq.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--5pq9urq.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24e2c250025231d82d4f0dece69f6c8670ee34f
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--5pq9urq.json
@@ -0,0 +1,238 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--5pq9urq",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 419,
+   "submitted_actions": 444,
+   "sim_steps": 419,
+   "physics_steps": 4184,
+   "sim_time_s": 10.46000000000008,
+   "final_reward": 1.0,
+   "replay_wall_s": 435.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 419,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "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/roboarc-blanket-flatten-08-i01-privileged--5pq9urq/replay.mp4",
+  "duration_s": 10.533,
+  "fps": 15.0,
+  "frames": 158,
+  "sha256": "08b10779d2d47ddd135b8b0db48d8fbc87608ddd2bb5fb496708cc87d237e2ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.47,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，桌面蓝色方格毯的中部有横贯毯面的翻折重叠层，尚未展平。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.67–2.40 s，机器人左夹爪夹住毯子左侧局部并拉动，布片随夹爪移动；视频 3.20–4.33 s，左夹爪再次拉展左侧布片，中部重叠逐渐展开，右夹爪停在毯外。"
+     },
+     {
+      "t": 8.73,
+      "log_step": null,
+      "text_zh": "观察：视频 6.20–7.13 s，机器人右夹爪在毯子右侧夹取并移动布片；视频 7.60–9.27 s，右夹爪再次夹取、抬起并铺回右侧折角，布边随夹爪抬升后落下，左夹爪保持在毯外上方。"
+     },
+     {
+      "t": 10.47,
+      "log_step": null,
+      "text_zh": "观察：视频 9.33–10.47 s，原先横向重叠层已消失，毯子呈近矩形并贴在桌面；右夹爪张开后向上撤离，末段两爪均与毯子分离，毯面没有明显继续滑动。inputs/run.json 的评分器 reward 报告 success=1、all_success=1、replays=2、strict_goal_reached=1、replay_hold_steps=0、replay_tolerance_needed=0。"
+     },
+     {
+      "t": 10.47,
+      "log_step": 144,
+      "text_zh": "推断：结合视频 10.47 s 终态与评分器严格成功字段，将包含释放、撤离及连续确认的整体展平节点约定在视频末尾约 10.47 s 达成；毫米级清距、粒子速度及材料伸长不能从画面独立量测，精确达成时刻不确定。log step 144 记录 agent 保存了419行原动作并补至444行，评分器实际使用419行动作；此处未将 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪在视频约 1.67–4.33 s 先后夹住毯子左侧布片并拉展；右夹爪在视频约 6.20–9.27 s 夹取右侧布片、抬起并铺回折角。两爪依次操作，单爪夹持时另一爪在毯外。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先用左夹爪拉展毯子左侧与中部，再用右夹爪展开右侧折角，最终完成1/1个节点。视频末段毯子平铺、两爪松开并撤离，结合评分器两次回放均严格成功且无需补持或宽松容差，将整体节点达成时间估计为视频约 10.47 s。无状态日志，评分器 reward 未直接报告八项原生指标数值，毫米级几何及速度条件依赖严格成功字段确认，精确达成时刻无法独立复核。",
+ "conf": 8,
+ "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 blanket_flattened 在视频约 10.47 s 达成，与严格成功字段（strict_goal_row=419、sim_time 10.46 s）及末段画面一致；接触标注（单爪依次抓握）与画面相符，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": "2026-10-30T23:48:36Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--5pq9urq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--5pq9urq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54f909f91e49ea451b92291f8cac81b0e9afda9910bb738541fc5b9e686530cb",
+   "video_sha256": "08b10779d2d47ddd135b8b0db48d8fbc87608ddd2bb5fb496708cc87d237e2ab",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e54b3a32dda8a95a0b3e3f5e77a82c5b3fee8d3
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8.json
@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--7ppv6e8",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2839,
+   "submitted_actions": 2919,
+   "sim_steps": 2839,
+   "physics_steps": 28387,
+   "sim_time_s": 70.967499999999,
+   "final_reward": 1.0,
+   "replay_wall_s": 3012.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 2839,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 4,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "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/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8/replay.mp4",
+  "duration_s": 71.067,
+  "fps": 15.0,
+  "frames": 1066,
+  "sha256": "858a9213af5a7f2a4b431b0d6b97fd4af795ea04c10b2f6659132e3bb3138ac1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      70.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色方格毯位于桌面，横贯毯面的翻折重叠层清楚可见，初态尚未展平。"
+     },
+     {
+      "t": 29.333,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–32.7 s 左右夹爪分别夹住毯子两侧的局部布片并配合向外拉，布边随夹爪移动，投影轮廓逐渐展开；中央仍有明显折脊，不能记为完成。"
+     },
+     {
+      "t": 62.333,
+      "log_step": null,
+      "text_zh": "观察：视频 60.0–63.7 s 机器人放低上边缘、先后松手撤离，毯面已大幅展开，但靠左上部仍可见局部褶皱；视频 67.0–69.5 s 左夹爪再次夹住该区域，布面随其下放而展开，随后左爪张开并上撤。"
+     },
+     {
+      "t": 71.0,
+      "log_step": null,
+      "text_zh": "观察：视频 69.6–71.0 s 双爪离开毯子并抬高，开局横向重叠和后续斜向折脊消失；末帧毯子近矩形平铺桌面，侧视没有明显悬空，末段未见继续滑移。"
+     },
+     {
+      "t": 70.9,
+      "log_step": 289,
+      "text_zh": "推断：结合视频 70.4–71.0 s 的平铺、撤离终态与 inputs/run.json 的评分器字段 success=1、all_success=1、strict_goal_reached=1、replay_hold_steps=0、replay_tolerance_needed=0，唯一目标最终成立；将包含连续确认的完成时刻估计在视频 70.9 s 附近，误差约0.5秒，不把此前仅外观展开记为完成。log step 257、289 记录交付动作表的两次 grading replay 均严格成功、同为2839个控制步且最终 state_sha 相同，支持这是交付回放的结果。"
+     },
+     {
+      "t": 71.0,
+      "log_step": 289,
+      "text_zh": "观察：log step 289 在第二次交付回放完成后输出任务 evaluate_state 的终态指标：coverage_ratio=0.9993868909118968、maximum_height_m=0.01138058155775068、maximum_stretch_ratio=1.002861550440994、maximum_speed_m_s=0.0005700039892057798。log step 9 的 report 定义表明这些值由任务评估函数读取，非 agent 的口头估计；未报告的最小高度、释放清距、最大漂移和确认时长数值保持 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–32.7 s 两个二指夹爪各自夹住毯子不同布片并配合向外拉展，不是两臂从外侧挤住毯子；后续换握继续展开。视频 67.0–69.5 s 改由左夹爪单独夹住残余折脊附近布片、放低修整，右爪已撤离，随后左爪松开上撤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.9993868909118968
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": 0.01138058155775068
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": 1.002861550440994
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": 0.0005700039892057798
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人通过双爪换握、配合拉展和左爪最后修整折脊，将毯子铺成近矩形后松手撤离，唯一节点“毯子展平”在视频约70.9 s完成，最终1/1。评分器两次回放均严格成功，无额外补时或阈值放宽，末段画面与参考成功视频的平铺撤离外观一致。没有状态日志，毫米级联合条件和准确完成时刻不能独立逐帧复算；四项连续指标来自 log step 289 对交付第二次回放终态的任务评估输出，其余四项数值未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，唯一节点毯子展平末帧近矩形平铺、双爪撤离，评分器字段支持成功；时间与接触标注未发现错误。",
+    "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": "2026-10-30T23:57:24Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--7ppv6e8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5ab5ff86dd059f7df61794fa4597125ab65e25d088782e5bf7107940ff9e1188",
+   "video_sha256": "858a9213af5a7f2a4b431b0d6b97fd4af795ea04c10b2f6659132e3bb3138ac1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--booovbq.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--booovbq.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6a9db2af2ff448a3746610ca4b49305890f87b
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--booovbq.json
@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--booovbq",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 494,
+   "submitted_actions": 534,
+   "sim_steps": 494,
+   "physics_steps": 4940,
+   "sim_time_s": 12.350000000000108,
+   "final_reward": 1.0,
+   "replay_wall_s": 523.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 494,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 4,
+   "agent_resets": 12,
+   "agent_sim_steps": 988,
+   "agent_records": 2,
+   "agent_replays": 5,
+   "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/roboarc-blanket-flatten-08-i01-privileged--booovbq/replay.mp4",
+  "duration_s": 12.4,
+  "fps": 15.0,
+  "frames": 186,
+  "sha256": "f75e67f57623a020ef5d0c81cecc6dfddc08b7b791de8a0d43c5562085320d44"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.33,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的蓝色方格毯横贯中部存在翻折重叠层，外形较窄，展平节点初始不成立。"
+     },
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–3.4 s，机器人右夹爪闭合夹住毯子右侧局部，抬起后向外铺下，该侧毯边随夹爪移动；视频 5.2–7.4 s，左夹爪以同样方式夹起并铺开左侧折角。此时中部横折仍在。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.9–10.4 s，机器人两夹爪各夹住毯子近侧的一处材料，协同抬起，侧视可见毯边离桌并下垂展开；视频 10.5–11.33 s，两爪将毯边铺下，中部重叠层消失，毯子成为近矩形。"
+     },
+     {
+      "t": 12.33,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 11.0–12.33 s，两夹爪松开后向上撤离，末帧侧视可见毯面贴桌，腕部视图可见张开的爪指与毯边分离；毯子保持平铺，未再次折回。"
+     },
+     {
+      "t": 12.33,
+      "log_step": 101,
+      "text_zh": "观察：inputs/run.json 的 reward 报告 success=1、all_success=1、deterministic=1、strict_goal_reached=1、strict_goal_row=494，replay_hold_steps=0、replay_tolerance_needed=0；log step 101 的评分器命令行输出也确认提交文件两次回放严格成功，确认窗口最低覆盖率为0.9835513647205534、最高粒子速度为0.027424147098699156 m/s。"
+     },
+     {
+      "t": 12.33,
+      "log_step": 101,
+      "text_zh": "推断：log step 3 的物理步长0.0025 s及控制抽取10给出每动作行0.025 s；log step 94–95 表明重新生成的提交动作与保存版本一致，log step 101 报告该文件在控制行494完成，即仿真12.35 s，与视频12.4 s时长一致。动作行451后的松手及行482前的撤离对应视频11.27–12.07 s，已在末段逐帧核对；因此将首次完成锚定到视频最后可见帧12.33 s，约有一帧误差。毫米级清距、材料伸长和完整半秒联合确认由严格评分结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.9–11.33 s，左右二指夹爪各自闭合夹住毯子近侧不同材料片区，共同抬起、展开并铺下，再松开撤离。此前视频 1.2–3.4 s 先由右夹爪单独处理右侧折角，视频 5.2–7.4 s 再由左夹爪单独处理左侧折角；均为夹住材料后带动毯面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.9835513647205534
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": 0.027424147098699156
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次抓取展开两侧折角，再双爪协同抬起并铺开中部折叠，松手撤离后于视频约12.33 s完成毯子展平，最终节点1/1，无失败断点。评分器两次回放均严格成功，未用补时或容差；原生覆盖率与速度取log step 101评分器确认窗口最差值，其余指标未见评分器数值报告而留空。无状态日志，毫米级高度、清距、伸长及持续确认无法单靠视频精确复测，最终联合验收依据严格成功字段。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毯子展平节点在视频约12.33 s（末帧，与sim 12.35 s一致）达成，双臂协作抓握及无失败断点均与帧和评分字段一致。",
+    "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": "2026-10-31T00:05:47Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--booovbq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--booovbq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c83cd57a342b9a5f4bdaa6f9473f3741e7fec9ee3db0e7b82fcca2ef29545ab8",
+   "video_sha256": "f75e67f57623a020ef5d0c81cecc6dfddc08b7b791de8a0d43c5562085320d44",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--cz2ulht.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--cz2ulht.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2844e8da8425b3972285b47bdca5ca849757c2a
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--cz2ulht.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--cz2ulht",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2589,
+   "submitted_actions": 2589,
+   "sim_steps": 2669,
+   "physics_steps": 26690,
+   "sim_time_s": 66.72499999999805,
+   "final_reward": 0.0,
+   "replay_wall_s": 2312.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 58,
+   "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/roboarc-blanket-flatten-08-i01-privileged--cz2ulht/replay.mp4",
+  "duration_s": 66.8,
+  "fps": 15.0,
+  "frames": 1002,
+  "sha256": "34195002c8ad4a636381ca7731d6305893d4e4f06aa9105fa27d5872902d8391"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的俯视及侧视中，蓝色方格毯横贯中部有翻折重叠层，开局未展平。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0 s 两只夹爪分别夹住毯子左右不同片区；视频约 12–44.5 s 机器人多次换握和配合拉动，毯子铺开的范围逐渐增大，但横向折层仍在。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0 s 主画面显示毯子已大幅展开，右侧仍翘起，侧视可见右侧毯面被右爪提离桌面，未达到整体贴桌并撤离的联合条件。"
+     },
+     {
+      "t": 64.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–64.5 s 右爪在毯面中部夹着局部褶脊向下整形，毯面仍有浅脊和弯曲方格，右爪没有打开撤离。"
+     },
+     {
+      "t": 66.73,
+      "log_step": null,
+      "text_zh": "观察：视频 65.75–66.73 s（含末帧）右爪仍闭合停在毯面中部，腕部视图中布面进入两指之间；毯子中下部仍有浅褶脊，没有出现松手撤离后的完整平铺状态。参照成功视频 10.47 s 可见毯面近矩形、双爪均已张开并离开。"
+     },
+     {
+      "t": null,
+      "log_step": 435,
+      "text_zh": "观察：log step 348 重置后清空动作数组并开始本次录制；log step 435 保存的最终动作数组为 2589 行，与评分器 n_actions=2589 一致。评分器 strict_goal_reached=0、success=0；结合视频中折叠、翘起以及最后仍夹住毯子的过程，联合展平节点未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.0 s 及约 32–40 s，左右二指夹爪各夹住毯子的不同片区，配合向外或沿桌面拉开，布面随夹爪移动；其间依次松开换握。视频约 50–64.5 s 主要由右爪夹住翘起片区和中部褶脊逐步降低，左爪后段张开停在边缘上方；视频 66.73 s 右爪仍未撤离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 63.0,
+   "log_step": 422,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 61.5–64.5 s 机器人用右爪夹住中部褶脊向下整形，褶脊只部分减小，右爪随后一直闭合停在布面上，直至视频 66.73 s 仍未完成松手撤离。log step 421–422 记录最后数次降低褶脊动作，log step 435 保存该动作序列；展平步骤最终未修复，评分器 strict_goal_reached=0。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残余褶皱",
+    "t": 63.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.0–64.5 s 右爪从右侧转向毯面中部处理褶脊；视频 64.5 s 和 66.73 s 主画面中下部仍有浅脊，方格沿该带弯曲、压缩，未像成功参照视频 10.47 s 那样展开成连续平整的方格面。 视频 62.0–66.73 s 右爪仍夹住毯面中部褶脊，未见最终松手撤离；结合 log step 408、420–422 的抓持下降动作，这仍是局部整形过程，不能据此判为释放失败。",
+    "note_zh": "候选名称“残余褶皱”：这是柔性片材未充分展开的可见结果，现有现象条目未直接覆盖；不能仅凭褶皱认定脱手、阻挡碰撞或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 63.0,
+    "log_step": 422,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 408 定义的局部整形控制保持右爪抓住褶脊，仅逐次降低末端；log step 421–422 每次请求降低 6 毫米，而记录的实际 TCP 高度从约 0.95725 米降至 0.95645 米，后几次位移很小，局部伸长比例同时上升。视频 61.5–66.73 s 也显示夹爪在褶脊处低位停留，未把残余褶皱充分展开；因此最后的局部整形控制未实现目标。现有证据不足以进一步区分接触几何、轨迹跟踪或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器 reward 未报告 DAG 中八项连续指标，native_metrics 均为 null。log step 440 的约 0.9433 覆盖率是 agent 对会话状态的计算，发生在最终保存后额外保持动作之后，不能直接作为评分回放终态指标；log step 433 的 met 及 log step 438 的 P 也有旧变量问题，不用于节点判定。视频足以确认末段仍夹住毯子及残余褶皱，但不能复算毫米级清距、投影并集面积和所有粒子速度；控制根因的细分机制未记录。 运行墙钟为 10803 s（inputs/run.json wall_s），触及 10800 s 上限（time_limit_s）；会话在整形后的检查阶段结束，最后 log step 440 为指标计算，无最终收尾汇报。agent 在 log step 423 自述还要继续小幅降低，随后才松手撤离并验证；log step 435 保存的 2589 行动作序列末段尚未包含最终松手撤离，保存后仅额外 hold(4)，视频末段也未见释放。墙钟截断仅交代运行结束背景，不作为失败现象或根因，亦不换算成视频时间。"
+ },
+ "summary_zh": "机器人用双爪多次换握拉开毯子，并在后段用右爪降低翘起片区和中部褶脊，但“毯子展平”节点始终未达到，终态为 0/1。视频约 63.0 s 后局部整形趋于停滞，视频 66.73 s 仍有浅褶脊且右爪未松开撤离；日志支持最后的整形控制未能完成目标。缺少状态日志和评分回放连续指标，无法精确分解各毫米级验收条件或进一步确定控制子类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点（展平·操作中）、时间与接触标签与视频一致，开局折叠、中段多次换握、末段右爪夹住褶脊均已核对。问题在于：把“没松开”列为失败现象，而 agent 当时仍在整形（尚未进入松手阶段），覆盖率本身也未达标；并且 gap_zh 没有交代该运行在 10800 s 墙钟上限（wall_s=10803）被截断，agent 自己计划“整形后再松手撤离”。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（视频末帧毯子仍呈歪斜四边形、右爪仍闭合夹在中部，对照成功视频 10.4 s 近矩形且双爪张开）、断点（展平·操作中）、接触标签与单一现象“残余褶皱”及根因“控制”均有视频与日志支持；上一轮的两处问题已修正，未发现新错误。",
+    "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": "2026-10-31T00:17:06Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--cz2ulht/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--cz2ulht/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--cz2ulht/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--cz2ulht/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "49b71c39edf62fd117b0d7fb2ebd139a6af7f2f20aa5169560f280788e1c1ea9",
+   "video_sha256": "34195002c8ad4a636381ca7731d6305893d4e4f06aa9105fa27d5872902d8391",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--jipgzjf.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--jipgzjf.json
new file mode 100644
index 0000000000000000000000000000000000000000..18b0ef3be865f4e97e189a41ba97f0a5f73a552b
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--jipgzjf.json
@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--jipgzjf",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 698,
+   "submitted_actions": 698,
+   "sim_steps": 778,
+   "physics_steps": 7780,
+   "sim_time_s": 19.449999999999964,
+   "final_reward": 0.0,
+   "replay_wall_s": 664.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 23,
+   "agent_sim_steps": 0,
+   "agent_records": 4,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.639,
+   "peak_memory_gb": 2.116,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.637,
+   "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/roboarc-blanket-flatten-08-i01-privileged--jipgzjf/replay.mp4",
+  "duration_s": 19.533,
+  "fps": 15.0,
+  "frames": 293,
+  "sha256": "fa763de30b7d8ee6eaf50012cd68882f41753c21e4d9620b4aedd7e01b8d5df5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的蓝色方格毯在桌面上呈横向折叠，中央有贯穿毯面的重叠层，初始并未展平。"
+     },
+     {
+      "t": 3.25,
+      "log_step": null,
+      "text_zh": "观察：视频 1.75–3.5 s，机器人右夹爪夹住远侧毯边并提起，毯边随夹爪升高，随后松手落回桌面；横向重叠层仍在。"
+     },
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–7.5 s 和视频 8.5–11.5 s，机器人左夹爪先后夹住近侧毯边的两个位置向外拉，毯边随之移动、投影范围增大，但两次拉动后中央仍有连续折叠重叠。"
+     },
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–14.5 s 两臂张爪撤回；视频 14.5–19.4 s 毯子基本不动，横贯毯面的翻折层一直没有消失。成功参考视频约 4.0–10.4 s 可见同一主视角下重叠层消失、毯面完整铺开，仅用于核对外观。"
+     },
+     {
+      "t": null,
+      "log_step": 169,
+      "text_zh": "观察：log step 166–168 记录并保存最终 698 行动作，顺序为右侧提拉、左侧两次外拉、松开撤离，与本次视频一致；log step 169 对该文件回放报告 success=False、strict=False。评分器 reward 的 n_actions=698、strict_goal_reached=0，与可见残余折叠一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.75–3.5 s 机器人右二指夹爪夹住远侧毯边提拉，视频约 4.5–7.5 s、8.5–11.5 s 左二指夹爪依次捏住近侧毯边两个位置外拉；夹口处毯边随手爪移动，随后分别松开。两爪依次操作，未见同时夹持拉展。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 11.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 11.5–12.0 s，机器人结束第二次左爪外拉并开始松开，毯面仍有贯穿中部的重叠折层；视频 14.5–19.4 s 撤离后的静止画面显示该折层未被修复，因此“毯子展平”未完成。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留折叠",
+    "t": 11.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 11.5 s 左爪最后一次拉动后，毯子中部仍有一条长的翻折重叠层；视频 14.5–19.4 s 双爪停止操作后该重叠层持续存在，毯面未成为无重叠的完整铺展面。",
+    "note_zh": "候选名称：残留折叠。现有现象条目没有描述柔性材料展开后仍保留折叠重叠的形变结果；未见足以判定夹持丢失、碰撞阻断或异常接触力的证据，按 CASES.md OPEN-19（D25）使用其他并具体描述。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；评分器 reward 未报告 DAG 所列八项连续指标，因此 native_metrics 均留 null，不能将 log step 167 录制会话中脚本计算的覆盖率 0.7799、伸长比 1.0187 当作评分回放的原生测量。视频足以确认残余折叠和实际夹持拉动，但无法独立复算投影并集面积、全部粒子高度与速度、材料边长比、毫米级清距和位移。log step 160、163 的 23、47 毫米逆解误差来自会话内重置测试，不能逐路点定位到评分回放；这些诊断可作根因线索，但尚无证据证明它们导致本次回放的残留折叠。log step 166–167 的最终录制覆盖率有所增加、log step 169 的回放验收仍失败，结合视频只能确认展开不足，无法区分拉展策略、接触设计与轨迹执行各自的贡献，故根因留空。"
+ },
+ "summary_zh": "机器人右爪先提拉远侧毯边，随后左爪在近侧两个位置依次夹持外拉，完成松手撤离，但视频约 11.5 s 最后一次外拉后仍留有横贯毯面的重叠折层，至视频 19.4 s 仍未消除，唯一节点“毯子展平”始终未达成。失败发生在展平操作中，现象为残留折叠；会话测试的逆解失败尚不能与本次评分回放的失败建立因果联系，根因留空。缺少粒子状态和评分回放的连续指标，无法进一步区分策略与执行因素或精确量测联合验收阈值。",
+ "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（节点未达成、接触、断点 11.5 s）与视频一致：0 s 横向折叠，3.25/6/9/11.5/14/19 s 帧中折层始终存在。问题在根因：把会话测试中的 IK 失败当作评分回放的控制缺陷，证据不足；该提拉程序在会话中实际把覆盖率拉到 0.78，更像拉展策略不足而非控制失败。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、接触、断点（视频 11.5 s）与视频一致：11.5 s 与 19 s 帧中折层仍在；第一轮意见已采纳，根因留空并写明 gap_zh，没有新的错误。",
+    "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": "2026-10-31T00:16:48Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--jipgzjf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--jipgzjf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--jipgzjf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--jipgzjf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "36a116ea5afc79147c36b4522ed8d4e7eed00349b76418396662b158520188bc",
+   "video_sha256": "fa763de30b7d8ee6eaf50012cd68882f41753c21e4d9620b4aedd7e01b8d5df5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--maymsw4.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--maymsw4.json
new file mode 100644
index 0000000000000000000000000000000000000000..400185cafe6b6b47f3d50a3a2c5280feb29c53e9
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--maymsw4.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--maymsw4",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1310,
+   "submitted_actions": 1310,
+   "sim_steps": 1390,
+   "physics_steps": 13900,
+   "sim_time_s": 34.7499999999991,
+   "final_reward": 0.0,
+   "replay_wall_s": 1003.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 23,
+   "agent_resets": 21,
+   "agent_sim_steps": 19334,
+   "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": 1.078,
+   "peak_memory_gb": 3.437,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.296,
+   "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/roboarc-blanket-flatten-08-i01-privileged--maymsw4/replay.mp4",
+  "duration_s": 34.8,
+  "fps": 15.0,
+  "frames": 522,
+  "sha256": "250f258a79f375215b53f41c614186e9350865e655911e8761c72a38a8821321"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的主画面显示蓝色方格毯横贯中部有翻折重叠带，侧视也有叠层，开局未展平。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6–4.3 s 机器人右夹爪夹住布边并向外拉，布边随之移动；视频 6.4–9.1 s 左夹爪在另一处作同类夹拉，随后还有交替夹拉。所检视频 0.0–26.4 s 各段始终可见横向折层，夹拉只使毯子部分展开。"
+     },
+     {
+      "t": 26.4,
+      "log_step": null,
+      "text_zh": "观察：视频 23.8–26.4 s 机器人左夹爪完成最后一处夹拉并松开抬离，主画面中横贯毯面的凸起重叠条仍未消失。"
+     },
+     {
+      "t": 34.73,
+      "log_step": null,
+      "text_zh": "观察：视频 27.2–34.73 s 两爪已抬离毯子，毯子外形基本不再改变，但中部横向折层和侧视叠层一直保留；视频 33.53–34.73 s 已逐帧核对。成功参考视频 10.0 s 同一主视角中的毯面则连续平铺、无该折层，仅用于外观比较。"
+     },
+     {
+      "t": null,
+      "log_step": 212,
+      "text_zh": "观察：log step 205 的最终生成程序依次执行六次单爪 peel 后撤离；log step 212 确认保存 1310 行最终动作，和评分器 reward.n_actions=1310 一致。评分器 strict_goal_reached=0、success=0；这些字段与视频所见未展平相符，未用早期测试的结果替代本次回放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左右二指夹爪依次夹住蓝色毯子局部布边并短距离外拉，再松开撤回。视频 1.6–4.3 s 右爪和视频 6.4–9.1 s 左爪的夹持及布边随动可见，视频 11.2–26.4 s 继续交替操作；未见两爪同时夹持配合拉布。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 26.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 23.8–26.4 s 最后一次左爪夹拉结束，夹爪松开抬离时横贯毯面的重叠折层仍在，随后视频 27.2–34.73 s 未再修复。机器人已操作并部分展开毯子，但从未形成该节点要求的平铺形态；以最后一次未能消除折层的操作结束处作为导航锚点。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残余折叠",
+    "t": 26.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.4 s 左夹爪离开时，蓝色毯面仍有一条几乎横贯全宽的凸起重叠带；视频 34.73 s 主视图与侧视图仍显示该折层，未形成连续平铺的布面。",
+    "note_zh": "候选名称：残余折叠。可见问题是柔性材料的重叠折层未被展开；现有接触或运动条目没有直接描述这一材料形态缺陷，未观察到可据以归为滑脱、碰撞或放后不稳的事件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 26.4,
+    "log_step": 205,
+    "evidence_zh": "推断：log step 205 的交付程序采用六次局部单爪短拉；log step 206 显示该次生成的六轮结束后自测覆盖率仅 0.8200，log step 212 的最终自测仍为 0.8177。视频 1.6–26.4 s 可见夹爪确实带动布边，但中部折层未被拉开，因此支持所用柔性材料操作控制不足以实现完整展开；这里的自测仅作控制归因佐证，不当作评分器指标或视频时间。",
+    "source_zh": "日志",
+    "note_zh": "只标控制大类；证据不足以进一步区分抓点和接触几何、运动幅度或反馈控制问题。"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志；评分器 reward 未报告 DAG 中八项连续指标，native_metrics.value 均留 null。视频足以确认残余折叠和单爪交替夹拉，但不能精确测量材料覆盖率、粒子高度、伸长、速度、机器人清距、确认位移和连续确认时长，也不能细分具体控制缺陷。log step 212 的数值来自最终生成会话自测，未冒充评分器数值；早期会话中的双爪试验、高抬布料及抓取失败不作为本次回放现象。"
+ },
+ "summary_zh": "机器人用左右夹爪交替夹拉布边，使毯子部分展开并最终松手撤离，但横贯中部的重叠折层始终保留，“毯子展平”节点未达到，最终为 0/1。断点锚定视频 26.4 s 最后一次夹拉结束处；所用局部夹拉控制未能消除折层，评分器 strict_goal_reached=0 与视频一致。缺少状态日志和评分器连续指标，无法复算毫米级验收条件或细分控制原因。",
+ "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 0/10/20/26.4/34.5 s 帧与成功参考视频 10 s 对比，毯子始终保留横向折层，节点未达成、断点与接触标注与画面相符；根因仅标控制大类且为推断，已如实标注。",
+    "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": "2026-10-31T00:04:48Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--maymsw4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--maymsw4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d32b27cdf2393e70bafb6609874368a3423ba4503146f2ab597fc5912c7deae",
+   "video_sha256": "250f258a79f375215b53f41c614186e9350865e655911e8761c72a38a8821321",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--z3woo9f.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--z3woo9f.json
new file mode 100644
index 0000000000000000000000000000000000000000..40fa532ac983fee3ef834e146b70fa842662cef8
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--z3woo9f.json
@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--z3woo9f",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1435,
+   "submitted_actions": 1435,
+   "sim_steps": 1515,
+   "physics_steps": 15150,
+   "sim_time_s": 37.87499999999892,
+   "final_reward": 0.0,
+   "replay_wall_s": 2397.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 22,
+   "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": 1.168,
+   "peak_memory_gb": 2.174,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.639,
+   "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/roboarc-blanket-flatten-08-i01-privileged--z3woo9f/replay.mp4",
+  "duration_s": 37.933,
+  "fps": 15.0,
+  "frames": 569,
+  "sha256": "350dc01a4d6f1cdd221169e0cadca7aac39f7e32cfc1a0b159dca73aaf7bde66"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开局蓝色方格毯横向折叠、重叠，尚未展开；视频约 1–10 s，机器人先用左夹爪捏起并向后拉毯面，再换右夹爪拉另一侧，大部分横向折叠逐渐打开。"
+     },
+     {
+      "t": 6.7,
+      "log_step": 137,
+      "text_zh": "观察：视频 6.2–7.4 s，左夹爪在毯子后缘上方移动，毯面局部隆起后回落；视频 15.0–17.4 s 的左侧折角修正仍留下折回边，帧中不能直接辨认脱手瞬间。log step 137 的026录制输出为 arch grasp: blanket、arch pull: None，稍后 flap grasp: blanket、flap pendulum: None。推断：log step 80 的 drag_log 明确返回 p[\"object_in_hand\"](arm)，log step 131 在该返回之后才执行 release_arm，因此这些输出支持拉动末端已不再持有的推断；视频约 6.7 s 仅为对应拉动阶段的粗略导航锚点。"
+     },
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 19–23 s，右夹爪捏住前侧边缘向前拉，视频约 26.5–28 s 两爪张开并撤离；视频 28–37.87 s，包括最后一秒，毯子左后侧仍有内缩的斜边及折回区域，未成为完全展开的矩形。成功参考视频 10.4 s 的同一主视角显示展开后更完整的方格面和边角，仅作外观比较。"
+     },
+     {
+      "t": 37.8,
+      "log_step": 150,
+      "text_zh": "推断：log step 150 报告026保存了1435行动作，log step 154 核对交付数组为1435行，与评分器 n_actions=1435 一致；该脚本的单爪交替拉动、松手撤离次序也与视频吻合，因此后续排队的029双爪方案不计入本轨迹。结合视频残余折叠和评分器 strict_goal_reached=0、success=0，毯子展平节点全程未达到联合验收。log step 151 中026保存前的脚本诊断 coverage=0.945 仅为辅助证据，并非评分器原生指标读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1–7 s 左二指夹爪捏住毯子后侧局部并提拉；视频约 9–10 s 换右夹爪拉后侧，视频约 14–17 s 左夹爪再次捏拉左侧折回处，视频约 20–23 s 右夹爪捏拉前侧边缘。两只夹爪依次操作，未见同时夹持毯子协同拉动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 6.7,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.2–7.4 s，左夹爪拉动后毯面局部回落，不能直接辨认抓持脱离瞬间；视频 15–17.4 s 再次修正左侧折回处后仍有残留，随后机器人处理前缘并撤离，视频 37.8 s 左侧仍呈内缩斜边。推断：log step 137 的 arch grasp: blanket → arch pull: None，结合 log step 80 中 drag_log 返回 object_in_hand、log step 131 在返回后才松手的顺序，支持此轮拉动未保持抓持；视频约 6.7 s 是该阶段的粗略锚点，不是由日志换算的脱手时刻。展平节点后续未修复至达标。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.7,
+    "log_step": 137,
+    "evidence_zh": "观察：视频 6.2–7.4 s 只见左夹爪在后缘上方移动、毯面隆起后回落，未直接看清脱手瞬间；视频 17.4 s 及 37.8 s 左侧仍有折回和内缩斜边。log step 137 的026输出为 arch grasp: blanket、arch pull: None，稍后 flap grasp: blanket、flap pendulum: None。推断：log step 80 的 drag_log 显式返回持物查询 p[\"object_in_hand\"](arm)，故 None 并非函数缺少返回值；log step 131 在返回之后才调用 release_arm，支持拉动期间未保持抓持。视频约 6.7 s 只是粗略定位，具体脱离时刻与机制未获直接观察。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 131,
+    "source_zh": "日志",
+    "evidence_zh": "推断：控制归因来自 log step 80、131、137 的代码与执行输出，不能把视频约 6.7 s 脱手视为直接观察。log step 80 的 drag_log 明确返回持物查询 p[\"object_in_hand\"](arm)；log step 131 的026脚本在左侧折角修正中只检查初始 hc，拉动后不检查返回值或展平结果，执行松手后即置 m2=True 并跳出候选循环。log step 137 实际输出 flap grasp: blanket、flap pendulum: None、M2 done: True 后转向右侧前缘，支持脚本没有针对拉动末端未持有继续重抓修正的判断。观察：视频 15–17.4 s 及 37.8 s 可见左侧残余折回；这些帧不能直接证明抓持为何丢失。推断：该控制流程未闭环修正残余折角，可能使其保留；不足以细分为夹持几何、载荷或轨迹参数问题。"
+   }
+  ],
+  "gap_zh": "无状态日志；评分器未提供DAG列出的8项连续指标，故 native_metrics.value 均为 null，不能用会话脚本的自算结果替代。视频 6.2–7.4 s 显示毯面隆起后回落，未直接显示抓持脱离瞬间；约视频 6.7 s 的失持及控制归因是结合已交付026代码、持物查询返回值和残余折回作出的推断，具体脱离时刻、机制及其对最终缺陷的贡献无法独立确定。视频也不能精确测量95%投影面积、所有粒子高度与伸长、毫米级清距或确认位移。节点判定依据实际残余折叠及严格目标未达到的评分字段；其他重置试验与未交付的029方案不作为进度证据。"
+ },
+ "summary_zh": "机器人用左右夹爪依次提拉，打开了大部分横向折叠，最后张爪撤离，但视频 37.8 s 左侧仍有折回和内缩斜边，毯子展平节点最终为0/1，评分器 strict_goal_reached=0。推断：log step 80、131、137 的代码与持物查询输出支持拉动末端未保持抓持、脚本未据此继续修正；视频约 6.7 s 仅定位相关拉动阶段，帧中未直接看清脱手瞬间。因关键失持事件及控制归因仍有推断成分，缺少状态日志和评分器连续指标，conf 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": "进度节点（未达成、final=false）、接触（左右夹爪依次抓握）、n_actions 与视频的对应均与帧一致；末帧毯子左后/左前仍有斜边，评分器 strict_goal_reached=0，支持未展平。问题在于失败原因的证据强度：6.7 s 断点与『没保持住/控制』主要靠 026 脚本的 None 返回值（agent 会话自带输出）推断，视频帧并不能显示夹爪脱手，整体 conf=7 偏高。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、接触（左右夹爪依次抓握）、断点引用与推断/观察区分均与帧和日志一致；第1轮的置信度问题已处理，无新证据。",
+    "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": "2026-10-31T00:15:55Z",
+  "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/roboarc-blanket-flatten-08-i01-privileged--z3woo9f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--z3woo9f/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--z3woo9f/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--z3woo9f/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "39a99198741bf9358501ad6ff100aab8630f83db11e7647afaa11f930b9a2f87",
+   "video_sha256": "350dc01a4d6f1cdd221169e0cadca7aac39f7e32cfc1a0b159dca73aaf7bde66",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--cfkgyzq.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--cfkgyzq.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8fe368dfdb57278681c79985e22fab03f2e68e
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--cfkgyzq.json
@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-standard--cfkgyzq",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 12517,
+   "live_rows": 12517,
+   "sim_steps": 12517,
+   "physics_steps": 125170,
+   "steps": 3029,
+   "elapsed_s": 10773.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-blanket-flatten-08-i01-standard--cfkgyzq/replay.mp4",
+  "duration_s": 313.0,
+  "fps": 15.0,
+  "frames": 4695,
+  "sha256": "a4f102cc6f690a66d15383eec9bc779c7489b034d1f77deaf4471e265d87c688"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，机器人两臂位于蓝色方格毯两侧，毯面横向翻折形成明显重叠层，初态未展平。"
+     },
+     {
+      "t": 122.0,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0–129.0 s，机器人把毯子拉成较宽的近矩形，但后缘仍有折叠条，两爪仍在布边持布；视频 142.0–144.0 s 双爪离开时，毯子的右前角仍内折，轮廓有明显斜切角，未成为完整展开的矩形。"
+     },
+     {
+      "t": 310.4,
+      "log_step": 466,
+      "text_zh": "观察：视频 308.0–310.0 s，机器人左夹爪向远端翘起的布尖靠近并闭合；视频 310.4–312.93 s 左爪退向左后方时没有带走布尖，毯子仍呈多层折叠、隆起的非矩形。agent 也在 log step 466 自述“far-tip grasp missed”，随后提出的重新对齐动作未出现在本次视频中。"
+     },
+     {
+      "t": 312.93,
+      "log_step": null,
+      "text_zh": "观察：视频最后一帧 312.93 s，主视图可见毯子中央与左下方仍有重叠折层，侧视显示毯面隆起；评分器字段 live_success=0、success=0，且 graded_by_live=1、resumes=0。成功参考视频 10.466 s 则显示毯子平铺成完整近矩形、双爪撤离；参考仅用于外观比较。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 35.0–40.0 s，两只二指夹爪分别夹住毯子两侧材料并共同提起；视频 105.0–113.0 s 左爪固定一角、右爪牵拉另一侧。之后也交替使用单爪夹住布边拉动，例如视频 294.0–298.0 s 左爪低位牵拉；末次视频 310.4–312.93 s 左爪空拉不算成功抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 310.4,
+   "log_step": 461,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 308.0–310.0 s 机器人左爪靠近毯子的远端布尖，视频 310.4–312.93 s 随后空手向左后方拉开，布尖留在原位，毯子仍有重叠和隆起。log step 461 的控制脚本要夹住该角后外拉，log step 465 返回该拉动已执行但 done=false；整个展平步骤未在后续修复。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 310.4,
+    "log_step": 465,
+    "evidence_zh": "观察：视频 309.8 s 左夹爪闭合在远端布尖附近，视频 310.4–312.93 s 夹爪退离但布尖没有随爪移动，末次外拉没有建立能牵动布角的夹持。log step 465 的服务返回左爪 opening=0.0；agent 在 log step 466 自述该抓取未命中，与视频的空拉一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 461 的脚本命令左爪闭合下降后向外拉，log steps 463、465 的机器人服务返回这两段动作均无逆解失败，左爪开口为零；视频 309.8–312.93 s 却显示空爪离开、布角未跟随。结合视频 146.0–153.0 s 先前夹爪闭合和试提也未带起目标折角，归因为有效抓持未建立的控制问题；证据不足以进一步区分抓取接触几何与末端跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志，也没有评分器报告的八项原生连续指标；无法从画面精确复算投影并集面积、粒子高度、材料伸长、速度、毫米清距和确认漂移，native_metrics 均为 null。视频可直接判断终态残留折叠和末次空拉；缺少接触对及逐刻目标/实际位姿，控制根因不再细分。视频 290.8–291.0 s 布爪分离与随后主动张爪相邻，未据 agent 在 log step 441 的自述另判“没保持住”。"
+ },
+ "summary_zh": "机器人多次以双爪夹持提起、单爪牵拉并换抓，曾将毯子大部分铺开，但始终未完成“毯子展平”节点，最终为 0/1。末次远角抓取在视频约 310.4 s 出现空拉，直到视频 312.93 s 毯子仍有明显重叠与隆起，失败归于抓持建立不可靠的控制问题。缺少状态日志和原生指标，无法核验毫米级联合验收或进一步细分控制原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "终态仍有折叠隆起（视频 312.9 s），final=false、断点在展平步骤、末次远角空拉与视频一致；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": "2026-10-31T00:04:23Z",
+  "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/roboarc-blanket-flatten-08-i01-standard--cfkgyzq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--cfkgyzq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a477e265d703c970dfb6eaf5b20501c32db1d997accc660dc553993cef701ccd",
+   "video_sha256": "a4f102cc6f690a66d15383eec9bc779c7489b034d1f77deaf4471e265d87c688",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--mt2rkas.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--mt2rkas.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5588b67ef47e69446a55de4c3dcf4f0754efa18
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--mt2rkas.json
@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-standard--mt2rkas",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 16247,
+   "live_rows": 16247,
+   "sim_steps": 16247,
+   "physics_steps": 162470,
+   "steps": 3840,
+   "elapsed_s": 10094.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.358,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.352,
+   "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/roboarc-blanket-flatten-08-i01-standard--mt2rkas/replay.mp4",
+  "duration_s": 406.267,
+  "fps": 15.0,
+  "frames": 6094,
+  "sha256": "609b67374167bc90bdfc698d31141d46e61d0c58d5f87b3a4c566ce896f187f8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画面中的蓝色方格毯横向翻折，中部有贯穿毯面的重叠层，开局未展平。"
+     },
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–28.8 s，机器人双爪接触并拉动毯边，随后抬开；视频 28.8 s 毯面仍有贯穿左右的横向折叠，未出现完全展开的矩形毯面。"
+     },
+     {
+      "t": 39.5,
+      "log_step": 104,
+      "text_zh": "观察：视频 33.6–42.7 s，机器人两只夹爪分别夹住中部折层并提起，毯面随爪升高，原先铺在桌面的部分向中间收拢，侧视出现高起的折壁；视频 45.9 s 放下后仍呈狭窄的多层折叠。log step 104 的脚本指定双爪夹取中部卷折并竖直抬升，log step 110 的 agent 也自述提拉使毯子聚成一束。"
+     },
+     {
+      "t": 406.2,
+      "log_step": 265,
+      "text_zh": "观察：视频全程每约5秒抽查，并对视频 27.2–45.9 s 和最后一秒加密查看；后续反复提拉、推拨和单爪甩拉后仍保留折叠。视频 405.0–406.2 s 双爪已撤离，毯子仍呈不规则收拢形状，中部与左侧有高起折脊及重叠，未平铺成矩形。log step 265 的机器人服务终态为 done=False，评分器 live_success=0；据可见形状判定该节点始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 33.6–42.7 s，左右二指夹爪各夹住毯子中部的一处材料并一起提拉，毯面随两爪升起；此前两爪也共同拉动毯边。后期依次换用单爪夹住边部、提起并向外甩拉。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：机器人也用闭合夹爪抵着折叠毯面向前推拨，使隆起折层移位、聚拢；log step 177 执行双爪推毯脚本，log step 179 返回实际推行终点，log step 182–184 接着用闭合夹爪推动隆起部分倾倒。此处记录夹爪外侧对毯面的推拨接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 39.5,
+   "log_step": 104,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 39.5 s 左右，机器人双爪提起中部折层，毯子被聚拢成悬起的折壁；视频 45.9 s 降下后折层仍叠在一起。后续继续尝试拉边、推倒和甩拉，直到视频 406.2 s 仍未展平，失败发生在毯子展平操作中。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 39.5,
+    "log_step": 107,
+    "evidence_zh": "观察：log step 104 的机器人脚本指定双爪下降至抓取高度 z=0.013 m；log step 107 中由机器人服务 proprio 读数打印的下降后及抓取后左右 TCP z 分别为 0.038/0.037 m，未到指令高度，闭合后夹口分别为 0.0035/0.0051 m。视频 33.6–42.7 s 可见双爪夹住中部折层的局部并提起，毯面随之向中间收拢成悬起的折壁；视频 45.9 s 放下后仍呈多层窄条。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 39.5,
+    "log_step": 107,
+    "evidence_zh": "推断：log step 104 指定抓取高度 z=0.013 m，而 log step 107 返回下降后及抓取后左右 TCP z=0.038/0.037 m，夹口为 0.0035/0.0051 m；视频 33.6–42.7 s 可见两爪夹住折层局部提起，毯面向内聚拢。抓取执行未达到计划位姿，随后提拉没有展开重叠层，支持控制层面的归因；现有证据不能区分折层接触阻挡、轨迹跟踪或抓取流程问题，也不能证明按指令高度执行的接触方案本身不可行，因此不选具体控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频能确定明显折叠及终态未展平，但不能独立量测投影并集面积、所有粒子高度、材料伸长、速度、释放清距和确认漂移。评分器未报告 DAG 所列八项连续指标，故 native_metrics 的 value 均为 null；log step 98、108、266 的面积和高度是 agent 自写深度处理脚本的估计，未当作评分器原生指标。log step 104 与 log step 107 能确定指令抓取高度和服务返回位姿存在偏差，但缺少接触力、材料层数和轨迹跟踪记录，不能区分接触阻挡、跟踪或抓取流程问题；按指令执行是否能展开该折层及替代抓法均未验证，具体失败机理仍有推断。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "机器人双爪及单爪多次夹取、拉动毯子，也推拨过隆起折层，但“毯子展平”始终未达成，最终为0/1节点，评分器判定失败。视频约39.5 s 双爪夹提中部折层使毯面聚拢；log step 104 指定抓取高度 z=0.013 m，log step 107 返回抓取后左右 TCP z=0.038/0.037 m，支持位姿未到位，视频406.2 s 毯子仍有明显折脊和重叠。根因仅保留“控制”，因无法区分具体控制机理，且缺少状态日志和原生连续指标、无法复算毫米级联合验收，将置信度由8降至6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、final=false、断点（视频约39.5 s 双爪提拉中部折层，log step 104）、接触标注与终态观察均与视频相符（视频 0/20/30/38/42/46/60/120/200/300/380/405 s 抽查）。问题在 step 104 的失败机理：服务读数显示夹爪只下到 z≈0.038（指令 0.013），只捏到折层顶部，现象与根因没写这一点，抓取设计的归因缺证据、conf 偏高。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（视频406 s 毯子仍成不规则折皱、非矩形）、断点（约39.5 s 双爪提拉中部折层，log step 104/107）、接触标注与终态均与视频和服务读数相符；第1轮意见已采纳，现象“位姿不准”与根因“控制”（不选子类、标为推断）有证据支持，未发现需改内容。",
+    "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": "2026-10-31T00:18:22Z",
+  "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/roboarc-blanket-flatten-08-i01-standard--mt2rkas/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--mt2rkas/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--mt2rkas/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--mt2rkas/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd5083555506fd0312fc1e9bb3546b521abc67dc53381b9a43480bedc4f2b1f9",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xfhppg7.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xfhppg7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e881abd2c4dab0e8245150efc9fb2a1f63af3525
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xfhppg7.json
@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
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+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
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+   "missing_log": 0,
+   "n_actions": 20226,
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+   "physics_steps": 202260,
+   "steps": 4930,
+   "elapsed_s": 10740.4,
+   "video_rendered": 1,
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+   "gave_up": 0,
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+   "resumes": 0,
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+   "peak_memory_gb": 0.372,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.029,
+   "resource_emergency_kills": 0,
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+   "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/roboarc-blanket-flatten-08-i01-standard--xfhppg7/replay.mp4",
+  "duration_s": 505.733,
+  "fps": 15.0,
+  "frames": 7586,
+  "sha256": "b050b0546f23c4013223bedcc32b232e78aece863f1fc25caa86cfad7a41f9bf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色方格毯横向折回，上下层重叠且折边贯穿毯面，展平条件开局不成立。"
+     },
+     {
+      "t": 71.0,
+      "log_step": null,
+      "text_zh": "观察：视频 46–84 s，机器人左夹爪多次下降、收拢并抬起；视频 67.0 s、71.0 s 的主视图和腕部视图仍显示毯子留在桌面、横向重叠折边保留，未见布片被稳定夹住并提起。"
+     },
+     {
+      "t": 253.0,
+      "log_step": null,
+      "text_zh": "观察：视频 226–254 s，左夹爪留在毯子左侧近桌面处，右夹爪压拖右半毯面，毯子的轮廓扩大并转动；视频 253.0 s 仍可见左侧局部折痕与内缩边缘，尚未形成完整展开的连续矩形。"
+     },
+     {
+      "t": 418.0,
+      "log_step": null,
+      "text_zh": "观察：视频 418.0 s，两夹爪已经抬离毯面，毯子大部分贴桌，主视图左缘略有内凹，是否仍有叠层看不清。成功参考视频 10.4 s 显示近矩形且格线展开的毯面；参考只用于外观比较，不能证明本回合哪项连续指标未通过。"
+     },
+     {
+      "t": 462.0,
+      "log_step": 191,
+      "text_zh": "观察：视频 454、458、462、466 s，机器人左夹爪在毯子左部近桌面压拖，毯子随之平移；左缘有轻微内凹，不能从画面确认该处存在折回重叠层。log step 191 的脚本命令左夹爪保持闭合，在近桌面高度进行横向拖动。"
+     },
+     {
+      "t": 505.6,
+      "log_step": null,
+      "text_zh": "观察：视频 504.8、505.2、505.6 s，机器人夹爪在毯子上方移动，毯子保持大部分贴桌、左缘略内凹的外观，未见明显进一步展开；inputs/run.json 的评分器字段 live_success=0、graded_by_live=1、resumes=0，表明本次实时回合未通过联合验收。"
+     },
+     {
+      "t": 505.6,
+      "log_step": 194,
+      "text_zh": "推断：开局明显翻折、后续压拖及撤离处的画面与 inputs/run.json 的实时评分结果相符；本任务仅有一个联合验收目标，live_success=0、graded_by_live=1、resumes=0 支持该节点无达成区间且终值为假。log step 194 中 agent 自编图像测量程序估计投影面积为0.2606平方米，但这不是评分器实测值，不能据此确定精确覆盖率或哪项联合验收条件未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 226–254 s，机器人左夹爪指尖留在毯子左侧近桌面处，右夹爪压住并拖动另一侧毯面；此阶段两爪同时作用于毯子。视频 160–210 s 及454–466 s 还可见左爪单独压拖，其他时段右爪单独压拖；这些接触依次发生。未见两指夹住布片后稳定提离桌面的抓握，不按DAG典型抓握方案填报。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 462.0,
+   "log_step": 191,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 454、458、462、466 s，机器人左夹爪进行末次近桌面压拖，毯子随之平移；视频 468、480 s 及最后一秒画面显示后续抬爪和撤离，毯子大部分贴桌，左缘仍略内凹，但叠层不可确认。log step 191 明确命令这次横向拖动，评分器最终 live_success=0；断点定位于“毯子展平”操作中，不能进一步确定未过的具体验收条件。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 462.0,
+    "log_step": 191,
+    "evidence_zh": "推断：log step 175、191 的脚本均让单爪闭合后在约13–14毫米TCP高度压拖，没有夹持并分离布层的动作，也没有让另一爪固定下层。视频 360、380、400、418 s 可见压拖伴随毯子整体转动，视频 454、458、462、466 s 又显示毯子随左爪平移；这些动作与实时联合验收始终未通过相结合，支持接触方式未能充分控制毯子形变的可能归因，但不能证明残余折层存在或覆盖不足就是失败原因。agent 在 log step 202 自述因捏取未可靠建立而改用压拖，仅作为与画面一致的补充陈述。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "没有状态接触对、层间受力或评分器连续指标记录，接触设计归因为推断，不能确定摩擦、法向压力或具体夹取位置的各自影响，也不能确定该方式使哪项联合验收条件未通过；本回合未验证修正后的可行接触方案。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告DAG所列八项连续指标；不能精确量测投影并集覆盖率、所有粒子高度、材料伸长、速度、毫米级释放清距、漂移及连续确认时间。log step 152、188、194 的面积和高度为agent自编视觉估计，不能填作native_metrics。视频 418、440、480 s 及最后一秒画面只显示毯子大部分平整、左缘轻微内凹，是否仍有叠层看不清；未能确定覆盖率、折叠、伸长或其他联合验收项中具体哪项未过，故phenomena留空，不把节点未达成改写为现象。评分器支持唯一联合验收节点未达成；缺少接触力与布层状态，根因仅作接触设计层面的推断。"
+ },
+ "summary_zh": "机器人用夹爪压拖展开了开局的大段横向翻折，末段毯子大部分贴桌、左缘略内凹，实时评分器未通过联合验收，“毯子展平”节点最终为0/1。断点位于展平操作中；压拖伴随毯子整体转动和平移，结合脚本保留抓取和接触设计的根因推断。画面不能确认末段残留叠层，故现象留空；无状态日志或评分器连续指标，不能确定具体未过的验收条件，置信度维持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、终值假、断点在展平操作中，均可接受；但现象“其他·残留折叠”只是把节点未达成改写成现象，且 418–505 s 帧里毯子已基本平整、左缘仅轻微内凹，“折叠仍在”被写得过强；contact_actual 把大多依次进行的单爪压拖标成双臂协作。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、终值假（评分器 live_success=0、graded_by_live=1）、断点在展平操作中、现象留空并写 gap、接触设计根因标为推断，均与视频和评分器字段相符；第1轮已处理的问题已修正，双臂协作的接触标注有 226–254 s 同时压拖的画面支持，已在上一轮用规则回应，我不重复提出。",
+    "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": "2026-10-31T00:15:53Z",
+  "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/roboarc-blanket-flatten-08-i01-standard--xfhppg7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--xfhppg7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--xfhppg7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--xfhppg7/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89d5401e51cbf58c1ecc9dc5b38d015d527ed9bc720b469d2be28929f4e32151",
+   "video_sha256": "b050b0546f23c4013223bedcc32b232e78aece863f1fc25caa86cfad7a41f9bf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xyxazvd.json b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xyxazvd.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef656b301f049d3de82a3ea98dacb76c29ef118b
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--xyxazvd.json
@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-standard--xyxazvd",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 17945,
+   "live_rows": 17945,
+   "sim_steps": 17945,
+   "physics_steps": 179450,
+   "steps": 8214,
+   "elapsed_s": 10748.5,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.592,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.514,
+   "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/roboarc-blanket-flatten-08-i01-standard--xyxazvd/replay.mp4",
+  "duration_s": 448.733,
+  "fps": 15.0,
+  "frames": 6731,
+  "sha256": "e311cd3ce3de46c08d4e1be5dd3dc0bd620e48ec7c7f39a3ff9632d3cb65ea2e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的蓝色方格毯存在横贯中部的翻折重叠层，起始未展平。"
+     },
+     {
+      "t": 72.0,
+      "log_step": null,
+      "text_zh": "观察：视频 70.0–75.3 s，机器人左右夹爪分别夹住毯面片区共同拉动，毯面移动且后侧折角仍翘起；视频 88.0–105.0 s，右爪拉开前侧后大部分毯面贴桌，但轮廓仍不规则，不能据此认定联合验收完成。"
+     },
+     {
+      "t": 194.0,
+      "log_step": 258,
+      "text_zh": "观察：视频 193.0–200.0 s，左夹爪抬起撤回时毯子持续随爪离桌并卷成悬垂折叠；log step 258 的机器人控制脚本将这一阶段写为降下、张爪、抬起和撤回，实际未得到干净释放的结果。"
+     },
+     {
+      "t": 448.6,
+      "log_step": null,
+      "text_zh": "观察：视频 447.8–448.6 s，毯子集中在桌面左侧，左边有明显隆起及重叠，未恢复为完整平铺的矩形；评分器字段 success=0、live_success=0、graded_by_live=1，记录仅一次启动且无重置续接。推断：结合全程抽帧、关键阶段密集帧和实时验收未成功，唯一展平节点从未达到完整联合判据，最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 70.0–75.3 s，左右二指夹爪分别夹住毯子不同片区配合拉开；随后交替以单爪调整，视频 88.0–96.0 s 右爪拉动前侧，视频 186.0–200.0 s 左爪夹持拉动并在撤回时带起毯子。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 194.0,
+   "log_step": 259,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 193.0–200.0 s，机器人左爪从较平的毯面抬起撤回，却把毯子带离桌面并形成大幅悬垂折叠；log step 258 的脚本明确安排先降下、张爪再撤离，log step 259 启动该脚本。此后机器人多次尝试解开和拉展，视频 447.8–448.6 s 仍有明显重叠隆起，展平步骤始终未完成。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 194.0,
+    "log_step": 258,
+    "evidence_zh": "观察：log step 258 的释放段要求左爪张开到原生驱动坐标 0.0368 后抬起；视频 193.0–197.7 s 左爪上升时毯面仍紧随末端，视频 198.0–200.0 s 毯子悬垂在左爪上，原先铺开的材料被重新带起卷折。这里的释放失败由毯子的实际随动判断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 258 的机器人脚本在同一段轨迹中连续执行 lower、open、lift_up、swing_back，完成整段后才读取毯面并检查结果；视频 193.0–200.0 s，毯子未脱离左爪，机械臂仍继续升高、撤回并把毯面卷起。推断：释放与撤离的实际控制未实现所需的脱离，且未在带起毯子时及时修正，导致展平结果显著退化；现有证据不足以进一步归入具体控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器 reward 未报告 DAG 的八项连续指标，因此 native_metrics 均为 null，不能用 agent 自写点云估计替代评分器测量。视频能判定明显折叠和撤离带布，但无法精确核对材料伸长、所有粒子的速度、毫米级清距及连续确认窗口，也不能分清释放失败源于夹爪执行、局部缠挂还是接触几何。日志末尾 log step 477 的执行调用没有返回结果，以视频末态为准。"
+ },
+ "summary_zh": "机器人以双爪配合及单爪交替拉动展开毯子，一度使大部分毯面贴桌，但完整展平节点未达成，最终为 0/1。视频约 194.0 s，左爪在释放撤离阶段仍带起毯面，重新造成大幅折叠，后续补救至视频 448.6 s 仍未恢复。没有状态日志及评分器连续指标，释放失败的具体控制子类和毫米级验收量无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点约视频194 s（左爪撤离时带起毯子）、现象“没松开”与根因“控制”均与帧一致；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": "2026-10-30T23:52:21Z",
+  "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/roboarc-blanket-flatten-08-i01-standard--xyxazvd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--xyxazvd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f0c734ac5114e511884461fa69b17654d74867e9580a2e509e138f9e2e0b2f1",
+   "video_sha256": "e311cd3ce3de46c08d4e1be5dd3dc0bd620e48ec7c7f39a3ff9632d3cb65ea2e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn.json
new file mode 100644
index 0000000000000000000000000000000000000000..037b55f8f1701c13cdfaf178e2ea6833e271c188
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn.json
@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 380,
+   "submitted_actions": 380,
+   "sim_steps": 380,
+   "physics_steps": 3800,
+   "sim_time_s": 9.500000000000068,
+   "final_reward": 0.0,
+   "replay_wall_s": 32.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 24,
+   "agent_resets": 27,
+   "agent_sim_steps": 4812,
+   "agent_records": 5,
+   "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/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn/replay.mp4",
+  "duration_s": 9.6,
+  "fps": 15.0,
+  "frames": 144,
+  "sha256": "5dc36d04c7b2c53ae90e481e48bb70add1fce6d8cf2e55b5d23a228637861c15"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环和木柄工具平放在左侧导线脚旁的起点木台上。"
+     },
+     {
+      "t": 9.53,
+      "log_step": 104,
+      "text_zh": "观察：已检查视频全程的半秒采样及视频 8.8–9.53 s 的逐帧末段；机器人先抬高、平移，再张开夹爪下降接近左侧木柄，工具始终留在起点，未被提起沿上升段、横跨段和下降段移动。log step 104 的最终生成脚本输出记录 380 个动作、success=False，与评分器 n_actions=380 及录像动作相符；此前测试不作为本次节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "推断：视频 9.2–9.53 s，单臂夹爪上部/腕部与导线上方横段相抵，log step 104 的本次录制输出报告接近时接触力 767 N、随后下降时 1519 N 并停止。候选方式为“碰撞”，现有接触方式没有对应项；夹爪保持张开，没有形成对木柄的双侧夹持，不能标抓握或手持工具避开。具体接触连杆及指尖是否另有轻触木柄无法从画面判清。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.53,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–9.53 s，工具一直位于左侧起点，右侧终点线脚旁木台没有工具；视频 9.53 s 的主视角和斜视角仍可见起点的金属环。机器人没有携带工具到右端或实施终点释放；因此不满足终点支撑、释放静置的联合验收。参考成功视频 78.0 s 可见工具在右侧线脚旁平躺、夹爪张开退出的外观，仅用于判据对照。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 9.3,
+   "log_step": 104,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 9.3 s，机器人正以竖直张开的夹爪接近起点木柄，夹爪上部/腕部与上方导线重合相抵，工具仍在木台上；到视频 9.53 s 没有抓起或开始遍历。log step 103 的最终脚本以起点抓取作为遍历的准备动作，log step 104 的该次录制在 slideY、descGrip 段报告接触后停止，保存 380 个动作；此后没有修复该步骤。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 9.3,
+    "log_step": 104,
+    "evidence_zh": "推断：视频 8.8–9.53 s，机器人保持竖直夹爪靠近起点，末段夹爪上部/腕部与导线上段相抵，未能完成接近并夹起木柄。对应本次交付的 log step 104 输出先为 descFront 的 0 N，继而 slideY 接触 767 N、descGrip 接触 1519 N 并停止；与末段画面结合支持抓取接近被固定导线阻挡，而非已经抓住工具后滑脱。"
+   }
+  ],
+  "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：log step 103 的交付脚本固定采用 top_down_quat 的竖直抓柄姿态，先在前方下降，再保持该姿态横移到柄上方并下降；log step 104 显示这种进场几何在横移、下降阶段与障碍发生接触，ok 变为假后跳过合爪，视频 9.53 s 亦显示工具未被夹住。问题在所选抓取姿态与进场空间不适配；参考成功视频 10.0 s 显示较水平的夹爪接近并随后于参考视频 15–45 s 携工具沿线运动，验证该任务存在替代抓取方案。agent 在 log step 103、105 自述“几何不可行”不足以证明所有合法方案被排除。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志或逐连杆接触对，末段画面不能精确区分夹爪基座与腕部哪个碰撞几何先触线，也不能确认指尖是否轻触木柄；碰撞时间取视频约 9.3 s 的粗导航锚点，未把 agent 工作时间换算为视频时间。评分器未报告 distance_to_finish_m、finish_angle_deg，两个原生指标保持 null。"
+ },
+ "summary_zh": "机器人在起点进行抓柄接近，工具全程留在左侧木台，沿线遍历和终点放置均未完成，最终进度为 0/2。视频末段及 log step 104 的最终录制表明，竖直抓取的进场几何受到上方导线阻挡，脚本停止并跳过合爪；参考成功视频验证存在替代方案，不支持 agent 的全局不可行判断。缺少逐连杆状态日志，具体先触线部位和精确接触时刻仍有不确定性。",
+ "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（均未达成）、断点 wire_traversed、被挡/碰撞现象与「抓取和接触设计（alt_feasible 已验证有）」根因均与视频帧及 log step 104 的 767/1519 N 接触读数一致；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": "2026-10-31T00:11:07Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--5wxanqn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0882ace81a20c6099530cfdf619d3f8a0d20ff788b3b190e02dee6c66a30cda4",
+   "video_sha256": "5dc36d04c7b2c53ae90e481e48bb70add1fce6d8cf2e55b5d23a228637861c15",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp.json
new file mode 100644
index 0000000000000000000000000000000000000000..7922da647e4822a69fab76752e9932f6a358f459
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp.json
@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 3138,
+   "submitted_actions": 3138,
+   "sim_steps": 3138,
+   "physics_steps": 31376,
+   "sim_time_s": 78.44000000000071,
+   "final_reward": 1.0,
+   "replay_wall_s": 367.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 3138,
+   "strict_replay_required": 0,
+   "agent_sessions": 7,
+   "agent_resets": 47,
+   "agent_sim_steps": 12552,
+   "agent_records": 14,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.542,
+   "peak_memory_gb": 1.274,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.487,
+   "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/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp/replay.mp4",
+  "duration_s": 78.533,
+  "fps": 15.0,
+  "frames": 1178,
+  "sha256": "bb08c92ebce04860749758c50898049223ba37daaf0febe8782dc4fc9c49d882"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具位于左侧线脚的木台上；视频 8.0–10.0 s 单臂二指夹爪从木柄两侧合拢，随后木柄和金属环随夹爪抬起，离开原来的台面位置。"
+     },
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0、18.0、22.0、26.0、30.0、34.0、38.0、42.0 s 的主视角、斜视角及腕部视角依次显示机器人持环沿左侧上升段、上方横段和右侧下降段前进，导线穿过环的开口。"
+     },
+     {
+      "t": 47.0,
+      "log_step": 93,
+      "text_zh": "推断：视频 46.53–47.60 s 机器人持环沿右侧导线末段下降至终点线脚附近，约视频 47.0 s 进入末端10毫米范围，时间估计误差约0.5秒；log step 93 是所交付首段的执行记录，末项 traversal_complete=True，log step 110 将该段接入完整轨迹并从重置状态回放成功；结合评分器 strict_goal_reached=1，判定连续全线遍历完成。没有逐物理步状态日志，唯一穿线及连续性细阈值由成功判定支持。"
+     },
+     {
+      "t": 48.4,
+      "log_step": 94,
+      "text_zh": "观察：视频 47.8–48.4 s 机器人张开夹爪，工具短距离落在终点木台上；视频 50.0–62.0 s 工具仍留在右侧线脚附近，机械臂空手退开并调整姿态。log step 94 同一落台段的任务读数 traversal_complete=True，后续已完成的遍历保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–10.0 s 单臂二指夹爪从两侧夹住工具木柄，随后持柄抬起并带环沿整根导线移动，直至视频约47.6 s。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "推断：视频 14.0–47.6 s 机器人所持金属环沿导线移动，导线处于环内开口；结合评分器整体成功，判定工具金属环及杆避开固定金属导线。画面不能独立排除所有物理子步的瞬时微接触。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [
+     [
+      78.47,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.4,
+      "log_step": 94,
+      "text_zh": "观察：视频 48.0–48.4 s 工具先落到终点线脚旁的浅色木台上，木柄朝向斜偏；视频 50.0–62.0 s 保持这一临时落台位置。此时尚未完成最终朝向与释放静置验收。"
+     },
+     {
+      "t": 73.0,
+      "log_step": 108,
+      "text_zh": "观察：视频 65.0–69.0 s 单臂夹爪重新靠近并夹住木柄；视频 71.0–76.0 s 工具随夹爪转向、移到右侧线脚并降低至木台，原先斜偏的木柄改为朝台内。log step 108 记录该放置段，log step 110 将它接入交付轨迹并回放成功。"
+     },
+     {
+      "t": 78.47,
+      "log_step": 109,
+      "text_zh": "观察：视频 77.20、77.33、77.47、77.60、77.73、77.87、78.00、78.13、78.27、78.40、78.47 s 的腕部视角显示金属环平躺在右侧线脚附近的木台上，木柄朝台内，张开的两指逐渐退离，工具相对木台未见移动；末帧主视角也显示工具已脱离夹爪留在台面。"
+     },
+     {
+      "t": 78.47,
+      "log_step": 110,
+      "text_zh": "推断：将一秒共同确认计入该放置节点，在视频末帧约78.47 s 完成验收；评分器 success=1、all_success=1、deterministic=1、replays=2、strict_goal_reached=1、strict_goal_row=3138，支持终点位姿、支撑接触、辅助抓握解除、机器人间隙及静止阈值均已通过。log step 110 的完整3138动作回放成功，与视频所见末态一致；精确阈值及确认起点不能仅由画面量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 47.8–48.4 s 机器人先松开木柄让工具短落终点木台；视频 65.0–71.0 s 二指夹爪再次从两侧夹住木柄，随后持柄调整工具位姿并放到台面，视频 77.2–78.47 s 张开并退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人约在视频 47.0 s 完成金属环沿整根导线的连续遍历，随后在终点短落台、重新抓取调整朝向，最终于视频约78.47 s 完成工具释放及一秒静置验收，两节点最终均成立。评分器记录两次确定性回放成功，视频末帧可见工具平躺在终点木台、夹爪张开退离，没有失败断点。缺少逐物理步状态日志，微小金属接触、精确位姿及速度阈值由成功判定支持；两项原生指标未在评分器字段中报告，保留为null，未以会话内自测数值代替。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点终态成立，遍历约47 s完成、终点放置在视频末帧验收，与帧和评分器字段一致；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": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:04:24Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--7k3tawp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f47845aa4732faee1f5d0ff9f8d1cacc27d3feb0df4654176da63afd0883899",
+   "video_sha256": "bb08c92ebce04860749758c50898049223ba37daaf0febe8782dc4fc9c49d882",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5ddc987ac7db6c57593839ac8ff9cc803979d0
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5.json
@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 5793,
+   "submitted_actions": 5793,
+   "sim_steps": 5793,
+   "physics_steps": 57922,
+   "sim_time_s": 144.80500000001578,
+   "final_reward": 1.0,
+   "replay_wall_s": 671.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 5793,
+   "strict_replay_required": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "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/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5/replay.mp4",
+  "duration_s": 144.933,
+  "fps": 15.0,
+  "frames": 2174,
+  "sha256": "c6e0babaa5742f9af4f0337596c1425cb89947659c8bfcf267e9ac43b15e9414"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [
+     [
+      105.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–33.0 s，机器人二指夹爪在左侧起点合拢夹住木柄，工具随后离开原先的木台位置，金属环沿左侧竖直导线上升；视频 42–60 s 环随夹爪经过左侧弯曲段和上方横跨段，视频 72–102 s 继续经过右侧弯曲段并沿右侧导线下降。"
+     },
+     {
+      "t": 105.6,
+      "log_step": 138,
+      "text_zh": "推断：视频 104.8–106.4 s，工具在右侧线脚附近继续下降，随后木柄从夹爪中脱出，环落向终点木台；结合 log step 137 的 traversal_complete=False 与 log step 138 的 traversal_complete=True，将连续遍历首次完成定位为视频约 105.6 s（约半秒不确定性）。这里的日志是最终交付轨迹所包含的下降和释放段，log step 152 的生成器保留此段，log step 176 对同一交付文件的两次回放均报告 traversal_complete=True，且视频动作顺序一致；未将会话早期碰线试验计入本集。"
+     },
+     {
+      "t": 144.8667,
+      "log_step": 176,
+      "text_zh": "观察：视频 106.4–109.0 s 可见工具留在右侧终点木台上，之后机器人仅在终点重新抓取并调整；视频 144.8667 s 工具仍平放在右侧线脚处。log step 176 的两次交付文件回放评估均报告 traversal_complete=True、episode_contact_coverage_complete=True；评分器 reward.success=1、deterministic=1、strict_goal_reached=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 29.0–33.0 s，机器人单臂的二指夹爪从木柄两侧闭合夹持，并带动工具上升；之后持柄转动和横移工具，视频约 105.6 s 末段工具脱离夹爪。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "观察：视频 33–102 s，机器人持木柄使金属环沿导线通过上升段、横跨段及下降段，导线穿过环内开口。推断：结合视频末段到达终点及评分器严格成功，工具金属环和杆在本集避开了固定金属导线；视频不能逐物理子步分辨微小接触。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [
+     [
+      144.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 109.0,
+      "log_step": 141,
+      "text_zh": "观察：视频 106.4–109.0 s 机器人打开夹爪并上撤，工具留在右侧木台；log step 141 对这一中间静置段的任务评估显示 supported=True、released=True、quiet=True，但 distance_to_finish_m=0.00876035，超出 0.005 m 容差。视频 126–138 s 机器人再次接近并夹住木柄，因此中间落台不记为本节点达成。"
+     },
+     {
+      "t": 144.8,
+      "log_step": 176,
+      "text_zh": "观察：视频 137.0–143.4 s，机器人夹着终点工具进行小幅调整，环和木柄保持在木台附近；视频 143.8–144.8667 s，夹爪张开并上撤，工具独立平躺在右侧线脚附近，木柄朝台内，终帧可见夹爪与工具之间的间隙。其终点外观与参考视频 78.4 s 的已释放终态一致，参考仅用于辨认外观。"
+     },
+     {
+      "t": 144.8,
+      "log_step": 176,
+      "text_zh": "推断：以视频 144.8 s 作为释放、离开并完成静置确认的达成时刻；视频最后一秒工具位置和朝向稳定，精确阈值由本次交付文件的回放评估佐证。log step 176 的两次回放均报告 success=True、supported=True、released=True、quiet=True，distance_to_finish_m=0.00006876051863170293、finish_angle_deg=1.3274555793929863；评分器 strict_goal_row=5793、sim_time_s=144.805 且 strict_goal_reached=1，与视频末端一致。没有用 agent 工作耗时换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：工具初次落到右侧木台后，机器人在视频 126–138 s 接近并以二指夹爪重新夹住木柄，随后微调工具落点；视频 143.8–144.8667 s 松开并上撤，使工具留在终点支撑面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": 6.876051863170293e-05,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": 1.3274555793929863,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分轨迹完成全部 2/2 个节点：金属环沿左侧上升段、上方横跨段和右侧下降段走到终点，约视频 105.6 s 完成连续遍历。机器人在终点重新抓取并修正初次落台的偏移，随后释放、撤离，约视频 144.8 s 完成终点静置验收；评分器严格成功，两次交付文件回放的终态一致。无状态日志，遍历达成时刻有约半秒不确定性，逐子步金属避碰、毫米级间隙及速度阈值不能单靠画面复测，依据与视频一致的回放评估和最终评分佐证；原生指标数值取自 run.json 中 log step 176 的交付回放评估字段。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点的时间与值与视频和评分器一致：约 105.6 s 工具在右侧终点附近脱手完成遍历，144.8 s 终态放置达成（strict_goal_row=5793 对应 144.8 s）；初次落台被正确排除，contact_actual 来自实际所见。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": "2026-10-31T00:06:42Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--dr6f5x5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4bf33788ff748ef4874704c7aa1afc438aed5d72a0b32b728288b9e896a9853",
+   "video_sha256": "c6e0babaa5742f9af4f0337596c1425cb89947659c8bfcf267e9ac43b15e9414",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb.json
new file mode 100644
index 0000000000000000000000000000000000000000..e13354f7dd64b7358ccac18903a9efe57a8df479
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb.json
@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 340,
+   "submitted_actions": 340,
+   "sim_steps": 340,
+   "physics_steps": 3400,
+   "sim_time_s": 8.500000000000053,
+   "final_reward": 0.0,
+   "replay_wall_s": 37.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 9,
+   "agent_resets": 45,
+   "agent_sim_steps": 4737,
+   "agent_records": 15,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.859,
+   "peak_memory_gb": 1.556,
+   "peak_processes": 15,
+   "peak_disk_gb": 1.031,
+   "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/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb/replay.mp4",
+  "duration_s": 8.6,
+  "fps": 15.0,
+  "frames": 129,
+  "sha256": "4c90168bba6ac8f716f663140411bee0b2c578bb9fc11ef6ed570ad1bc973079"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00 s，木柄金属环平放在左侧起点线脚旁；主视角及斜视角均可见工具，机器人夹爪张开且与工具分离。"
+     },
+     {
+      "t": 2.13,
+      "log_step": 274,
+      "text_zh": "观察：本次视频 0.00–2.40 s 的密集帧中，机械臂抬高并向起点上方移动，工具一直留在原位；视频 2.13 s 夹爪仍悬在工具上方。log step 274 的最终生成代码只命令末端到高处、作小幅下降后保持 260 个控制步，没有闭爪、提起或沿线移动命令。"
+     },
+     {
+      "t": 8.53,
+      "log_step": 280,
+      "text_zh": "观察：本次视频 2.5–8.5 s 的逐半秒帧及视频 7.60–8.53 s 的逐帧检查中，工具始终平放左侧起点，未上升到横跨段或到右端；视频 8.53 s 仍如此。log step 280 对最终 340 步文件的两次回放均返回 success false、progress 0.0、episode_end None，与画面一致。交付动作仅到悬空准备姿态，未启动遍历操作，无实际工具接触可标。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.53,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00 s、2.13 s 和视频 7.60–8.53 s 密集末帧中，工具均在左侧起点，右侧终点线脚周围没有工具，也没有向右侧支撑面搬运或放置的动作。成功参考视频 78.00 s 则清楚显示金属环平躺在右侧线脚附近、木柄向台内且夹爪已张开退出；该参考仅用于确认可见验收外观。本次未尝试此放置步骤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 2.13,
+   "log_step": 274,
+   "where": "首步前",
+   "evidence_zh": "观察：本次视频 2.13 s 起机器人停在起点工具上方，直到视频 8.53 s 工具仍原地平躺，没有抓取或沿线遍历。log step 274 的最终脚本只保留高处接近、小幅下降及保持；log step 277、280、286 确认交付的是该 340 步 safe_nominal 文件，而非会话中其他推转或抓取测试。推断：评分尝试在第一步的悬空准备阶段即停止，遍历操作从未启动。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 2.13,
+    "log_step": 274,
+    "evidence_zh": "观察：本次视频 0.00–2.40 s 机器人仅空手抬高、移到工具上方；视频 2.5–8.53 s 保持悬空，工具未离开起点。log step 274 的最终代码没有闭爪或遍历指令，log step 286 标明交付文件为 340 步 safe_nominal；本次评分轨迹没有开始抓持金属环沿线行进。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 69,
+    "evidence_zh": "推断：agent 未能形成可执行的取工具控制方案，最终只交付悬空基线。会话测试的日志有独立支持：log step 69 多个下降和闭爪测试均返回 inhand=None、工具原位不动；log step 124 的接近测试记录机器人夹爪压在导线上并停滞；log step 170 的端部夹取测试仍返回 IN HAND: None；log step 284 的环管夹取测试在闭爪后及上提后工具位置相同。log step 235 的生成脚本说明因这些接近、抓取困难保留基线，log step 274、277 将其生成最终交付。这些会话测试只用于解释控制困难，不作为本次视频的碰撞或接触现象。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；两节点未完成可由工具始终留在起点的画面直接判定。根因依据会话测试输出推断，未提供这些测试各自的视频或逐步接触状态，不能进一步区分接触几何、接近轨迹及跟踪控制问题；agent 自述的“所有抓法都不可行”（log step 289）不足以排除合法替代方案，不据此归因任务或环境。评分字段未报告 distance_to_finish_m 和 finish_angle_deg，原生指标保留 null。"
+ },
+ "summary_zh": "本次评分视频中机械臂只抬高并移到起点工具上方悬停，工具从视频 0.00 s 到视频 8.53 s 始终留在左侧起点，遍历与终点放置均未完成（0/2）。断点为金属环走完全线的首步前，现象为没尝试；会话测试反复未能抓起工具，支持控制层面的根因，最终交付的是 340 步悬空基线。缺少状态日志及会话测试的逐步接触证据，控制子类型无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点均未达成、断点在首步前、没尝试现象与视频一致；交付的是340步悬空基线（log 286、280），根因控制由会话测试推断并已在gap_zh说明，符合FAIL-22处理。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": "2026-10-31T00:07:34Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--ltdyukb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7276e4cc1214b1f7e0b7d903a7508594389236193a2f7836a32deba7d70eebb4",
+   "video_sha256": "4c90168bba6ac8f716f663140411bee0b2c578bb9fc11ef6ed570ad1bc973079",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu.json
new file mode 100644
index 0000000000000000000000000000000000000000..370ff813f228a5e739f94fab4323c421335c2dbd
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu.json
@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1343,
+   "submitted_actions": 1343,
+   "sim_steps": 1343,
+   "physics_steps": 13423,
+   "sim_time_s": 33.557499999999166,
+   "final_reward": 0.0,
+   "replay_wall_s": 140.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 6,
+   "agent_resets": 23,
+   "agent_sim_steps": 3962,
+   "agent_records": 171,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.859,
+   "peak_memory_gb": 1.298,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.125,
+   "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/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu/replay.mp4",
+  "duration_s": 33.667,
+  "fps": 15.0,
+  "frames": 505,
+  "sha256": "3ab83b41c6e64e57571a2f35e93f63b3091cb563b0512c597bfc881e710e9dc0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 316,
+      "text_zh": "观察：视频 0–14 s 机器人接近左侧起点并合拢夹爪；视频 16–30 s 金属环离开起点木台，随夹爪沿左侧竖直导线上升，木柄始终在夹爪中。"
+     },
+     {
+      "t": 33.6,
+      "log_step": 319,
+      "text_zh": "观察：视频 30–33.6 s 机器人在左上弯段抬升并转动工具，末帧金属环仍在该弯段，未经过上方横跨段和右侧下降段。log step 319 保存1343行轨迹，服务返回 episode_end=wire_touched；run.json 评分器 submitted_actions=1343、deterministic=1，与这次保存及视频终态相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8–14 s 单臂二指夹爪合拢夹住工具木柄；视频 16–33.6 s 工具被抬离木台并随夹爪沿左侧导线上行，末帧仍握持。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 33.5–33.6 s 工具金属环在左上弯段与固定导线相接，log step 319 服务报告 wire_touched。候选名称：碰触；这是非预期金属工具碰线，现有抓握、推/扫、压/擦等方式均不能准确描述，不能标为避开。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.6,
+      "log_step": 319,
+      "text_zh": "观察：完整视频 0–33.6 s 中，机器人未把工具送到右侧终点；视频 33.6 s 工具仍夹持在左上弯段，右侧线脚附近木台没有工具。对照成功参考视频 78.4 s 的工具平躺在右侧线脚、夹爪张开离开的外观，本次未出现终点放置或释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 33.5,
+   "log_step": 319,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 32.6–33.6 s 机器人仍握着工具在左上弯段转动，金属环靠到固定导线上后运动结束；log step 319 将该次轨迹保存为1343行，服务返回 wire_touched，log step 322–323 确认保留该失败轨迹。全线遍历未完成，之后没有恢复或重走。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 33.5,
+    "log_step": 319,
+    "evidence_zh": "观察：视频 32.6–33.6 s 工具环在左上弯段随腕部转动，末段环边与导线贴合，机器人在到达横跨段之前停止；对应保存轨迹的 log step 319 服务返回 episode_end=wire_touched。碰撞对象是固定金属导线，工具仍被握持，没有掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 312 修改环姿态生成的转角符号与横向偏移，log step 315–319 生成并执行逐段位姿路线；视频 16–30 s 工具稳定随夹爪上升，而视频 30–33.6 s 进入弯段转动后碰线，log step 319 仍报告 OBJECT_IN_HAND wand。证据支持持物运动未保持金属环与导线的安全间隙这一控制问题；不能进一步区分指令轨迹几何与实际跟踪误差。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理步接触对，无法独立精确量测穿线点、环线间隙及最先碰触的金属部位；碰线由末段画面与对应保存轨迹的服务终止字段共同支持。日志有多次重置试验，本次只使用 log step 313 重置后、log step 319 保存的轨迹判断进度；此前更远的试验不计入。评分器未报告两个原生距离/角度指标，均保留 null；控制根因的细分缺少证据。"
+ },
+ "summary_zh": "机器人夹住木柄，将金属环从左侧起点沿竖直段抬至左上弯段，未走完全线，也未开始终点放置，最终完成0/2个节点。视频 33.5 s 附近持物转弯时发生金属碰线，log step 319 对应保存轨迹返回 wire_touched，断点为全线遍历；归因到控制层，无法细分轨迹几何与跟踪误差。缺少状态日志和逐子步接触记录，微小间隙与首个接触部位无法精确复核。",
+ "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0/2、断点wire_traversed、被挡/碰撞与控制根因均与视频及log step 319(episode_end=wire_touched，sim_steps 1343=33.56 s，与视频时长吻合)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": "2026-10-31T00:04:48Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--sbvj5bu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8cc3234c4c0629722c2ba9345a48f67ee64e74e0c8aa2074809895ebfd238554",
+   "video_sha256": "3ab83b41c6e64e57571a2f35e93f63b3091cb563b0512c597bfc881e710e9dc0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6dedc47a9949961f186f6251cd2409a46c77f47
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca.json
@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 909,
+   "submitted_actions": 909,
+   "sim_steps": 909,
+   "physics_steps": 9081,
+   "sim_time_s": 22.70249999999978,
+   "final_reward": 1.0,
+   "replay_wall_s": 107.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 909,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 97,
+   "agent_sim_steps": 16740,
+   "agent_records": 5,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.856,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.062,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 1,
+   "session_log_from_monitor": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca/replay.mp4",
+  "duration_s": 22.8,
+  "fps": 15.0,
+  "frames": 342,
+  "sha256": "94697e77311b237250dcb27ff9dc7ec945f6012e70a937cfadd6c8c563a9fb38"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.667,
+      "log_step": null,
+      "text_zh": "观察：视频 3.3–5.0 s，单臂夹爪的两指位于木柄两侧并闭合；视频 5.667 s，工具已离开起点木台，随夹爪向上移动。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–17.6 s 的主视角、斜视角及腕部视角中，机器人持柄带动金属环沿左侧上升段、上方横跨段和右侧弯曲段连续前进；视频 18.6–21.2 s 继续沿右侧立段下降，未见中途绕到线外或重新起步。"
+     },
+     {
+      "t": 20.8,
+      "log_step": 176,
+      "text_zh": "推断：视频 20.4–21.2 s，环下降至右侧线脚、接近木台，约视频 20.8 s 进入终点最后10毫米，时间误差约0.4秒；随后视频 22.733 s 环已平放在线脚处。评分器 reward 的 success=1、strict_goal_reached=1、deterministic=1，且 log step 176 报告所保存909动作轨迹回放成功，支持完整连续遍历已被接受；逐物理步唯一穿线和毫米阈值不能仅凭画面直接量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.3–5.0 s 单臂二指夹爪从木柄两侧闭合，随后握住木柄带动整件工具沿线移动。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "推断：视频 5.667–21.2 s 金属环围绕导线随夹爪连续通过全线，未见碰撞；本次严格回放 success=1 支持所持工具金属部分成功避开固定导线，非接触通过。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.733,
+      "log_step": null,
+      "text_zh": "观察：视频 20.933–21.6 s，金属环降至右侧线脚的浅色木台表面，木柄朝台内；视频 21.6–22.733 s 夹爪张开并向上退开，工具留在终点支撑面，环和木柄未随夹爪上升。其终态外观与参考成功视频 78.0 s 的工具落台、夹爪退开相符；参考录像仅用于外观对照。"
+     },
+     {
+      "t": 22.733,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 21.8–22.6 s 每0.2秒的画面及视频 22.733 s 末帧；工具保持平躺在线脚旁，机器人张开的夹爪已悬于工具上方，工具未再移动。"
+     },
+     {
+      "t": 22.7,
+      "log_step": 176,
+      "text_zh": "推断：结合上述释放、落台画面及 reward 中 strict_goal_reached=1、strict_goal_row=909、success_in_hold_only=0、success=1，将含一秒静置确认的整项验收记为约视频 22.7 s 达成并保留至片尾；log step 172 记录从重置初态录制、保存并回放最终轨迹，log step 176 返回909动作且正式回放成功。精确的位姿误差、速度、辅助抓握解除及5毫米机器人间隙由严格成功判定支持，画面不能独立逐项测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.4–21.6 s 单臂二指夹爪仍从两侧握住木柄，将工具降到终点木台，之后张开并向上撤离；视频 22.733 s 工具留在支撑面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹住木柄，连续带环走完全线，约视频 20.8 s 达到终点；随后落台、松爪退开，约视频 22.7 s 完成静置验收，两个节点最终均成立，本次严格回放成功。没有状态日志，遍历完成时间约有0.4秒误差，逐物理步穿线及终态毫米级阈值以画面和评分器严格成功字段综合判断；reward 未报告两项原生距离与角度指标，故其数值留空。",
+ "conf": 8,
+ "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，两个节点均达成，时间（约20.8 s、22.7 s）与帧一致，接触标注合理，无失败层；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": "2026-10-31T00:07:42Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--zcn4zca/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "858af4566d2bcb5c1a4901c4f1c998b9ca38f907d2e0b2ba1d908c17b6a4a8c5",
+   "video_sha256": "94697e77311b237250dcb27ff9dc7ec945f6012e70a937cfadd6c8c563a9fb38",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg.json
new file mode 100644
index 0000000000000000000000000000000000000000..882f1fce164757509d716bdba4395f1d069b0983
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg.json
@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--8bywcpg",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 41,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 19856,
+   "live_rows": 19856,
+   "sim_steps": 19856,
+   "physics_steps": 198560,
+   "steps": 8650,
+   "elapsed_s": 10791.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg/replay.mp4",
+  "duration_s": 496.467,
+  "fps": 15.0,
+  "frames": 7447,
+  "sha256": "60fe17f69593d10d91b03ce40eba1ee6768fe8f7d2edec1fd837ad72cd640446"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": 240,
+      "text_zh": "观察：视频 4.0–7.0 s，机器人竖直夹爪停在左侧导线上方，指尖仍高于平躺在木台上的木柄；log step 240 的在线安全监测记录夹爪压在导线上，首次 forcing 事件的 control step 为 178。推断：log step 11 的控制频率为 40 Hz，178/40 = 视频约 4.45 s，已与视频 4.5 s 的接近停滞画面核对；整集 19856 个控制步也与约 496.4 s 的录像运动时长一致。这里的碰撞主体是机器人夹爪，不是工具金属环。"
+     },
+     {
+      "t": 37.0,
+      "log_step": 240,
+      "text_zh": "观察：视频 12.0–37.0 s，机器人夹爪沿左侧上升段、横跨段和右侧下降段运动，但金属环及木柄仍躺在左侧线脚旁；视频 37.0 s 夹爪已到右端，工具仍清楚可见于左端。log step 240 虽输出 Gripper opening after grasp: 19.2 mm 和各段执行完毕，画面没有工具跟随，不能据开度或脚本阶段名计入遍历。"
+     },
+     {
+      "t": 290.0,
+      "log_step": 662,
+      "text_zh": "观察：视频 280.0–299.0 s，机器人再次接近并闭爪，随后转动、抬起夹爪；工具仍留在左侧线脚附近，没有随夹爪走上导线。log step 662 的服务计数为 control_steps=11613、sim_time_s=290.325，和视频 290.0 s 左端闭爪姿态相符。"
+     },
+     {
+      "t": 496.4,
+      "log_step": null,
+      "text_zh": "观察：全片每约视频 5 s 的抽帧及各次接近、抬起附近的加密画面均未见金属环走过整条导线；视频 495.4–496.4 s，机器人空夹爪离开左侧区域，金属环和木柄仍在左端木台上。推断：工具没有完成从起点到右端的连续遍历，节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人 Robotiq 夹爪在左端接近、闭爪和后续沿线动作中压住固定导线；视频 4.5 s 与 log step 240 的 pressing=the gripper、on=the wire 相互支持，log step 703 也记录后续夹爪压线。未见工具被可靠夹持后沿线带走，不把闭爪指令或非零开度当作已建立抓握，也不把实际压线标成避开。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 240,
+      "text_zh": "观察：视频 37.0 s，机器人夹爪在右侧线脚附近下移，工具却仍躺在左侧起点；视频约 42.0–48.0 s，机器人在右侧张爪、撤离，右端支撑面没有留下工具。log step 240 的 Release、Retreat 和 confirmation watch 是脚本执行阶段，不能证明工具被放到终点。"
+     },
+     {
+      "t": 496.4,
+      "log_step": null,
+      "text_zh": "观察：视频 495.4–496.4 s 的末段画面仍显示工具留在左侧线脚旁，右侧终点线脚附近没有工具；与成功参照视频 78.0 s 中金属环平躺在右端、木柄朝台内且夹爪张开的外观不同。推断：本次录像没有达到终点放置及释放静置的验收条件，节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "视频 37.0–48.0 s，机器人在右端执行空载下移、张爪及撤离，属于已执行的放置尝试；工具始终在左端，这段没有机器人对工具的搬放接触，也没有工具对终点支撑面的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 4.5,
+   "log_step": 240,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.0–7.0 s，机器人为拿起工具而竖直接近左端，夹爪停在导线上方，木柄仍在其指尖下方的木台上；log step 240 的在线安全监测明确记录夹爪压在导线上，事件 control step 178 对应视频约 4.45 s（40 Hz，已核对视频 4.5 s）。视频 12.0–37.0 s 随后的沿线动作没有带走工具，直至视频 496.4 s 工具仍在左端。推断：首次接近受阻发生于走完全线步骤的抓取准备中，后续重试始终没有完成该步骤，因此以此为首个未修复断点。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 4.5,
+    "log_step": 240,
+    "evidence_zh": "观察：视频 4.0–7.0 s，机器人夹爪在左侧导线上方停滞，没有降到木柄夹持高度；log step 240 的服务安全监测记录 pressing=the gripper、on=the wire，事件最大接触力 344.9 N，接近段 max_press_force_n=714.6 N。后续视频 12.0–37.0 s 可见夹爪空载沿线运动而工具留在左端；这是夹爪与固定导线的阻挡接触，不据此声称工具金属碰线或立即判负。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：首次抓取选用的竖直接近几何没有给夹爪本体避开上方导线留出空间。log step 210 的脚本设抓取 TCP 为 [0.3600,-0.2979,0.1630] m、朝下，导线平面 y=-0.3060 m、顶部 z=0.3000 m；log step 251 的同一抓取姿态 FK 给 r85_base=[0.3600,-0.2979,0.3069] m，夹爪基体位置与顶部导线非常接近。log step 240 的真实执行监测证实夹爪压线，视频 4.5 s 则显示指尖还未到木柄；该接近设计使需要的夹持无法在计划位置建立。后续 log step 512、703 仍记录夹爪压线，录像中工具持续留在左端。本次尝试没有验证出可成功完成遍历的替代抓取方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有本次逐物理步的穿线历史或辅助抓握开关记录；后续部分闭爪瞬间木柄被夹爪遮挡，不能确定是否发生过短暂双侧夹持，因此不标已建立抓握或抓持后滑脱。工具未随夹爪走完全线及未到终点则在主、斜视角可判为未达。评分器字段未报告 distance_to_finish_m、finish_angle_deg，故两项原生指标均留 null；不从失败总分补造数值。"
+ },
+ "summary_zh": "本次在线评分轨迹两个节点均未完成：机器人反复接近、闭爪并执行沿线及终点张爪动作，工具却持续留在左侧起点附近，视频 496.4 s 仍未到右端。断点在视频约 4.5 s 的走完全线步骤中：抓取接近几何使夹爪先被固定导线阻挡，在线安全监测也记录夹爪压线，后续尝试没有修复该步骤。没有状态日志，不能细分后续遮挡处是否短暂夹持或复原逐物理步穿线状态，但两个节点未达的画面证据明确。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点未达、断点在视频约 4.5 s 的 wire_traversed、被挡/碰撞与抓取和接触设计根因均与视频、日志相符，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": "2026-10-31T00:11:48Z",
+  "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/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--8bywcpg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "83758d1147bba21c06849f1752044a17b505f7ba3aeb28c743e0fa2e781d2f63",
+   "video_sha256": "60fe17f69593d10d91b03ce40eba1ee6768fe8f7d2edec1fd837ad72cd640446",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--cadldrs.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--cadldrs.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d941a874ae9fb833c6fdbedd04becb59bf9294
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--cadldrs.json
@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--cadldrs",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 4436,
+   "live_rows": 4436,
+   "sim_steps": 4436,
+   "physics_steps": 44359,
+   "steps": 3227,
+   "elapsed_s": 3569.0,
+   "replay_wall_s": 335.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.248,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.419,
+   "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/roboarc-buzz-wire-3d-01-i01-standard--cadldrs/replay.mp4",
+  "duration_s": 111.0,
+  "fps": 15.0,
+  "frames": 1665,
+  "sha256": "dc4effbc199826ca262000430035288a7dc9233c66706a6972619dcaec0429e7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环平放在左侧起点线脚周围，木柄朝台内；工具尚未遍历导线。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 35,
+      "text_zh": "观察：视频 10.0–14.0 s，机器人用收拢的夹爪侧推木柄，工具绕左侧线脚转动，金属环仍在起点木台上；log step 35 的推转脚本及前后测量与此动作一致。"
+     },
+     {
+      "t": 110.9,
+      "log_step": 71,
+      "text_zh": "观察：全片粗查并核对视频 100.27–110.93 s，机器人反复靠近起点木柄，金属环始终未走上横跨段或右侧下降段；视频 110.4–110.93 s 才随夹爪抬离起点木台，仍在左侧立线附近。log step 71 的在线机器人服务状态为 done=true、reason=wire_touched、resumes=0；评分器 live_matches_replay=1。全线遍历未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 10.0–14.0 s，Robotiq夹爪收拢后侧推木柄，使工具绕起点线脚转向；这段是推转，未见夹住抬起。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 110.4–110.93 s，木柄位于二指之间，工具随夹爪上移、离开起点木台；末次夹取确实带起工具，早先的小幅试提未见相同结果。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 110.8–110.93 s，夹爪所持工具的金属环缘靠到左侧立线，log step 71 的机器人服务确认 wire_touched。候选接触方式为“碰触”；现有方式不表达这种非预期金属碰线，不能用“避开”代替。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110.93,
+      "log_step": 71,
+      "text_zh": "观察：视频 0.0 s 至 110.93 s 的主视角与斜视角中，右侧终点线脚附近一直没有工具；末帧工具仍由夹爪带在左侧起点上方。未发生向终点搬运、终点释放或静置验收，因此该节点未达到且未开始操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 110.8,
+   "log_step": 70,
+   "where": "探索",
+   "evidence_zh": "观察：视频 110.4–110.93 s，机器人从起点木柄处上移并带起金属环，环缘向左侧立线靠拢，随后画面结束；log step 70 的 tipcal.py 是夹指高度校准动作，先保持闭爪目标0.79把TCP升至0.24 m，再计划移到台内探测桌面，而非执行沿线轨迹。log step 71 的在线服务确认 wire_touched 并终止。推断：失败发生在遍历步骤的夹取/校准探索阶段，全线遍历未完成，终点放置尚未开始。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 110.8,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 110.4–110.93 s，机器人闭爪抬起工具，金属环离开木台后环缘贴向起点立线；腕部视角可见环缘与导线间隙消失。log step 70 返回 EpisodeOver: wire_touched，log step 71 的机器人服务状态再次确认该金属触线终止原因；不是仅由失败分数推断碰撞。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent在抓取结果尚未可靠确认时，安排了保持闭爪的校准撤离，未先解除可能的持物接触，导致本应独立于工具的探测动作带起工具碰线。依据是log step 66的小幅试提后工具高度统计仍在台面附近，log step 67继续以0.79闭爪目标下降，log step 70的校准脚本没有张爪步骤，直接保持0.79上移并计划横移；视频 110.4–110.93 s实际显示工具被带起。agent在log step 72、75事后也自述误以为未抓住、应先张爪。该归因针对动作顺序和持物前提未核实，不把辅助抓握生效时刻当作已知事实。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理子步接触记录，无法独立确定辅助抓握何时生效、触线的精确子步及首先接触的是环缘还是相邻金属杆；金属触线事实由本次单episode的机器人服务确认，视频支持其发生于最后抬起动作。两个节点均可凭可见位置判为未达，不能把agent此前对试提的判断当作实际未持物的证明。"
+ },
+ "summary_zh": "机器人只在左侧起点推转工具并反复试夹，未完成全线遍历，也未开始终点放置，节点最终为0/2。视频 110.4–110.93 s，机器人在夹指高度校准前保持闭爪上移，实际带起工具碰到起点导线；log step 71的在线服务以wire_touched终止，校准动作前未先解除可能持物的顺序安排是有日志支持的根因。没有状态日志，辅助抓握建立时刻及金属首次接触部位不能精确复核。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点未达、final=0、断点 wire_traversed 与视频和 log step 70/71 一致；wire_touched 为服务对本次单 episode 的读数。碰线现象与推理/规划根因均有证据支持，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:11:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--cadldrs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--cadldrs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6d8c114a17634966fcfbddcce01b8c567a5c495d6520d5b7d0156f8189476b54",
+   "video_sha256": "dc4effbc199826ca262000430035288a7dc9233c66706a6972619dcaec0429e7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9af3d98fccbe56eb9a3f1746810dc5768768237
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv.json
@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 18,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 9904,
+   "live_rows": 9904,
+   "sim_steps": 9904,
+   "physics_steps": 99035,
+   "steps": 1522,
+   "elapsed_s": 5949.6,
+   "replay_wall_s": 728.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.303,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.038,
+   "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/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv/replay.mp4",
+  "duration_s": 247.667,
+  "fps": 15.0,
+  "frames": 3715,
+  "sha256": "c8a1c47331222bbaacfa727e81e4de77bb4f1142702a5582cad0c06229a874f4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的金属环围在左侧起点线脚，木柄平放木台；视频 0–240 s 的粗查中机器人反复接近、撤回与调整夹爪，工具未走过上方横跨段。"
+     },
+     {
+      "t": 244.0,
+      "log_step": 369,
+      "text_zh": "观察：视频 242.0 s 工具仍在起点附近；视频 244.0–246.4 s 木柄夹在机器人两指之间并随夹爪上升，原来线脚旁的工具已离开台面，环升向左侧竖直段顶部。此前抓取调整后来已修复，不能把早期空夹当作最终失败。"
+     },
+     {
+      "t": 247.6,
+      "log_step": 423,
+      "text_zh": "观察：视频 246.8–247.6 s 机器人在左上弯折处旋转所持工具，末帧仍在该处，未沿横跨段走向右侧、更未下降到终点；log step 423 的在线机器人服务观测为 done=true、reason=wire_touched、control_steps=9904。评分器字段 live_matches_replay=1、resumes=0。"
+     },
+     {
+      "t": 247.6,
+      "log_step": 425,
+      "text_zh": "推断：log step 18 的服务读数 control_steps=161、sim_time_s=4.025 给出 40 Hz；log step 425 的转弯提交结束读数 9901/40=247.525 s，log step 423 的结束读数 9904/40=247.6 s，已与视频 246.6–247.6 s 的左上转弯及最后一帧核对。这是本次在线受评集的控制步映射，不使用 agent 工作时间；全线遍历未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 244.0–247.6 s 单臂二指夹爪夹住工具木柄，木柄与金属环随夹爪升起并在左上弯折处转向。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 247.6 s 工具仍由夹爪握持于左上弯折处；log step 423 的机器人服务报告 wire_touched，确认所持工具金属部分触碰固定导线。候选名称“金属触碰”：并非推扫、压擦或成功避开；现有画面不能分清触线的是环缘还是金属杆。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具位于左侧起点，右侧终点线脚附近的木台没有工具；此放置条件在开局不成立。"
+     },
+     {
+      "t": 247.6,
+      "log_step": 423,
+      "text_zh": "观察：视频 244.0–247.6 s 工具一直在夹爪中向左上弯折移动，末帧仍由机器人持于左侧，右侧终点木台始终空着；没有向终点放置或松手静置的动作。对照成功参照视频 78.4 s，同一主视角清楚显示工具平躺于右侧线脚、夹爪张开退出；本次未出现该终态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 247.6,
+   "log_step": 423,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 246.8–247.6 s 机器人握着工具在起点竖直段的左上弯折处转向，尚未走过横跨段；log step 409 提交转弯动作后进行保持观测，log step 425 显示转弯提交结束于控制步 9901，log step 423 的服务最终观测在控制步 9904 报告 done=true、reason=wire_touched。推断：按已核对的 40 Hz 控制步映射，碰线结束约为视频 247.6 s；后续横跨命令在 log step 422 被 EpisodeOver 拒绝，该步骤再未修复。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 247.6,
+    "log_step": 423,
+    "evidence_zh": "观察：视频 246.8–247.6 s 机器人持工具在固定导线左上弯折处转向，金属环附近被手指部分遮挡；本次在线机器人服务在 log step 423 明确报告 wire_touched，表示工具金属部分与固定金属导线发生接触并结束该集。工具未走到横跨段或终点，未见脱手坠落；以这次固定导线碰撞作为单一现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的脚本在 log step 406、408 根据估计的环心相对夹爪偏移生成半径 18 毫米、旋转 90° 的九个转弯目标，log step 409 一次提交并随后保持观察；视频 244.0–246.4 s 已显示机器人能够夹持工具沿竖段上移，但视频 246.8–247.6 s 的持工具转向最终由服务在 log step 423 确认为碰线。该段精细位姿与金属间隙控制未能保持避线，归入控制大类；没有足够证据进一步归为抓取设计、轨迹或逆解、反馈控制或参数调试。"
+   }
+  ],
+  "gap_zh": "没有逐物理步状态或接触对日志；视频 246.8–247.6 s 的环缘及金属杆部分被夹爪遮挡，具体触线部位由画面不能确定，碰线事实依据该次在线服务的 wire_touched 结果。未记录真实工具位姿和穿点轨迹，不能区分环心几何估计偏差、转弯路径偏差与执行跟踪偏差，根因仅标控制大类。评分器未报告 distance_to_finish_m 和 finish_angle_deg，原生指标值留 null。"
+ },
+ "summary_zh": "机器人经多次抓取调整后夹起工具，沿左侧起点竖直段升至上弯折，但未走过横跨段，两个目标节点均未完成（0/2），终点放置未开始。视频约 247.6 s 的持工具转向期间发生金属碰线，在线服务以 wire_touched 结束，断点为全线遍历的操作中，根因仅能归到精细位姿与间隙控制。末段金属部分被夹爪遮挡且没有物理步接触日志，不能确定触线部位或更细的控制失效来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点 wire_traversed 操作中、被挡/碰撞 + 控制的标注与视频末段及 log step 409/423/425/426 的服务读数一致，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": "2026-10-31T00:13:10Z",
+  "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/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--mkgyqmv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "204359feb67f83ac3c5c0f451313a68f61844226ca73ddfceaafb8bbba6b215b",
+   "video_sha256": "c8a1c47331222bbaacfa727e81e4de77bb4f1142702a5582cad0c06229a874f4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a07cd2b5b79e6128e98a6ab0540cbd620fcb74a
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 28,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 43669,
+   "live_rows": 43669,
+   "sim_steps": 43669,
+   "physics_steps": 436690,
+   "steps": 7782,
+   "elapsed_s": 8428.1,
+   "replay_wall_s": 3681.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.385,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.19,
+   "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/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p/replay.mp4",
+  "duration_s": 1091.8,
+  "fps": 15.0,
+  "frames": 16377,
+  "sha256": "0b1213d3de6ec448f288f87abde386a394e5d526f86005d06dba482fa16840c5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，工具的金属环平放在左侧起点线脚周围，木柄放在木台上；机器人夹爪空着。"
+     },
+     {
+      "t": 262.0,
+      "log_step": null,
+      "text_zh": "观察：视频 260.0–265.0 s，机器人夹爪向起点木柄靠近、闭合后回撤，腕部视角中的金属环和木柄仍留在木台上，没有随夹爪提起。视频 330.0–369.5 s 的密集画面再次显示指端接近、抵住木柄后离开，工具仍在起点。"
+     },
+     {
+      "t": 1091.7,
+      "log_step": 366,
+      "text_zh": "观察：视频全程每约 10 s 的粗采样中未见金属环沿左侧上升段、上方横跨段及右侧下降段通过；视频 1090.8–1091.7 s 的末秒画面中，环仍平放在左侧线脚，机器人空爪离开工具。log step 366 的在线服务状态为 done=false、reason=null；评分器 success=0、live_matches_replay=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 350.0–355.0 s，单臂夹爪的指端抵在起点工具木柄上方并闭合，随后回撤；木柄未进入可承载的对向夹持，工具没有随爪提起。实际为指端对木柄的抵压、擦碰。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1091.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 与视频 1091.7 s 的主视角、斜视角均显示工具在左侧起点，右侧终点线脚附近没有工具；全片粗采样中未见机器人持工具移向终点或在终点释放。对照成功参考视频 78.0 s，终点放置应可见环平躺在右侧线脚周围、木柄朝台内，该外观在本次末帧中明确不存在。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 262.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 260.0–265.0 s，机器人在起点尝试夹取木柄，闭爪后空爪回撤，环没有被带起。此后仍反复处理起点抓取，视频 354.0–357.0 s 再次出现同样结果；直到视频 1091.7 s 工具仍在起点，沿线遍历未完成。断点时间取一次清楚可见的空夹回撤作导航锚点。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 262.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 261.0–265.0 s 及视频 350.0–357.0 s，机器人指端靠到木柄、闭合再上移，金属环和木柄均留在木台上，没有出现工具随夹爪离台的阶段。所需的可提起工具的夹持接触未建立，因而无法开始沿线移动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 350.0–355.0 s 的腕部近景和视频 354.0 s 的主、斜视角显示，机器人指端抵在木柄上方，闭合时未从木柄两侧形成承载夹持，随后回撤而工具留台。log step 216 中 agent 脚本命令闭爪并上抬，服务反馈夹爪开度为 0；log step 314 又逐渐闭合至开度 0 后上抬，视频全程仍未见工具被提起。接近目标后所用指端与木柄的接触几何没有建立有效抓握，是沿线动作无法启动的直接原因。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐物理步接触对或辅助抓握激活记录，无法复核每次尝试的指垫接触细节；抓取接触设计根因由可见几何、空爪回撤与日志中的闭爪命令联合推断。评分器未报告 distance_to_finish_m 和 finish_angle_deg，原生指标值保留 null。"
+ },
+ "summary_zh": "机器人反复在起点接近、抵压木柄并闭爪，但未把工具从木台提起；金属环走完全线和工具放到终点两项均未达到，最终为 0/2。断点在沿线遍历的取工具阶段，现象为未建立有效夹持，证据指向抓取接触几何不适配；视频 1091.7 s 工具仍在左侧起点。没有状态日志及逐步接触对，接触设计根因属于结合视频与命令反馈的推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成、工具全程留在左侧起点，与视频一致；断点、没建立接触、抓取和接触设计根因均有帧与日志支撑，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": "2026-10-31T00:02:48Z",
+  "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/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--p3u7k6p/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ae65f557824e7c5ee53fdbeba5c3c3bc8b867b48970a47e2bbe4d90a0bf34d08",
+   "video_sha256": "0b1213d3de6ec448f288f87abde386a394e5d526f86005d06dba482fa16840c5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs.json
new file mode 100644
index 0000000000000000000000000000000000000000..61957a8658f637e90c7dfde53460cea6cc7b1cfd
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs.json
@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 34,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 20087,
+   "live_rows": 20087,
+   "sim_steps": 20087,
+   "physics_steps": 200870,
+   "steps": 4130,
+   "elapsed_s": 9553.7,
+   "replay_wall_s": 1322.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs/replay.mp4",
+  "duration_s": 502.267,
+  "fps": 15.0,
+  "frames": 7534,
+  "sha256": "2065cb1a375fe3a73e51ec231761565d0f835a6989ff20975d62023dc8b608f4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的主视角和斜视角中，工具平躺在左侧线脚旁，金属环套在起点，木柄朝台内；右侧终点没有工具。"
+     },
+     {
+      "t": 8.9,
+      "log_step": 67,
+      "text_zh": "观察：视频 8.9 s 夹爪在导线上方闭合，工具仍躺在左侧木台，木柄未进入指间；视频 5.0–22.0 s 的密集帧也没有工具随手抬起。log step 66 的抓取命令返回 TCP 高度约 0.314 m，而该脚本的目标高度为 0.1615 m；log step 67 的服务读数为 control_steps=358。推断：控制频率由 log step 34 的服务规格给出为 40 Hz，358/40=8.95 s，与视频 8.9 s 的空夹姿态吻合；该换算仅用于在线控制步与视频核对，不使用 agent 工作时间。"
+     },
+     {
+      "t": 212.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0–75.0 s、210.0–234.0 s 的密集帧及全片约每隔 10 s 的检查中，机器人反复改变夹爪位置和姿态，工具的环与木柄一直留在左侧线脚旁；视频 212.0 s 腕相机可清楚看见工具仍在木台上，未被夹持。未出现沿左侧上升段、上横段、右侧下降段的工具连续移动。"
+     },
+     {
+      "t": 501.8,
+      "log_step": 266,
+      "text_zh": "观察：视频 495.0–502.0 s 的密集检查及视频 501.8 s 的斜视角中，工具仍在左侧起点，机器人在其上方转腕，右侧线脚为空；log step 266 的服务最终状态为 control_steps=20087、done=false、reason=null、resumes=0，评分字段 live_matches_replay=1。推断：这是同一个未重置在线 episode；虽有保存的求解脚本，实际评分动作未完成遍历。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：候选方式“空夹／未夹持的抓取尝试”。机器人 Robotiq 二指夹爪在工具木柄上方或侧前方接近、闭合并撤离（视频 8.9 s、50.0 s、212.0 s），没有看见双指夹住木柄或工具随夹爪运动；因此不标抓握。现有方式没有空夹这一项；瞬时轻触是否发生无法由局部遮挡的画面确定，也不把计划中的手持工具避线当作已发生。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具在左侧起点，右侧终点支撑面为空，初态不满足终点放置。"
+     },
+     {
+      "t": 501.8,
+      "log_step": null,
+      "text_zh": "观察：全片粗采样和视频 495.0–502.0 s 的密集帧均没有机器人将工具送到右侧；视频 501.8 s 斜视角仍能看见左侧线脚旁的工具，右侧终点没有工具。参考成功录像视频 78.3 s 可见工具平躺于右侧线脚旁且夹爪张开离开，此可见结果在本次录像中从未出现。推断：本次未开始终点放置，也未达到释放静置验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 8.9,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.9 s 机器人执行首次抓取后，夹爪闭合在木柄上方，工具仍留在左侧起点；此后视频 50.0 s、212.0 s 及最后视频 501.8 s 都未见工具被拿起或沿线推进。log step 66–69 的接近与闭合命令未把 TCP 降到抓取目标，后续 log step 264–265 又在抓取前的转腕中返回 FLIP FAIL／FLIP2 FAIL。推断：最早未修复的失败属于金属环走完全线步骤中的工具抓取准备，而不是尚未尝试的终点放置。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.9,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 8.9 s 夹爪闭合时木柄仍平躺在下方台面，视频 50.0–63.0 s 夹爪再次接近和撤走时工具没有随手抬起；视频 210.0–234.0 s 腕相机仍看见完整工具留在起点，视频 501.8 s 斜视角也未见其被拿走。推断：遍历所需的夹爪与木柄的有效夹持始终未建立；不能把夹爪闭合读数当成抓住工具，也没有已抓住后丢失的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 256,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 66 的抓取目标 TCP 高度为 0.1615 m，服务返回实际约 0.314 m，log step 69 再次下降后仍为 0.2901 m、位置误差 129.9 mm；log step 100 的实际与指令关节位置不一致且多个关节力矩达到限幅。log step 255 的脚本数值检查还显示姿态插值在比例 0.05 时转过 118.79°，log step 256 修正 Rodrigues 公式括号后相同比例变为 4.05°；修正后 log step 264–265 的转腕仍未执行到抓取朝向，返回 FLIP FAIL／FLIP2 FAIL。推断：接近和转腕的控制实现及执行未能把夹爪送到有效抓取位姿，解释了视频 8.9 s、50.0 s、212.0 s 中一直未夹住工具的现象；根因停在控制，未把 agent 对具体碰撞体或关节限位的猜测当作已验证事实。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整运行记录、评分录像和成功参考录像，但没有本次状态日志或逐对接触记录；部分接近时指尖与木柄接触边界被夹爪遮挡，无法排除瞬时轻触，也无法确认每次停滞的具体碰撞体。推断：这些缺口不影响工具一直留在起点、两个节点均未达成的判断，但不足以区分接触布局、碰撞、关节限位和跟踪误差在各次停滞中的贡献，故不增加碰撞现象或更细的控制根因；评分器未报告两项原生终点误差指标，值保留 null。"
+ },
+ "summary_zh": "机器人反复接近左侧木柄、闭合夹爪和调整转腕，但评分录像始终没有工具随手抬起或沿线遍历，终点放置也未开始，最终完成 0/2 个节点。断点为金属环走完全线步骤的抓取准备：有效夹持未建立，日志显示下降不到位、姿态插值代码错误及后续转腕执行失败；保存的脚本不等于在线 episode 已执行其遍历与放置段。没有状态与逐对接触日志，无法进一步核实各次停滞的具体阻挡体。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频抽帧确认工具全程留在左侧起点，两节点未达成，断点、现象与根因均有日志和画面支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "effort": "high",
+  "created": "2026-10-31T00:02:45Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--wbkz9rs/03_label"
+   },
+   {
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+    "ok": true,
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+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_choice": "HF replay.mp4"
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+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk.json b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f97c02125e0bb192ae5d1434a7f484786cd3efc
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk.json
@@ -0,0 +1,222 @@
+{
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+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
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+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 1483,
+   "live_rows": 1483,
+   "sim_steps": 1483,
+   "physics_steps": 14823,
+   "steps": 166,
+   "elapsed_s": 822.4,
+   "replay_wall_s": 93.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk/replay.mp4",
+  "duration_s": 37.133,
+  "fps": 15.0,
+  "frames": 557,
+  "sha256": "08f3b83a1c9f8cbc07e4732154544de55b032d1170cbc00a62582e5836111015"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–28.0 s，机器人二指夹爪夹住木柄，工具随夹爪上升，金属环由左侧线脚附近沿左侧直线段向上移动。"
+     },
+     {
+      "t": 37.067,
+      "log_step": 44,
+      "text_zh": "观察：视频 32.0–37.067 s，机器人持工具在左上第一个弯段转动，结束时金属环仍在该弯段附近；没有沿上方横跨段到达右侧下降段和终点。log step 44 中在线机器人服务返回 done=True、reason=wire_touched，表示金属工具触线导致本集终止；运行评分字段 live_matches_replay=1、resumes=0 与本次录像一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.0–37.067 s，机器人单个二指夹爪夹持木柄，木柄和金属环一起随夹爪抬升、转动。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 36.0–37.067 s，夹爪所持工具的金属环在固定导线左上弯段与导线贴近；log step 44 的机器人服务报告 wire_touched。候选“非预期碰触”：现有方式没有碰撞接触项，终止时实际发生金属工具碰线，不能记成避开。"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.067,
+      "log_step": 44,
+      "text_zh": "观察：视频 0.0–37.067 s，右侧终点线脚附近木台上始终没有工具；视频 37.067 s 工具仍由机器人夹持在左上弯段，未进行终点放置、松爪撤离或静止确认。成功参考录像视频 78.467 s 可见工具平躺在右侧终点线脚旁且夹爪张开，本次录像没有出现该外观。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 37.0,
+   "log_step": 44,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 36.0–37.067 s，机器人仍夹持木柄，在左上第一个弯段继续旋转金属环，尚未走到上方横跨段；log step 44 的在线机器人服务在 first_bend_exit0 返回 done=True、reason=wire_touched，随后本集停止。该次碰线发生于沿线遍历操作中，后续没有恢复或完成遍历。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 37.0,
+    "log_step": 44,
+    "evidence_zh": "观察：视频 36.0–37.067 s，机器人将夹持的金属环转向左上导线弯段，环与导线贴近；log step 44 中机器人服务明确报告 reason=wire_touched 并结束本集，证实工具金属部分与固定金属导线发生接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 37.0,
+    "log_step": 42,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 34、39、42 中 agent 的脚本把环心沿拟合导线路线采样，并将环的朝向随弯段旋转，以逆解生成关节位置序列；log step 44 的服务反馈却在该过弯动作中报告 wire_touched，视频 36.0–37.067 s 也显示工具仍停留在首个弯段。持工具过弯时的位置、朝向与净空控制未能维持无碰线条件，归于控制；没有足够证据进一步区分标定误差、接触几何或执行跟踪子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理步接触对，视频分辨率不足以辨明终止时是环缘哪一点或金属杆触线；碰线事实由单次在线 episode 的服务 reason=wire_touched 确认。现有记录不足以进一步拆分控制根因，也未报告 distance_to_finish_m、finish_angle_deg 的数值。"
+ },
+ "summary_zh": "机器人夹持木柄，带金属环从左侧线脚沿直线段上升，在左上第一个弯段碰线终止；全线遍历与终点释放放置均未完成，最终为 0/2 节点。视频 36.0–37.067 s 与 log step 44 的服务 wire_touched 反馈共同支持断点，根因仅归于持工具过弯的控制失败。缺少状态日志及接触对，不能进一步确定触线部位或控制误差的具体来源。",
+ "conf": 8,
+ "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：工具被夹持上升并在左上第一个弯段碰线终止（log step 44 wire_touched），两节点均未达成，断点、现象和停在“控制”的根因均有证据支持。",
+    "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": "2026-10-31T00:11:07Z",
+  "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/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--xmq4htk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "455b93e4a325b07d2e45ea73d3826a2dc275f8429b9e403f8bac97dcfbfa1770",
+   "video_sha256": "08f3b83a1c9f8cbc07e4732154544de55b032d1170cbc00a62582e5836111015",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc.json
new file mode 100644
index 0000000000000000000000000000000000000000..783c0a4daadb83f212895edc7828b05419b1ecdd
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 9023,
+   "submitted_actions": 9023,
+   "sim_steps": 9023,
+   "physics_steps": 90230,
+   "sim_time_s": 225.57500000003415,
+   "final_reward": 0.0,
+   "replay_wall_s": 1252.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 21,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.864,
+   "peak_memory_gb": 4.111,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.296,
+   "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/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc/replay.mp4",
+  "duration_s": 225.667,
+  "fps": 15.0,
+  "frames": 3385,
+  "sha256": "1cdfcfc4325474b79b0e6b5cd3ef3afa9bb0c69c9bc4932ad2ecabc0e60c8038"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频约9–19 s，单臂夹爪夹住木柄，工具离开起端台面并沿起始立柱向上移动；随后抽查全程各视角，工具经过弯线和绝缘套，但没有到达另一端下降立柱的底端。"
+     },
+     {
+      "t": 219.0,
+      "log_step": 141,
+      "text_zh": "观察：视频210–225.6 s的密集帧显示，机器人在螺旋段附近降低工具、张开夹爪并后撤，工具挂在空中的黑色绝缘套上摆动后停下；视频225.6 s仍未到终端立柱，完整通过未成立。log step 141明确执行降低、松手、后撤及等待，log step 144保存9023行，log step 148保存的仍为9023行部分轨迹，与视频末态相符。"
+     },
+     {
+      "t": 225.6,
+      "log_step": 159,
+      "text_zh": "观察：log step 159中agent自述交付只走到约1.16 m、全线约1.488 m；这只是与视频所见中途悬挂一致的会话说明，不据此赋予通过节点完成时间。评分字段n_actions=9023、deterministic=1、strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约9–19 s夹爪两指夹住木柄并带动工具上升；视频约59–73 s及约137–161 s可见松手挂线、调整机械臂再夹住木柄，随后继续带着环沿线移动；视频约218–225.6 s最终松手，工具留在中途绝缘套上。工具本身的路径是受评对象，按直接抓握记一次接触链。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225.6,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样及末段210–225.6 s密集帧中，工具没有被带到终端支撑台平放；最后一帧木柄与金属环仍悬在线的中途，终点台面没有工具。故放置条件从未成立，也未见机器人开始该终点放置动作。"
+     },
+     {
+      "t": 225.6,
+      "log_step": 148,
+      "text_zh": "观察：成功参考inputs/oracle/replay.mp4约255 s可见工具沿终端下降，视频343.9 s工具已平躺在支撑台、环位于终端脚边；本段视频225.6 s缺少这些可见关系。log step 148交付说明亦明确末段与终点放置未解出；参考仅用于识别完成线索，不作为本次完成的证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 219.0,
+   "log_step": 141,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约217–221 s机器人在螺旋段附近将工具挂到绝缘套并松开后退，直至视频225.6 s仍停在该处，没有继续到终端。log step 141记录这次有意挂线与撤离，log step 144、148保存的是到此为止的9023行轨迹；尚在处理沿线通过步骤，终点放置尚未启动。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 145,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent未解出可从当前挂线姿态继续的抓取与机械臂运动。log step 142–143对该姿态搜索侧向抓取，一侧无解、另一侧候选关节4约为-3.07 rad且限位余量接近零；log step 145的多组离线接续轨迹在沿线位置约1.17–1.20 m出现超出脚本阈值的位置误差，多组关节4同样约为-3.07 rad。log step 148保存部分轨迹，log step 159明确报告末段未解出，与视频225.6 s中途悬挂相符。这些是会话求解失败证据，不能据此声称交付视频实际发生关节顶限或碰撞。",
+    "note_zh": "未验证当前挂线姿态下的可行抓取与连续运动，证据不足以区分接触几何设计与轨迹/逆解算法，保留控制大类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有逐帧状态日志；视频不能核实毫米级通过误差、子步金属接触或最终静止指标，但工具未到终端及未放到台面清楚可见。交付在有意挂线后结束；log step 142–147、151–156中的碰撞、限位和逆解失败属于会话规划测试，没有进入这份交付轨迹，故现象层留空，不把有意松手写成没保持住或把测试写成视频中的够不着。根因由会话求解记录推断，尚不能区分抓取设计与求解器不足，也未排除其他合法方案。"
+ },
+ "summary_zh": "机器人抓住木柄，沿起始立柱、弯线及螺旋段移动并在绝缘套处换握，最后将工具挂在中途后撤离；两个节点均未达成，终态0/2。断点为金属环走完全线，日志显示后续抓取与连续运动求解未成功，因此只谨慎归入控制；交付未执行后续失败测试，现象层留空。没有状态日志，无法细核子步接触和毫米级指标，但视频末秒清楚显示工具仍悬挂、终点台面未放置。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、断点 loop_traversed、末态悬挂与视频一致；现象层留空并给出 gap_zh、根因保守归入控制，均有日志与视频支持，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": "2026-10-30T23:45:36Z",
+  "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/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--bxvpklc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66a81a336f3e8997d4f3d2788a3c48551eaff9da85d4946f542f34be3a858223",
+   "video_sha256": "1cdfcfc4325474b79b0e6b5cd3ef3afa9bb0c69c9bc4932ad2ecabc0e60c8038",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dfe49cdef37650ce704f9308e14b8a66f45eab7
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa.json
@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 942,
+   "submitted_actions": 942,
+   "sim_steps": 942,
+   "physics_steps": 9420,
+   "sim_time_s": 23.54999999999973,
+   "final_reward": 0.0,
+   "replay_wall_s": 106.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 11,
+   "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": 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/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa/replay.mp4",
+  "duration_s": 23.6,
+  "fps": 15.0,
+  "frames": 354,
+  "sha256": "c50d647fcf3b971b3796b307af3ff4236928d7a50de5264da91b8beea6603ce1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环位于画面左前方起端立柱脚边，木柄平放在木质台面上，机器人夹爪尚在右侧上方。全程粗查并在视频 17.0–23.53 s 密查，机器人只接近并夹合木柄，环未沿起端立柱上升，更未经过上方弯线、螺旋段和终端下降段。"
+     },
+     {
+      "t": 21.07,
+      "log_step": 176,
+      "text_zh": "观察：视频 20.0 s 夹爪在柄两侧，视频 21.07 s 两指已向内夹住手柄，环仍在起端脚边；视频 22.6–23.53 s 保持该位置。log step 176 的同一组 942 动作执行记录报告 in_hand=wand、sim_steps=942；log step 177–178 将该抓取动作数组保存为交付文件，log step 231 最终仍检查到 942 动作。"
+     },
+     {
+      "t": 23.53,
+      "log_step": 234,
+      "text_zh": "推断：视频 23.53 s 环仍在起端，结合 log step 234 中 agent 明确自述交付文件仅有抓取阶段，完整连续通过未达成；会话中的离线沿线航点搜索没有作为视频进度计入。成功参考视频 236.0 s 已将环带至另一端黑色绝缘下降柱，提供终端位置的视觉对照。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 20.0–21.07 s，单臂 Robotiq 二指夹爪从木柄两侧合拢并夹住工具手柄，至视频 23.53 s 保持夹合；金属环仍留在起端。该接触属于沿线移动的抓握准备。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具在左前方起端脚边，终端为画面中部另一根黑色下降立柱；工具并未处于终点休止位置。"
+     },
+     {
+      "t": 23.53,
+      "log_step": null,
+      "text_zh": "观察：视频全程至视频 23.53 s，工具均未被搬到终端立柱脚边，末段机器人仍在起端夹着木柄，没有终点放置、松手和撤离动作。成功参考视频 344.4 s 可见环和柄已在终端黑色立柱脚边，夹爪打开；本次没有出现该终点放置线索。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 21.07,
+   "log_step": 178,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.07 s 机器人已夹住起端木柄，随后至视频 23.53 s 环始终停在起端脚边，没有启动沿立柱向上的通过运动。log step 177–178 保存的是抓取阶段动作，log step 231 确认最终交付仍为该 942 动作文件；log step 234 中 agent 自述通过和放置均未执行。此处以抓握准备结束后的停留作为导航锚点，断在金属环走完全线这一步。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的离线轨迹生成未产出可执行的完整沿线动作，导致评分轨迹止于抓握准备。log step 195、203–204 的本地求解输出多次给出 why=ik，log step 206、209–213 又在连续航点求解和避障检查间反复失败；log step 226 与 232 的后续输出仍只有截至 k=125 的部分航点。log step 231 检查最终交付仍为 942 动作，log step 234 中 agent 明确自述螺旋和终段未完成、保存文件仅覆盖抓取。上述是会话中轨迹生成能力的证据，支持控制类归因；未将本地检查中的碰撞预测当成评分视频中的碰撞。",
+    "note_zh": "完整握姿方案的沿线可行性未验证，且日志同时包含几何近似、候选搜索和逆解问题，因此保留控制总类，不强分子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供本次视频和完整会话记录，但没有本次状态日志；评分器 reward 未报告 DAG 所列八项原生终态指标，故其值均为 null。视频只包含沿线移动前的接近与抓握准备，没有实际沿线运动中的脱线、碰撞、滑落或到位失败，失败现象层留空（CASES.md FAIL-23）；不能把会话离线求解失败当成评分轨迹的运动现象。日志支持控制类归因，但不能验证完整接触方案是否可行或进一步确定控制子类。",
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "评分轨迹只完成了起端工具的接近与抓握准备，金属环始终停在起端，走完全线与终点放置均未达成，最终为 0/2。断点在金属环走完全线的操作中：会话中的离线轨迹求解和避障搜索未生成完整可执行动作，最终交付仍是抓取阶段文件。视频没有展示沿线运动中的具体物理失误，现象层留空；无状态日志及原生终态指标，控制子类亦不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点（loop_traversed，操作中）、现象层留空（FAIL-23）与控制类归因均有视频和日志支持；视频只含接近与抓握，环始终在起端，与标注一致。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": "2026-10-30T23:45:04Z",
+  "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/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--pnwtcaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac3f44aec77eba7e840949773ed9014b3c1b2b0c1f8d3c54e3b3986715ab36e1",
+   "video_sha256": "c50d647fcf3b971b3796b307af3ff4236928d7a50de5264da91b8beea6603ce1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy.json
new file mode 100644
index 0000000000000000000000000000000000000000..4736867da57e31e4ae9d36cc9555d6a583d740e6
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy.json
@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 4000,
+   "submitted_actions": 4000,
+   "sim_steps": 4000,
+   "physics_steps": 40000,
+   "sim_time_s": 100.00000000000561,
+   "final_reward": 0.0,
+   "replay_wall_s": 448.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
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+   "agent_sessions": 1,
+   "agent_resets": 16,
+   "agent_sim_steps": 0,
+   "agent_records": 59,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.547,
+   "peak_memory_gb": 1.355,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.893,
+   "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/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy/replay.mp4",
+  "duration_s": 100.067,
+  "fps": 15.0,
+  "frames": 1501,
+  "sha256": "55934b3f805c361246386d2d7d90028ac4e5a5ed145965bead738a51b939f3d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频起始工具平躺在靠前的起端立柱脚边；全程每隔约4秒的外部及腕部画面显示机器人主要在工具上方调姿，工具没有沿立体弯线前进。"
+     },
+     {
+      "t": 99.0,
+      "log_step": 354,
+      "text_zh": "观察：视频85–98.5 s机器人下降接近木柄，视频99–100 s逐0.1秒检查及视频100 s末帧可见二指夹住木柄外端，金属环仍在原起端脚边，未上行至首个弯折，更未到另一端；log step 354保存的GRASP_CHECKPOINT为4000行。"
+     },
+     {
+      "t": 100.0,
+      "log_step": 386,
+      "text_zh": "观察：log step 386将最终交付重新保存为4000行prefix_success，log step 389–390明确自述仅在起点握住工具、尚未遍历；评分器报告n_actions=4000、sim_time_s约100、deterministic=1，与视频停在起端相符。后续会话试验的wire_touched没有包含在该交付中。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频98.5–100 s单臂二指夹爪在起端闭合夹住工具木柄外端；工具留在起端，只有抓取准备，没有沿线移动。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 100.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频0–100 s工具始终在原起端区域，末帧仍在夹爪中，机器人没有将其送到另一端立柱脚边，也没有松手撤离。成功参考视频344.4 s的工具位于另一端脚边且张开的夹爪已抬离，说明终点放置在这些视角中有可辨认的线索；本次未出现该状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": null,
+   "log_step": 386,
+   "where": "首步前",
+   "evidence_zh": "观察：视频末段98.5–100 s机器人仅完成起端木柄夹持，环仍留在起端；全片没有开始沿线通过的动作。log step 386最终选回仅含抓取准备的4000行检查点，log step 390亦自述before traversal。因此断在金属环走完全线的沿线动作启动前，无法定位单一物理失误时刻。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 386,
+    "evidence_zh": "观察：视频0–100 s显示接近、调姿和最终闭爪准备；视频99–100 s工具仍在起端，未开始沿铜色线向上通过。log step 386及389–390确认交付截止于抓取检查点。这里的没尝试仅指沿线遍历动作未启动，机器人已做抓取准备。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话中未获得可安全执行的连续沿线轨迹，解释了最终交付为何停在起端。log step 363与366的逆解返回失败，修改环绕线方向后log step 372仍有逆解失败；log step 379–380得到的76个关节目标间有最高约4.76弧度的跳变，log step 384还显示靠前目标间约1.3弧度的关节变化。log step 382–383执行其中前段的独立会话试验以wire_touched结束，随后log step 386回存抓取检查点。这些是会话控制证据，不是本次评分视频中的碰撞现象。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，普通画面不能精确验证毫米公差或金属子步接触；但工具停在起端、未完成遍历及终点放置可直接辨认。交付没有沿线动作，故没有可定位的沿线物理失误时刻；轨迹或逆解根因由会话诊断与回存记录推断，不能进一步确定试验碰线的具体接触几何。DAG列出的八项原生终态指标均未在评分器reward字段报告，value保留null。"
+ },
+ "summary_zh": "评分轨迹只完成起端工具的夹持准备，金属环未开始沿线遍历，也没有终点放置，最终0/2节点。断点为金属环走完全线的首步前，现象为没尝试；会话中的逆解失败、不连续关节目标及沿线试验碰线支持控制层的轨迹或逆解问题，最终交付已回存为抓取检查点。无状态日志，无法细查子步接触与毫米级指标，但不影响两个未达节点的判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成与视频一致：视频99–100 s起端二指夹住木柄、环留在起端，全程无沿线移动；交付为log step 354/386保存的4000行抓取检查点，断点loop_traversed首步前、没尝试、轨迹或逆解（标为推断）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": "2026-10-30T23:46:42Z",
+  "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/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--qzf74sy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "77cd31daedf4c1acbd0f395ed1a8591418c35bdc82f7bd42c7f983c074df9c2f",
+   "video_sha256": "55934b3f805c361246386d2d7d90028ac4e5a5ed145965bead738a51b939f3d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2579c62dddedc6e0dfcffdf81db3ca70321ffa
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh.json
@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 13777,
+   "submitted_actions": 13777,
+   "sim_steps": 13777,
+   "physics_steps": 137768,
+   "sim_time_s": 344.4199999999606,
+   "final_reward": 1.0,
+   "replay_wall_s": 1591.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 13777,
+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 8,
+   "agent_sim_steps": 44508,
+   "agent_records": 3,
+   "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/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh/replay.mp4",
+  "duration_s": 344.533,
+  "fps": 15.0,
+  "frames": 5168,
+  "sha256": "062d5789d6c4a9ee02e8b7eca422217db6556e57f4850be4acea4f5b4a540719"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [
+     [
+      238.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 工具在起端台面，视频 6–14 s 单臂二指夹爪合拢包住木柄并将工具提起；视频 20–230 s 的外部和腕部视角显示金属环随夹爪沿立体线依次经过深弯、上段及螺旋，随后进入绝缘终端下降段。"
+     },
+     {
+      "t": 238.5,
+      "log_step": 141,
+      "text_zh": "观察：视频 228–238.6 s 机械臂带环沿终端立柱下降至脚边，视频 238.6–242 s 开爪暂放；log step 141 的模拟器原生历史字段 traversal_complete=True、coverage_complete=True，log step 143 记录完整通过前缀有9543个控制动作。"
+     },
+     {
+      "t": 238.5,
+      "log_step": 143,
+      "text_zh": "推断：log step 143 的交付前缀按40 Hz运行，9543/40=238.575 s；已与视频 238.4–238.8 s 终端下降停止并开始开爪的画面核对，首次完整通过约标在视频 238.5 s（约半秒不确定性）。log step 175、193 保留该前缀后续重放，log step 286、287 最终13777动作重放成功且终态哈希一致，评分字段 deterministic=1、all_success=1，支持整条交付轨迹通过原生连续性与金属避线验收；随后脱线不撤销该历史节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6–14 s 单臂Robotiq二指夹爪从两侧夹住工具木柄，随后持柄控制金属环沿线运动至终端下降段。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "推断：视频中的夹爪所持金属环沿铜线及绝缘段通过，结合 log step 141 的有效完整通过与最终严格重放成功，工具金属部分完成了对裸露金属线的避开；普通画面不能独立排除逐物理子步的微小接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [
+     [
+      344.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 261,
+      "log_step": 170,
+      "text_zh": "观察：视频 240–267 s 机械臂暂放并再夹住工具调整，视频 270–300 s 工具留在终端脚边而机械臂撤离、重新接近；log step 170 原生验收字段虽为 supported=True、released=True，但 finish_angle_deg=164.54、stable_time_s=0，暂放尚未达到本节点。"
+     },
+     {
+      "t": 330,
+      "log_step": 256,
+      "text_zh": "观察：视频 300–330 s 夹爪重新夹持工具，将柄转向台内并降低至终点附近；视频 330–342.8 s 夹爪仍包围木柄，因此不在到达目标位姿时提前记为完成。"
+     },
+     {
+      "t": 344.467,
+      "log_step": 264,
+      "text_zh": "观察：视频 343.0–344.467 s 夹爪张开并抬起撤离，工具留在终端立柱脚边木台上，最后一秒逐帧可见工具未随夹爪抬起。log step 264 的原生验收器 task.result.metrics 报告 traversal_complete、supported、released、quiet 均为True，assist_released=True、robot_clear=True，位置误差0.0025548856 m、角度误差4.464494度、净距0.0207472182 m，stable_time_s=0.9999999999999897，模拟器已判成功；八项 native_metrics 均取此处原生验收输出。"
+     },
+     {
+      "t": 344.4,
+      "log_step": 287,
+      "text_zh": "推断：log step 262、265 保存最终动作，log step 286 新进程从初态重放13777动作成功，log step 287 验证与原运行的终态哈希一致，且评分器 strict_goal_reached=1、strict_goal_row=13777。13777/40≈344.425 s 与视频最后的撤离画面一致，故将完整一秒联合确认后的节点到达时刻标为约视频 344.4 s；毫米级距离与速度漂移依赖原生验收，非画面直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 240–267 s 及视频 300–342.8 s，单臂二指夹爪先后包住木柄，暂放、换抓并旋转调整至终点休止方向；视频 343.0–344.467 s 松开并撤离，工具留由终点木质支撑台承托。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": 0.00255488557441961
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 4.464494086522143
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": 0.020747218152017518
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": 4.970946739017081e-14
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": 1.5648109352756198e-13
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": 1.904440938856148e-12
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": 5.431723650462988e-12
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.9999999999999897
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频约238.5 s 完成金属环沿全线通过，随后经过终点暂放、换抓和转柄，于视频约344.4 s 松手撤离并通过一秒联合静置验收，两个节点最终均完成；评分器 success=1、deterministic=1，log step 286、287 也确认最终交付重放成功且终态哈希一致。推断：成功来自连续沿线操控及终点姿态、释放和净距均获原生验收，早期会话碰线与受阻试验已被替换，不是交付轨迹的失败。观察：无状态日志，普通视频不能独立核验毫米级公差、逐子步接触及速度漂移，这些依据 log step 264 的原生验收输出与严格重放结果；本运行本身是oracle，没有独立参考录像。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的到达时刻（238.5 s、344.4 s）与 log step 143/264/286/287 及评分字段一致，接触标注合理，成功运行无失败层，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": "2026-10-30T23:52:54Z",
+  "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/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--rpshzmh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5c1ba2641d1c6bd69ef9c9b0e9becbf83c59e4a031001300e0d66249e1505893",
+   "video_sha256": "062d5789d6c4a9ee02e8b7eca422217db6556e57f4850be4acea4f5b4a540719",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4cfd7b2581efbf2a771e1210dfeb6e31cbcb70b
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 10,
+   "submitted_actions": 10,
+   "sim_steps": 10,
+   "physics_steps": 100,
+   "sim_time_s": 0.24999999999999997,
+   "final_reward": 0.0,
+   "replay_wall_s": 12.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 207,
+   "agent_resets": 115,
+   "agent_sim_steps": 37519,
+   "agent_records": 1,
+   "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/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf/replay.mp4",
+  "duration_s": 0.333,
+  "fps": 15.0,
+  "frames": 5,
+  "sha256": "9e2c12fdb9f1c63a613031332fcfaa2970b22e60552e60adee195c1240c45099"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 42,
+      "text_zh": "观察：已检查评分视频全部5帧（视频0.000、0.067、0.133、0.200、0.267 s），机械臂夹爪始终张开并停在木台右侧上方，未靠近或夹持环柄工具；工具一直位于起端立柱脚边，没有沿铜色弯线移动。log step 42 的脚本明确录制 hold(10) 并保存为交付文件；log step 46 重放该占位文件，返回 n_actions=10、progress=0.0，与评分器字段及本视频一致。"
+     },
+     {
+      "t": 0.267,
+      "log_step": null,
+      "text_zh": "观察：评分视频0.267 s的末帧仍是初始布局；成功参考视频235 s则可见夹爪已带着工具来到另一端下降立柱附近。推断：本评分轨迹没有发生完整沿线通过，不能把会话中其他测试的运动计为本节点进度。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.267,
+      "log_step": null,
+      "text_zh": "观察：评分视频0.000—0.267 s的全部5帧中，工具保持在画面左前方起端立柱脚边，终端下降立柱脚边没有出现放置工具的动作或工具；夹爪始终远离工具。成功参考视频344 s在终端脚边可见工具和夹爪近景，而本轨迹没有相应终点放置变化。推断：工具从未到终点支撑，放置及松手静置验收均未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 0.0,
+   "log_step": 42,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频0.000—0.267 s全部5帧均显示夹爪停在工具之外，工具留在起端，机器人没有启动抓取或沿线运动。log step 42 保存的是仅含 hold(10) 的占位轨迹，log step 46 已重放为10个动作、progress=0.0；最终评分器同样报告 n_actions=10、strict_goal_reached=0、deterministic=1。推断：实际交付停在金属环沿线移动这一步开始之前。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 42,
+    "evidence_zh": "观察：评分视频0.000、0.067、0.133、0.200、0.267 s均未见夹爪接近工具或工具沿线运动；log step 42 的录制段只执行 hold(10)，并由 log step 46 重放确认。推断：本评分轨迹根本没有启动首步，后续会话测试不属于这份交付。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本输入没有状态日志；评分器未报告DAG所列8项原生几何、净距及静止指标，故这些指标值为null。log step 898 的完整执行脚本仅在成功时保存替换交付，log step 939 显示另一次会话测试因 wire_touched 失败，最后 log step 963 仍在等待新的测试，没有最终完成报告。推断：可以确定最终保留了早期占位轨迹，但这些会话记录不足以将未形成有效交付唯一归因于某一控制、规划或保存操作缺陷，根因留空；会话中的碰线不作为评分视频的失败现象。"
+ },
+ "summary_zh": "评分轨迹只有10步保持动作，全部5帧中夹爪远离工具，工具留在起端，沿线通过和终点放置均未完成，最终0/2。断点为金属环走完全线的首步前，现象是没尝试；log step 42、46确认交付内容是早期占位录制。后续会话测试未体现在评分视频中，无法可靠确定占位轨迹未被有效替换的具体根因，且没有状态日志或原生公差指标。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分视频仅5帧（约0.27 s），夹爪始终张开远离工具，首末帧布局不变；交付为 log step 42 保存、step 46 重放的 hold(10) 占位轨迹，与评分器 n_actions=10、progress=0 一致。两节点均未达成，断点为首步前+没尝试符合03规则（交付基线从未启动该步；会话超时由智能体负责，非外因），根因留空并有 gap_zh，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": "2026-10-30T23:46:30Z",
+  "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/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--xscu9qf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "93f0589069799472266b5b1207df536cc6fc9846c5517a1ff71f76db9f99b4cb",
+   "video_sha256": "9e2c12fdb9f1c63a613031332fcfaa2970b22e60552e60adee195c1240c45099",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--7attetu.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--7attetu.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b26229dac3cc9816f363aab74117725522c888a
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--7attetu.json
@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--7attetu",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 4915,
+   "live_rows": 4915,
+   "sim_steps": 4915,
+   "physics_steps": 49141,
+   "steps": 1126,
+   "elapsed_s": 1763.2,
+   "replay_wall_s": 378.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.33,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.157,
+   "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/roboarc-buzz-wire-3d-10-i01-standard--7attetu/replay.mp4",
+  "duration_s": 122.933,
+  "fps": 15.0,
+  "frames": 1844,
+  "sha256": "8dc20bf7097d14b3734dfde488ecbee1e1775f5ebf0497062138f479e103dfe6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 8,
+      "text_zh": "观察：视频 0 s 的工具平放在起始立柱脚边，机器人尚未夹住木柄；实时服务在 log step 8 返回 control_steps=0、done=false。"
+     },
+     {
+      "t": 95,
+      "log_step": 58,
+      "text_zh": "观察：视频 82–95 s，机器人夹爪握着木柄上提，环离开起始台面，沿第一根竖直线段上升；视频 100–120 s，工具继续绕过第一个顶部弯折，尚未走过后面的 U 形段、绕柱段与终端下降段。"
+     },
+     {
+      "t": 122.867,
+      "log_step": 84,
+      "text_zh": "观察：视频 121.8–122.867 s，夹爪仍握柄在第一个顶部弯折之后转动工具，环仍在高处，未到终端立柱脚边；log step 84 的实时服务执行记录 clock_handle_for_u 返回 done=true、reason=wire_touched。评分字段 live_matches_replay=1、deterministic=1、resumes=0，与视频的单次连续尝试一致。"
+     },
+     {
+      "t": 122.867,
+      "log_step": null,
+      "text_zh": "推断：全段视频仅出现起段上升及首个顶弯附近的移动，未出现参考成功视频 230–240 s 所示的沿终端绝缘立柱下降；因此完整通过事件从未成立，而非仅由总分为零判断。参考录像仅用于辨认终点的可见形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 82–95 s，Robotiq 二指夹爪夹住工具木柄，带动金属环离开起端并上升；视频 100–122.867 s 持续握柄带环过首个顶弯并转柄，未见工具脱手。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：log step 84 的实时服务返回 wire_touched，视频 121.8–122.867 s 对应夹爪持柄转动工具的末段。候选名称“意外碰触”：所持工具的金属部分触及裸露金属线；现有方式没有一般碰触项，且没有依据认定这是推/扫或压/擦。精确接触部件和物理子步不可见。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，工具在起端铜色竖线脚边，终端黑色绝缘立柱脚边没有工具，终点放置初始不成立。"
+     },
+     {
+      "t": 122.867,
+      "log_step": 84,
+      "text_zh": "观察：全段视频 0–122.867 s 未见机器人把工具放到终点支撑处；最后一秒夹爪仍在首个顶部弯折后握柄，工具悬在高处，终端黑色立柱脚边保持空置。对照参考成功视频 320–344.4 s，终点放置时环在该黑柱脚边、柄平躺于支撑台，本次没有出现该关系，亦未开始终点松手放置动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 122.8,
+   "log_step": 84,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 121.8–122.867 s，机器人持柄在第一顶部弯折之后调整工具朝向，尚未进入后续 U 形路线；log step 83 下发 clock_handle_for_u 转柄动作，log step 84 的实时服务返回 done=true、reason=wire_touched，随后没有继续运动或修复。推断：碰线发生于这一末段转柄动作，视频约 122.8 s 为导航锚点；失败步骤是仍在进行的全线通过，不是尚未开始的终点放置。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 122.8,
+    "log_step": 84,
+    "evidence_zh": "观察：视频 121.8–122.867 s，夹爪持有的环柄工具在顶部线段附近转动，录像结束时仍在该处；log step 84 的实时服务记录明确返回 wire_touched、done=true，即工具金属部分与固定裸线发生碰触并触发停止。本次是一次无重置实时 episode，评分字段 live_matches_replay=1；此接触依据服务读数，而非 agent 的失败自述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 77–82 的 agent 脚本计算多个转柄角度的逆解，log step 83 将约 60 度的转柄调整作为进入 U 形段的准备并以小关节增量执行；视频 121.8–122.867 s 可见机器人实际持柄转动，但 log step 84 的服务随即报告 wire_touched。该操作没有保持工具金属部分与裸线的间隙，故归于控制；缺少实际工具位姿与逐子步接触，不能进一步断定为轨迹/逆解、反馈跟踪或工具变换估计中的哪一种误差。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供了完整视频和运行记录，但没有状态日志。末段小环及线在画面中细小、局部被夹爪遮挡；实时服务确认了 wire_touched，却没有提供接触对、逐子步时刻或末段实测环位姿，因而碰触锚点仅定位到视频约 122.8 s，根因保留在“控制”层。评分字段未报告 DAG 所列的八个原生终态指标，其值均填 null。"
+ },
+ "summary_zh": "机器人夹住环柄工具，沿起始直线抬升并通过第一个顶部弯折，但没有走完后续路线，两个节点最终均未达成（0/2）。视频约 122.8 s，机器人在为 U 形段转柄时发生金属工具碰裸线，实时服务在 log step 84 以 wire_touched 结束本次尝试，断点为全线通过操作中的碰撞，根因归于控制。无状态日志和精细接触对，无法进一步确定碰触部件及具体控制误差。",
+ "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（0/2）、断点 loop_traversed 在首个顶弯后转柄、碰撞现象（log step 84 wire_touched，服务读数）及停在“控制”的根因均与视频和日志一致；时钟均为视频时间，未见换算的 agent 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": "2026-10-30T23:45:48Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--7attetu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--7attetu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0364b22529f14c1973d3573282607b8ade23a0471592d3fbeb460fbfe15ce2e2",
+   "video_sha256": "8dc20bf7097d14b3734dfde488ecbee1e1775f5ebf0497062138f479e103dfe6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f8f6125136139160af04355a014c14df73255c
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca.json
@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 32,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10472,
+   "live_rows": 10472,
+   "sim_steps": 10472,
+   "physics_steps": 104720,
+   "steps": 1685,
+   "elapsed_s": 10807.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca/replay.mp4",
+  "duration_s": 261.867,
+  "fps": 15.0,
+  "frames": 3928,
+  "sha256": "7a419274bd70b322637c456dc8622ab09c4e0fe9634325624880884483d2c685"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环套在近侧起端立线脚部，木柄平放在台面，机械臂尚未抓持工具。"
+     },
+     {
+      "t": 45.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 44.5–47.0 s，机器人在木柄上方偏离的位置合爪并抬升，金属环和木柄仍留在起端台面，没有随夹爪升起。推断：首次抓取未建立携带工具所需的夹持；log step 79 的服务 control_steps=1783、log step 81 的1825，按 log step 4 的40 Hz对应视频44.575 s、45.625 s，已在这段合爪抬升画面核对；未把agent工作时间换算为视频时间。"
+     },
+     {
+      "t": 198.0,
+      "log_step": 158,
+      "text_zh": "观察：视频 182.5–200.0 s，机器人多次把指端降到木柄附近、合爪和抬升；视频 200.0 s 夹爪升起后，金属环和木柄仍在原来的起端台面。log step 158 的agent脚本打印WELD False；log step 159 随后仅凭爪间距自述几乎肯定已抓住，画面不支持工具被带走。"
+     },
+     {
+      "t": 261.8,
+      "log_step": 160,
+      "text_zh": "观察：视频 206.0、220.0、230.0、240.0、250.0、258.0及260.87–261.8 s，机器人末端在空间中移动，而金属环仍在近侧起端立线脚部、柄仍平放台面；未出现工具沿弯线到终端的连续运动。推断：完整通过事件从未成立，不能把log step 160开始执行的沿线脚本当作环已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 182.5–198.0 s，单臂Robotiq夹爪的指端反复下探并压到起端工具的木柄上缘附近，随后合爪、抬起，工具未跟随。推断：实际可辨接触为指端压触，未见两侧指垫可靠夹住并携带木柄；不把空夹或爪间距直接记作抓握。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 200.0,
+      "log_step": null,
+      "text_zh": "观察：视频 200.0 s，机器人抬起后，工具仍平放在近侧起端，黑色绝缘终端立柱脚边没有放好的环柄工具。"
+     },
+     {
+      "t": 261.8,
+      "log_step": 160,
+      "text_zh": "观察：视频 260.87、261.2、261.6、261.8 s，工具一直在起端，机器人末端仍在上方移动，未把工具搬到终端支撑处。推断：终点放置未成立，也未进入实际携物放置阶段；log step 159所写的后续放置代码不等于已执行该阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 45.0,
+   "log_step": 79,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 44.5–47.0 s，机器人首次合爪后抬升，环柄未离开起端台面；后续视频 182.5–200.0 s 重抓仍未带起工具，视频 261.8 s 工具仍留原处。推断：沿线步骤在获取工具控制的阶段失败且始终未修复，因此断点为金属环走完全线，而非尚未实际开始的终点放置。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 45.0,
+    "log_step": 79,
+    "evidence_zh": "观察：视频 44.5–47.0 s，机器人合爪的位置在木柄上方，抬升时环和柄仍停在台面；视频 183.4、187.3、198.0、200.0 s的后续合爪和抬升也没有带走工具。推断：未建立能携带环柄的有效夹持；后续局部指端触碰不等于建立该夹持，未见先持有工具再掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 109 的机器人服务逐行返回IK无解及关节分支跳变拒绝；log step 153 的agent脚本记录末端下降、合爪并抬升后，视频 182.5–183.4 s环仍在台面。log step 157记录合爪后爪距为0并中止，log step 158增加停留再合爪，仍打印WELD False；视频 198.0–200.0 s再次显示末端抬起而工具不动。推断：抓取动作未形成可用夹持，反复调整接近轨迹和合爪时机仍未解决，归为控制；现有证据不足以唯一细分接触几何、逆解与跟踪因素。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有服务原生逐时刻的抓持、通过及终点验收字段；局部指垫接触受遮挡，不能精确核验夹持触点、金属碰线子步或毫米级终态指标。节点未达由工具始终留在可见起端的画面判断，不由零分反推；控制根因保留大类，不能从agent多次变化的诊断中确定唯一子类。评分器未报告DAG所列八项原生指标，均填null。"
+ },
+ "summary_zh": "本次实时尝试两个节点均未完成（终态0/2）：机械臂反复在起端工具附近下探、合爪、抬升，但金属环未被携带沿线移动，视频261.8 s仍留在起端台面。断点为金属环走完全线，现象是未建立有效夹持，日志和画面支持控制失败；末段空手执行沿线动作未修复抓取。无状态日志与原生接触、验收指标，无法进一步核验细小接触或唯一控制子类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、断点为首次抓取失败（视频约45 s）且始终未修复，与帧一致；时钟换算有control_steps核对，无需修改。root cause 取大类控制，证据尚可。",
+    "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": "2026-10-31T00:15:05Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--a3mz6ca/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1387a79fe1f90589bdea019dd6898f76863afffb5558cf8ffb587bc4e30aaf39",
+   "video_sha256": "7a419274bd70b322637c456dc8622ab09c4e0fe9634325624880884483d2c685",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffac6aa1bb897648538fbc104535f94df79fcb86
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd.json
@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--bctuxfd",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 9,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 6246,
+   "live_rows": 6246,
+   "sim_steps": 6246,
+   "physics_steps": 62455,
+   "steps": 1205,
+   "elapsed_s": 6881.3,
+   "replay_wall_s": 415.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.33,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.121,
+   "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/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd/replay.mp4",
+  "duration_s": 156.2,
+  "fps": 15.0,
+  "frames": 2343,
+  "sha256": "e10d2e51e28e6317db46c6b836f5afb7af52ecbba3232bebe559623738e1424e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，环柄工具平放在起端支撑台上，机械臂尚未握住工具；完整走线尚未发生。"
+     },
+     {
+      "t": 149,
+      "log_step": 325,
+      "text_zh": "观察：视频 147–154 s，夹爪带着环柄工具离开原先的起端支撑，沿起始竖直线段向上移动；环和木柄随夹爪上升，并未走过中间弯线或到达另一端下降立柱。"
+     },
+     {
+      "t": 156.13,
+      "log_step": 350,
+      "text_zh": "观察：视频 155–156.13 s，工具停在起始竖直段的上端弯折附近，后方中间线段和终端仍未经过。log step 350 的机器人服务返回 EpisodeOver: wire_touched；评分字段 live_matches_replay=1、resumes=0，支持这是该次无重置评分尝试的终止，而非另一次测试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 147–156.13 s，单臂二指夹爪闭合夹住环柄工具的木柄，工具随夹爪升离起端并沿竖直段上移；此前多次接近、闭爪和抬升未将工具带离原位。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：log step 350 的机器人服务返回 wire_touched，视频 156.13 s 工具位于初始上端弯折附近。候选名称“金属碰触”：所持工具的金属部分碰到裸线；现有推/扫、压/擦均要求这里未证实的受力方式，避开不描述这次已发生的接触；具体是环还是金属杆接触无法分辨。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，工具在起端，终端黑色绝缘下降立柱脚边没有工具。"
+     },
+     {
+      "t": 156.13,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查及视频 140–156.13 s 密集帧中，工具只从起端沿第一段竖直线升起，末帧仍由夹爪持在高处；机器人没有将其移至终端支撑、放下或撤离。终点放置条件从未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 156.1,
+   "log_step": 350,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 147–156.13 s，机器人持环柄工具沿第一段竖直线升至上端弯折附近，未走完全线；log step 350 的机器人服务返回 EpisodeOver: wire_touched，log step 351 终末读数为 control_steps=6246、sim_time_s=156.1375。推断：触线使当前走线步骤不可继续，断点取视频约 156.1 s；6246 个控制步约对应 156.15 s，与视频末端位置及停止相符，未使用 agent 工作时间换算。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 156.1,
+    "log_step": 350,
+    "evidence_zh": "观察：视频 155–156.13 s，机器人仍夹持工具在起始竖直段上端附近；log step 350 的机器人服务明确返回 wire_touched，表示金属工具与裸露金属线发生接触并终止该局，未能继续过弯。该接触由实时单局服务报告，并非仅据 agent 的自述认定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 325、327、329、335 的控制脚本保持工具朝向、按竖直方向逐段上升；视频 147–156.13 s 也显示工具随夹爪上升至首个上端弯折，随后服务在 log step 350 报告 wire_touched。机器人未能维持工具相对裸线的无接触运动，归于控制；现有证据不足以细分为轨迹、反馈或接触布局问题。log step 335 的上升后末端位姿与 log step 351 终末位姿相同，不能据 agent 在 log step 351 的自述断言倾斜运动已经实际执行。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或金属接触对日志，普通视频无法分辨具体接触的是环还是金属杆，也不能核验毫米级余隙。log step 351 的输出截断，log step 335 未打印 done/reason，且其末端位姿与终末读数相同；因此不能确定触线发生于末次上升末尾还是后续倾斜请求刚开始，不能细分控制根因。原生终点距离、角度、净距、速度、漂移及静置时长均未在评分字段报告，指标保留 null；这些缺口不影响两个节点均未完成的判断。"
+ },
+ "summary_zh": "机器人反复接近并尝试抓取起端木柄，随后确实夹持工具沿第一段竖直线升至上端弯折附近，两个目标节点均未完成。视频约 156.1 s 对应的终止位置仍在起始线段，实时服务报告 wire_touched，断点为“金属环走完全线”的操作中，现象为碰撞，根因仅能归到控制。缺少逐帧接触对和完整终末状态，无法确认碰触部件或更细的控制失效机制，也不能确认后续倾斜命令实际执行。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未完成、断点在 loop_traversed、wire_touched 终止与视频末帧（工具仍在起始竖直段上端）一致，时钟未换算；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": "2026-10-30T23:47:29Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--bctuxfd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "42e35713bde09bfb30ab70485c3f04a6a9728a8f521ec00cd0d2b39f75a773d4",
+   "video_sha256": "e10d2e51e28e6317db46c6b836f5afb7af52ecbba3232bebe559623738e1424e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c7f55123646c2d547384848e9d72916264f2b8c
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk.json
@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 11,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 20532,
+   "live_rows": 20532,
+   "sim_steps": 20532,
+   "physics_steps": 205314,
+   "steps": 681,
+   "elapsed_s": 7105.5,
+   "replay_wall_s": 1564.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.305,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.415,
+   "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/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk/replay.mp4",
+  "duration_s": 513.4,
+  "fps": 15.0,
+  "frames": 7701,
+  "sha256": "9498925305f359b3e9870b755202996988653f69b7792bb281865b0fce2d90e0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 9,
+      "text_zh": "观察：视频 0.0 s，环柄工具平放在起点铜色竖线脚边，机器人夹爪尚未夹住木柄。"
+     },
+     {
+      "t": 492.9,
+      "log_step": 305,
+      "text_zh": "观察：视频 480.0、490.0、492.9、500.0、508.0 s，机器人二指夹爪夹住木柄，工具离开起点台面，金属环随夹爪沿起点竖线向上移动；环没有走到上方弯折，更没有经过中段弯线和终端黑色立柱。"
+     },
+     {
+      "t": 513.3,
+      "log_step": 323,
+      "text_zh": "观察：视频 512.0、512.5、513.0、513.3 s，机器人仍持环停在起点竖线中上段并小幅转向；log step 322 的实时机器人服务返回 EpisodeOver: wire_touched，log step 323 返回 done=True、reason=wire_touched、control_steps=20532、resumes=0。完整通过未发生。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 490.0–513.3 s，单臂二指夹爪从木柄两侧夹住工具，木柄与金属环随夹爪一起离台上移。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 513.3 s 工具仍由夹爪持有，log step 322–323 的实时服务记录 wire_touched。候选接触方式为“金属碰线”：所持工具的金属部分碰到裸露金属线，现有方式没有对应的碰触值，不能用“避开”替代这次碰撞；此前持环沿起点线段上移。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 513.3,
+      "log_step": 323,
+      "text_zh": "观察：视频 0.0–513.3 s 的全程粗采样及视频 480.0–513.3 s 的末段近查，工具一直位于起点一侧，末帧仍在夹爪中、悬在线段上，终端黑色立柱脚边没有放下的工具。参考成功录像在其视频 239.0 s 可见环到达终端立柱、其视频 344.4 s 可见工具留在终点台面且夹爪打开；本次录像没有出现这些终点位置变化，未开始终点放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 513.3,
+   "log_step": 322,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 510.0–513.3 s，机器人夹住工具在起点竖直线段上调整朝向，尚未沿后续弯线通过；log step 322 的转向指令段收到实时服务 EpisodeOver: wire_touched，log step 323 确认终局，后续指令在 log step 324 被拒绝。推断：log step 5 给出控制频率 40 Hz，log step 305 的 control_steps=19717 对应视频 492.9 s，已与该处持环上移后停住的画面核对；终局 control_steps=20532 对应视频 513.3 s，与末段转向吻合，故以视频 513.3 s 为碰线断点锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 513.3,
+    "log_step": 323,
+    "evidence_zh": "观察：视频 512.0–513.3 s，机器人保持夹持并小幅调整工具朝向，金属环仍围着起点裸露竖线；同一实时局的服务在 log step 322–323 报告 wire_touched 并结束。服务的任务文本在 log step 6 将该终止条件定义为金属工具接触裸露金属线；碰线发生在沿线移动这一步，工具未掉落，也未松手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 513.3,
+    "log_step": 321,
+    "evidence_zh": "推断：log step 321 的控制脚本用固定的工具坐标偏移估计环心，并通过补偿末端平移来执行五段朝向插值，指令执行后才检查关节力矩；log step 322 显示平移对线完成、力矩近零，随后在该朝向调整段触发 wire_touched。结合视频 500.0–510.0 s 的持环上移与视频 512.0–513.3 s 的末端转向，失败指向持物转向时未维持工具与裸线间隙的控制问题；现有证据不足以细分为估计偏移误差、逆解轨迹偏差或反馈控制问题。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或金属部件接触对；录像不能分辨首先碰线的是环还是金属杆，也不能核验毫米级间隙。log step 324、326 中 agent 关于手腕或肘部扫线、逆解分支跳变的解释只是其自述，未被接触记录验证，未据此细分根因。原生终点距离、角度、速度、漂移和确认时长未在评分字段中报告，均记为 null。",
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "机器人最终夹住木柄，带着环沿起点竖直线段上移，但未走完全线，也未开始终点放置，两个节点均未达成。视频 513.3 s 附近的持物转向触发实时服务 wire_touched 终止，断点为“金属环走完全线”，证据支持转向控制未维持避线间隙。无逐帧状态及接触对，无法确认首先碰线的金属部件或进一步确定控制子类型。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点为 loop_traversed 的判断与视频和日志一致；视频时间由 control_steps/40 Hz 换算并在 492.9 s 与 513.3 s 的画面处核对，根因停在“控制”并写明证据不足以细分，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": "2026-10-30T23:49:07Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--hxsgxhk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b18325819e1d2bf9aa619c83ed53ea5f90eaebf418035af0a9d0fcd8b47a2eb0",
+   "video_sha256": "9498925305f359b3e9870b755202996988653f69b7792bb281865b0fce2d90e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8acc1a0e9d097c6a5d4b0fc660bda72325494d3
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9.json
@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--j8elhf9",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 10,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 39858,
+   "live_rows": 39858,
+   "sim_steps": 39858,
+   "physics_steps": 398580,
+   "steps": 8967,
+   "elapsed_s": 9211.5,
+   "replay_wall_s": 3196.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.511,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.594,
+   "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/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/replay.mp4",
+  "duration_s": 996.533,
+  "fps": 15.0,
+  "frames": 14948,
+  "sha256": "d66fa4572d332efafd128923478d3e9815418af3d09f84ed2b46ecd5a51abeb3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [
+     [
+      574.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 574.2,
+      "log_step": 204,
+      "text_zh": "观察：已通看全片粗采样；机器人夹持木柄，带环沿起端直立段、上方弯线、U形段及后方立体回弯依次移动，中途把环挂在黑色绝缘套上再换握。视频 573.7–574.2 s 的逐帧腕部画面可见环沿终端黑色立柱下滑，最后套在柱脚，工具落到木台；log step 204 的实时服务仍返回 done=False、reason=None，未因金属碰裸线终止。"
+     },
+     {
+      "t": 574.2,
+      "log_step": 203,
+      "text_zh": "推断：结合全程可见的沿线顺序、末端环仍套着终端立柱及未发生碰线终止，按视觉证据将完整通过记在视频约 574.2 s，此后保留。成功参考在 oracle 视频 230–241 s 也由同一末端下降至柱脚，用于辨认终端位置；本次没有原生 traversal_complete 字段，不能逐物理子步核验唯一交点和连续游标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪夹住环柄工具的木柄，带环沿线移动；数次松开让环搭挂绝缘套，再夹住垂下的木柄继续。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "所持工具的金属环围绕裸露铜线通过，裸线没有触发终止；环在黑色绝缘套处搭挂并沿绝缘终端滑下。金属工具与裸线的避开由画面及实时服务未触发碰线终止共同推断，非子步接触日志核验。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 574.2,
+      "log_step": 206,
+      "text_zh": "观察：视频 574.2 s 工具已落在终点柱脚的木台上，但柄指向柱的左侧；机器人随后重新抓住柄绕柱转动，再以指尖推柄。log step 206 是 agent 自行从相机估计落台位姿的输出，并非评分器的终点验收字段。"
+     },
+     {
+      "t": 817.5,
+      "log_step": 235,
+      "text_zh": "观察：视频 800 s 夹爪贴近台面推柄；视频 817.5 s 机器人已撤开，工具平躺在柱脚，柄在固定外部视图中指向右上。视频 988 s、995.7 s、996.1 s 及末秒视频 996.466 s 仍保持该朝向。成功参考的 oracle 视频 344.0–344.466 s 中夹爪仍靠近工具两侧，外部视图遮挡柱脚，腕部视图的柄影模糊；没有可靠可比的离手后休止姿态。"
+     },
+     {
+      "t": 995.7,
+      "log_step": 256,
+      "text_zh": "推断：结合终点反复调整后仍未验收，保留工具放到终点未达成的判断，不以“工具在终点台面上、机器人已离开”替代全部验收条件。log step 256 的实时服务仍为 done=False、reason=None，评分字段 live_success=0、replay_success=0、live_matches_replay=1 与未验收相符。工具与成功参考的休止朝向可能不同，但参考末帧受夹爪遮挡，只能粗略判断；缺少原生目标位姿、角度和距离数值，不能确认是否超出 10 度容差，也不能确定唯一未满足条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪在终点木台上重新夹住工具木柄，绕终端立柱转动后松开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "随后夹爪以指尖沿台面拨推木柄来调整朝向；视频 800 s 可见夹爪贴近柄，视频 817.5 s 及末段撤离后的画面中柄仍朝右上；log step 256 的实时服务仍未报告成功。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wand_on_finish",
+   "t": 817.5,
+   "log_step": 235,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人完成末端下降后，在终点台上重新抓握、绕柱转柄和推柄；视频 800 s 推动后，视频 817.5 s 撤手留下工具平躺在柱脚、柄朝右上，视频 995.7 s 仍保持该朝向。log step 235 的推动及撤离没有取得服务成功，log step 256 仍返回 done=False；断点保留为终点放置，无法仅凭这些画面确定是哪项终态公差未满足。"
+  },
+  "unmet": {
+   "loop_traversed": true,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 817.5,
+    "log_step": 235,
+    "evidence_zh": "推断：视频 817.5 s、995.7 s 工具平躺在终点柱脚，柄在固定外部视图中朝右上，机器人已撤开；结合多次转柄和拨推后仍未验收，将位姿不准保留为可能的现象。与成功参考的休止朝向可能不同，但 oracle 视频 344.0–344.466 s 夹爪仍靠近工具两侧且遮挡柄，参考朝向只能粗略判断，不能把“参考柄朝右下”当作可靠观察。inputs/run.json 的 reward.live_success=0、replay_success=0 只确认未成功，不证明角度超出 10 度或位姿是唯一未满足条件；不补造毫米或角度测量。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 817.5,
+    "log_step": 257,
+    "evidence_zh": "推断：可能存在将起端朝向沿用为终点目标的规划偏差。log step 49 的 agent 脚本估计起端柄角，log step 252 保存的流程说明写“push the handle to the start yaw”，log step 257 自述将柄推成“inward like the start pose”并以起端角度比较终态；这些记录显示 agent 以起端朝向为目标，但该目标是否正确未由评分字段验证。oracle 视频末段缺少可可靠辨认的离手后休止姿态，因此不再以视频与成功参考朝向不同断言目标选择有误，此根因仅保留为低置信度推断。",
+    "source_zh": "agent 自述 / 日志"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，也没有原生 traversal_complete、逐子步穿环交点、终点目标位姿及 distance_to_finish_m、finish_angle_deg、稳定确认字段。完整通过按可见沿线路径和终端下滑推断，不能排除画面未分辨的短暂交点歧义；oracle 视频 344.0–344.466 s 的夹爪仍靠近工具两侧并遮挡柄，不能可靠提取成功参考的离手后休止朝向。本次柄朝右上可见，但与参考是否不同、是否超出精确公差、位姿是否为唯一未满足条件以及起端朝向是否为错误目标均未验证。agent 在 log step 257 提到“终端可能双交点”和尺寸不符，均未获原生字段证实，不据此另标通过失败、任务设计问题或环境根因。"
+ },
+ "summary_zh": "机器人夹持环柄沿线移动，多次在绝缘套处换握，视频约 574.2 s 环沿终端立柱落到木台，按视觉路径判为完成全线通过，最终进度为 1/2。断在工具放到终点：视频 817.5–995.7 s 工具平躺在柱脚、柄朝右上且机器人已撤开，服务及最终评分仍未验收；位姿不准及沿用起端朝向的规划偏差均保留为推断。成功参考末段夹爪遮挡使休止朝向比较不可靠，且缺少原生通过历史、目标位姿和终点误差字段，故 conf 从 6 降至 5，无法确认具体超差或唯一失败原因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "loop_traversed 约 574 s 达成、wand_on_finish 未达成、断点在终点放置，均与画面一致；但位姿不准/推理规划的证据依赖“oracle 344 s 休止姿态柄指向右下”，该帧实际仍是夹爪握着工具、并无休止姿态，该观察不成立。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "loop_traversed≈574 s 达成、wand_on_finish 未达成、断点在终点放置，与画面和 live_success=0 一致；但“成功参考 344 s 柄指向右下”被写成观察，实际 oracle 视频末帧（344.4 s）夹爪仍跨在工具两侧、视频在此结束，柄朝向被遮挡/只有一个模糊暗影，不能当作可靠的参考休止姿态；位姿不准和推理/规划的视频支撑应降为推断。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1、I2 两项接受均已在 prev/trajectory.json 中完整落实：参考朝向比较降为推断，位姿不准与规划根因标为低置信度推断，conf 降为 5，其余数值未变。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1、I2 两项接受均已在 prev/trajectory.json 中完整落实：参考朝向比较降为推断，位姿不准与规划根因标为低置信度推断，conf 降为 5，其余数值未变。",
+   "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": "2026-10-31T00:18:40Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--j8elhf9/06_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": "cb0b4306109919e18252d1388f522c7db9d6b9f829a2e06709be936181c92a66",
+   "video_sha256": "d66fa4572d332efafd128923478d3e9815418af3d09f84ed2b46ecd5a51abeb3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--lawubs6.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--lawubs6.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc113ff92bce07ce3b9c2595c7b341d37fa3eec9
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--lawubs6.json
@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--lawubs6",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 104,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 41415,
+   "live_rows": 41415,
+   "sim_steps": 41415,
+   "physics_steps": 414150,
+   "steps": 12228,
+   "elapsed_s": 6714.9,
+   "replay_wall_s": 2845.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-10-i01-standard--lawubs6/replay.mp4",
+  "duration_s": 1035.467,
+  "fps": 15.0,
+  "frames": 15532,
+  "sha256": "f95530ceb49cbf895617fe6576924b58a7944df2f7a1406633ea1619780748cf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环套在外部主视角左前方起端立线的底部，木柄平躺在台面；机器人夹爪尚在工具右上方。"
+     },
+     {
+      "t": 168.0,
+      "log_step": null,
+      "text_zh": "观察：已按约每10秒抽帧检查完整视频，并细查视频 145–194 s。视频 150–170 s，机器人在木柄上方反复张开、闭合并抬爪；视频 168、170、184 s 木柄仍平躺原处、环仍套在起端底部，没有随夹爪升上立线。"
+     },
+     {
+      "t": 1035.4,
+      "log_step": 418,
+      "text_zh": "观察：视频 1010–1032 s 再次下降闭爪，视频 1033 s 机器人空手撤走；视频 1034.4–1035.4 s 逐帧检查中工具仍在起端。log step 418 的实时服务读数也显示末次闭爪间距降为0，log step 422 的episode状态为done=False、reason=None；最终评分live_success=0、replay_success=0且live_matches_replay=1。"
+     },
+     {
+      "t": 1035.4,
+      "log_step": null,
+      "text_zh": "推断：工具始终未被带离起端，未出现沿整根弯线连续移动至黑色绝缘终端的过程，本事件从未成立。参考成功录像的参考视频 20、100、235 s 可见工具随夹爪升起、沿高位线段移动并下降至黑色终端；它们仅用于辨认视觉线索，不作为本次运行证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "单臂二指夹爪在起端木柄旁反复下降和闭合，指端拨碰木柄，使工具略绕起端立线转动；未观察到两侧夹稳木柄并带起工具。依据视频 150–170 s、1026–1033 s 的近景及初末木柄朝向变化，实际是拨碰而非成功抓握。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，工具位于铜色起端立线底部；黑色绝缘终端立柱脚边没有工具。"
+     },
+     {
+      "t": 1035.4,
+      "log_step": null,
+      "text_zh": "观察：全程抽帧及视频 1034.4–1035.4 s 的末秒帧中，工具仍在起端，终端黑色立柱脚边未出现工具；机器人没有把工具搬运到终点支撑处。"
+     },
+     {
+      "t": 1035.4,
+      "log_step": null,
+      "text_zh": "推断：工具未到终点，终点放置验收从未成立；这一判断来自可见位置，不依赖零评分，也不需要以毫米级静置公差推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 150.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 150 s 是起端抓取失败的导航锚点；机器人夹爪下降后重新张开、闭合并抬起，但视频 168–184 s 工具仍躺在起端，未建立能带工具沿线运动的夹持。视频 1010–1035.4 s 的末次重试和撤离后仍是同一结果，第一步始终没有完成；终点放置没有开始。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 168.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 166–170 s，机器人两指合拢后向上抬，木柄却一直平躺在其下方，金属环也仍套在起端底部；视频 184 s 夹爪已抬高而工具留在原处。视频 1026–1033 s 再次闭爪、空手撤离也未带起工具。指端偶有拨碰，但沿线移动所需的有效抓握没有建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人在已选定的木柄抓取区域反复逼近和闭爪，却没有实现能夹住木柄的末端位姿与接触。log step 254 的实时服务读数显示逆解返回ik=True，但上移指令后TCP几乎未升高，joint2实际位置0.669 rad、命令0.5261 rad、驱动力矩为−50 N·m；log step 396 更换逆解种子后仍有明显末端和关节跟踪误差。log step 418 末次目标(0.434,−0.472,0.164) m实际为(0.4402,−0.4674,0.1693) m，闭爪间距随后为0；视频 1026–1033 s 对应的实际结果是工具留在台面。证据支持抓取执行控制失败，尚不足以唯一划分为接触设计、逆解或反馈控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频不能精确核验子步金属接触、辅助抓取状态及毫米级终态速度、漂移公差；评分字段也没有报告DAG所列八项原生指标，故这些值留null。手指局部遮挡木柄接触区，但抬爪前后工具始终在起端，足以判定未完成抓取和沿线通过。关节力矩饱和及跟踪误差的具体物理来源未被独立确定，无法区分碰撞阻挡与当前臂姿、接触方案的影响；agent在log step 423将其解释为硬力矩限制，这不证明所有合法抓法都不可行。"
+ },
+ "summary_zh": "机械臂反复在起端下降、闭爪并测试抬起，但工具始终留在起端，金属环走完全线与工具放到终点均未完成（0/2）。断点为第一步操作中的抓取失败，现象是未建立有效抓握，日志中的末端跟踪误差与力矩饱和支持控制层归因。无状态日志，不能精确核验细粒度接触或唯一确定控制失败的物理来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成，视频全程工具停在起端，与标注一致；断点、没建立接触、控制根因（保持在未分子类的 控制）均有视频和服务读数支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-30T23:47:23Z",
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+   },
+   {
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+    "ok": true,
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+  ],
+  "review_engine": "claude",
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+  "inputs": {
+   "run_json_sha256": "0616b12ad98e6ce2430687878357e88ebeae4a80a9105b25c79c043dd92c53a8",
+   "video_sha256": "f95530ceb49cbf895617fe6576924b58a7944df2f7a1406633ea1619780748cf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8feab5b0111b7344efc072978037f1550b40427
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty.json
@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 8,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5388,
+   "live_rows": 5388,
+   "sim_steps": 5388,
+   "physics_steps": 53880,
+   "steps": 1475,
+   "elapsed_s": 10789.4,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.589,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.319,
+   "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/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty/replay.mp4",
+  "duration_s": 134.8,
+  "fps": 15.0,
+  "frames": 2022,
+  "sha256": "ac6a4ef0987bdee9472b4f9b357cb7a8f5f60e87e5ae229c00025a7b19cbb5b8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，环柄工具平放在起端立柱脚边；全片粗查及视频 118.0–134.73 s 的密集帧显示，机器人此前反复靠近、闭爪和退回，末段才握住木柄并带环上移。"
+     },
+     {
+      "t": 134.73,
+      "log_step": 1039,
+      "text_zh": "观察：视频 130.0–134.73 s，夹爪带环沿起端竖直段升至上方弯线附近；最后一秒各视角仍显示工具在路径起始区域，未沿后续弯线到终端下降立柱。log step 1039 的最终执行脚本只生成中心线索引 6–96 的路径，log step 1040 启动该脚本；这些索引是脚本路径点，不是视频时钟。完整通过的可见必要条件未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 127.0–134.73 s，单臂 Robotiq 二指夹爪合拢围住木柄，随后木柄与金属环随夹爪一起离开起端台面并沿线升高；此前还有多次重新接近和闭爪尝试。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "观察：视频 131.0–134.73 s，所持金属环沿起端线段穿行，未见工具撞线或掉落；这里只记录已观看的局部避线运动，普通视频不能核验全部物理子步的微小接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 134.73,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–134.73 s 的各视角未出现工具到终端立柱脚边放置、松手撤离的过程；视频 134.73 s，工具仍由夹爪握持在起端上方。作为视觉对照，成功参考视频 325.0 s 与 344.4 s 显示工具已在另一端立柱底部的台面上、夹爪张开；本次始终没有出现该位置关系，故本节点未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 134.0,
+   "log_step": 1039,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 133.0–134.73 s，机器人持环仅走到起端上方的部分线段，仍未进入终端下降立柱；log step 1039 的最终执行脚本把路径限定在索引 6–96，而完整中心线终点为索引 499（log step 870）。推断：本次断在完整沿线通过这一步；视频 134.0 s 是末段未完成运动的导航锚点，画面没有显示一个突发碰撞或脱手时刻。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "观察：agent 的离线求解程序在 log step 491 返回中心线索引 105 处失败；log step 870 的动态规划输出“DP FAILED: No continuous path from start to finish”，只能连接到索引 108；log step 918 的另一轮候选连通检查在索引 355 后无可连接路径。log step 1039 最后改为只生成索引 6–96 的局部路径，log step 1040 执行，视频 130.0–134.73 s 也只显示起端上移与局部弯线运动。推断：agent 未求得并执行贯穿全线的连续关节轨迹，使第一节点停留在局部通过；这些求解失败不证明任务本身不可达。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志，评分器 reward 也未报告 DAG 所列的距离、角度、净距及静止窗口原生指标，因此这些 native_metrics 均为 null，不能核验毫米级公差或逐子步金属接触。视频末段显示的是一段尚未完成的沿线运动，未显示可确定的碰撞、失握、卡阻或瞄准偏差；早先抓取困难后来已有持物上移，故不将其当作未修复的失败现象。现象层留空，根因仅由日志中的连续轨迹求解失败和最终局部执行作有限归因；log step 1048 关于零金属接触等内容是 agent 自述，不能代替服务读数。"
+ },
+ "summary_zh": "机器人最终握住环柄工具，沿起端立柱上移至上方局部弯线，两个节点均未完成，终点放置尚未开始。断点为金属环走完全线；日志多次报告连续轨迹求解失败，最后执行脚本仅覆盖起始部分。无状态日志及原生精细指标，视频也没有显示可明确分类的未修复碰撞或失握，故失败现象层留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 127–134.73 s 各视角与标注一致：夹爪握木柄带环沿起端立柱上移，未到终端；两节点均未成立，断点 loop_traversed 合理；log step 1039/1040 的局部路径（索引 6–96）与根因证据一致，现象层留空有 gap_zh 说明。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": "2026-10-30T23:48:58Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--u5xr6ty/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "62b18056da2394df971022ffa6ba39cae8c0eb4d1a13ede63f0fd43f1fbeeab2",
+   "video_sha256": "ac6a4ef0987bdee9472b4f9b357cb7a8f5f60e87e5ae229c00025a7b19cbb5b8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr.json b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr.json
new file mode 100644
index 0000000000000000000000000000000000000000..38bdec8506d416d02962bb3797444eaf3989bd3d
--- /dev/null
+++ b/phase2/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr.json
@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--ysxytkr",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 361,
+   "live_rows": 361,
+   "sim_steps": 361,
+   "physics_steps": 3610,
+   "steps": 297,
+   "elapsed_s": 8141.4,
+   "replay_wall_s": 34.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr/replay.mp4",
+  "duration_s": 9.133,
+  "fps": 15.0,
+  "frames": 137,
+  "sha256": "a523640cd306e2fb780c1bb1c75d0b23a3ec0e0569b71bc8d6b265cd9b336706"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s工具的木柄平放在前侧起端，金属环套在起端线柱底部；视频0.0–5.5 s机械臂先抬起并改变腕部观察视角，工具未离开原位。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 219,
+      "text_zh": "观察：视频5.8–6.8 s机械臂向起端工具接近，随后停在工具上方；视频7.0–9.07 s夹爪在空处闭合，前侧起端的木柄及金属环仍在原位，未沿立体弯线移动。log step 219实际提交的是接近并闭合夹爪的动作段，尚未提交沿线运动。"
+     },
+     {
+      "t": 6.9,
+      "log_step": 232,
+      "text_zh": "观察：log step 232读取本次实时动作段的服务安全监测，记录link5压在线上，最大压载225.5 N、最长强推2.67 s。推断：log step 211所示控制频率40 Hz，监测事件control step 275对应约视频275/40=6.88 s；已与视频6.8–7.0 s臂段停滞画面核对，事件时刻不等于首次接触时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频6.4–9.07 s接近工具的单臂停滞，夹爪未夹住仍在起端的木柄；log step 232服务监测确认实际承压接触为机械臂link5与弯线。此处按单臂归入手指/夹爪，作用端实际是link5臂段，非夹爪抓握；未发生手持金属环沿线避让。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.07,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–9.07 s工具始终留在前侧起端，结尾木柄仍横放在起端线柱脚边；没有到另一端下降立柱脚边的放置、松手和撤离。成功参考视频约240 s可见工具随夹爪到终端，参考视频344.4 s环位于另一端柱脚；本次所有视角均未出现该转移。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 6.4,
+   "log_step": 232,
+   "where": "操作中",
+   "evidence_zh": "观察：视频6.2–6.8 s机器人为获取起端工具而下降，随后在工具上方停滞；视频8.2–9.07 s夹爪闭合但工具仍在起端。log step 232的本次实时服务监测明确记录link5压在线上，log step 234显示实际TCP高度约0.370 m而接近目标在log step 236降至约0.159 m。推断：沿线步骤在接近抓取阶段被臂段碰线阻断，之后未修复。"
+  },
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 6.4,
+    "log_step": 232,
+    "evidence_zh": "观察：视频6.4–9.07 s机械臂停在线的上部，夹爪始终悬在起端工具上方，工具没有被带动；log step 232服务监测记录pressing=\"the robot's link5\"、on=\"the wire\"，最大压载225.5 N。推断：接近路径被link5与线的接触阻断，未能到达木柄抓取位姿。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：接近动作的几何避碰检查不足，使臂段碰线后关节目标仍继续下发。log step 216构造并保存接近轨迹，其避碰检查仅用arm_tcp、hand、link7、link6的点及半径；log step 219整段提交接近、保持和闭爪动作，未依据接触反馈修改；log step 232服务确认link5压线，log step 234实际关节与指令明显偏离且TCP停在约0.370 m，未到log step 236所列约0.159 m的抓取目标。上述证据支持控制问题，但不足以进一步区分碰撞形状建模与在线反馈控制各自的贡献。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；link5的具体碰线位置部分被机器人遮挡，接触对象与压力采用本次单一实时episode的服务监测记录，首次接触时间仅作视频约6.4 s的粗定位。毫米级通过和终点静置指标未在评分器最终字段中报告。log step 254虽出现模型过滤中断，但此前本次评分轨迹已经发生且始终未修复的物理阻塞，按此前物理失败标注；不把过滤中断当作机器人现象或根因。"
+ },
+ "summary_zh": "本次完成0/2节点：机器人先移动腕部相机观察，再接近起端工具，但link5压在线上而停滞，夹爪未抓起木柄，金属环未沿线移动，也未尝试终点放置。断点为“金属环走完全线”的操作中，服务接触监测与视频停滞相互印证，日志支持接近轨迹避碰及接触反馈方面的控制问题；无逐帧状态日志，首触时间及更细控制归因仍不确定。末尾模型过滤发生在上述未修复物理失败之后。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点为loop_traversed（操作中）、被挡/碰撞（link5压线，服务监测读数）及控制根因均有视频与log支持；未发现改变结论的错误。",
+    "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": "2026-10-30T23:54:40Z",
+  "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/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--ysxytkr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "83b32e4ffc529720cbd879db0c84bf6367a0118da3c1996e1e3c610b6a72d2a7",
+   "video_sha256": "a523640cd306e2fb780c1bb1c75d0b23a3ec0e0569b71bc8d6b265cd9b336706",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2577b3c9f825d57aee6c6ca7d9f921fb3868c6a
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt.json
@@ -0,0 +1,288 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--g4mc3kt",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1130,
+   "submitted_actions": 1130,
+   "sim_steps": 1130,
+   "physics_steps": 11300,
+   "sim_time_s": 28.249999999999464,
+   "final_reward": 0.0,
+   "replay_wall_s": 98.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "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": 0.825,
+   "peak_memory_gb": 1.463,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.006,
+   "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/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt/replay.mp4",
+  "duration_s": 28.333,
+  "fps": 15.0,
+  "frames": 425,
+  "sha256": "9921ad3e68aaaf89d84c3cc733e0efa7270427918bf787aa8eb5c44ef7843d51"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      0.1
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0 s 金色件斜立，两夹爪均未接触拼图；log step 29 的冻结初态金色件 bounds 的 y 上界为 0.08076 m。按任务给出的初态余留组件最靠目标点再外移 5 mm 的固定分隔面定义，开局该关系成立。"
+     },
+     {
+      "t": 0.1,
+      "log_step": 246,
+      "text_zh": "推断：视频 0.000、0.067、0.133、0.200 s 显示金色件在两夹爪尚远离时自行倾转沉降，随后粗查视频全程及视频 27.3–28.27 s 末段均未见金色件回移。log step 246 的最后录制输出金色件末态 y 上界 0.0994 m，动作数 1130 与 log step 248 的提交文件及评分器 n_actions=1130 一致，物件平躺姿态也与视频相符；按 log step 29 初态和任务定义，固定分隔面 y≈0.08576 m，末态超出约 13.6 mm。bounds 随倾转变化正是整件顶点判据需要计入的变化，不能仅以主视图上沿几乎不变排除越面；故保留 final=false，视频约 0.1 s 只是联合证据推断的丢失锚点，并非直接量测。成功参考视频 0.0–1.0 s 也有类似无接触沉降，仅用于识别该开局现象，不证明本次节点值。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": 246,
+      "text_zh": "观察：视频 2.5–4.3 s 的密集帧显示右夹爪靠近银色件右端并闭合，银色件仍留在桌面原拼图处；视频 10–24 s 右夹爪转动、抬起时银色件没有随行。log step 246 的交付录制输出 grasp 的 in_hand、got 均为 None，路径结束仍为 None，与视频未抓起的结果一致。"
+     },
+     {
+      "t": 28.27,
+      "log_step": 248,
+      "text_zh": "观察：视频 25–28.27 s 右夹爪空手移到绿框上方，银色件整个长框仍在绿框近侧桌面，与金色件轮廓重叠，绿色目标区内没有银色件。log step 248 核对的提交文件为 1130×14 动作，与 log step 246 的最后录制一致；评分器 strict_goal_reached=0。成功参考视频 675.0 s 的银色件已与金色件分开并由右夹爪持于绿框上方，仅用于辨识应有的视觉形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.3–4.4 s 机器人右夹爪在银色件右端闭合，局部被夹爪壳体遮挡，俯视、侧视和腕视均不能确认夹指是否实际触及或仅从旁闭合；视频 20–28.27 s 银色件仍留原处，不能记为抓握。左夹爪未参与操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 3.6,
+   "log_step": 246,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.5–4.4 s 机器人右夹爪靠近银色件右端并闭合；视频 10–24 s 夹爪运动而银色件留在原处，视频 27.3–28.27 s 夹爪已空手离开，银色件仍在绿色目标区外。推断：机器人实际着手且未修复的是银色件入区步骤的抓取环节，以视频约 3.6 s 为失败锚点（docs/03_trajectory.md Step 3.1；DECISIONS.md S14）。开局金色件无接触沉降不是该机器人操作失败。"
+  },
+  "unmet": {
+   "gold_on_system_side": false,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.6,
+    "log_step": 246,
+    "evidence_zh": "观察：视频 3.3–4.4 s 机器人右夹爪在银色件右端闭合，视频 10–24 s 夹爪转动、抬起时银色件没有随行，视频 28.27 s 仍在原拼图处；log step 246 中脚本调用 object_in_hand 的输出 in_hand、got 均为 None，路径结束仍为 None，仅作辅助。推断：所需的持物接触从未建立，标接触·没建立接触；不表示已排除短暂单指触碰，也没有先持住再丢失的可见证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 246,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 244 的脚本及 log step 246 的重录修改显示机器人按抓银色件、解脱、入区的目标顺序执行；没有证据证明该目标或顺序选错。视频 3.3–4.4 s 闭爪未形成持物、随后空手执行，与 log step 246 的 in_hand=None 一致；同一步工具输出还记录右臂 right/forearm_roll 的 IK 解距当前关节 2.42 rad、将摆臂的警告。因此归入抓取执行的控制问题。局部接触被遮挡，尚不能证实具体接触几何不可行，也不能证明接触方案可行而仅逆解失败；依 docs/03_trajectory.md Step 3.3 判别次序停在控制，不强选抓取和接触设计或轨迹或逆解。agent 在 log step 249 将开局倾倒归咎于 IK 的自述与视频不符，未用作因果证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志，固定分隔面不可见；金色件 final=false 来自冻结初态、任务分隔面定义和与交付一致的末态 bounds，视频约 0.1 s 的关系丢失时间仍是推断，主视图上沿几乎不变不能单独量测越面。任务设计问题：金色件在夹爪远离时即从斜立初态自行沉降，按上述边界推断会失去开局保持关系，不能把此沉降标成机器人位姿误差；成功参考视频 0.0–1.0 s 也见类似沉降，说明不能据此宣称任务无合法解。银色件闭爪处遮挡，无法确认短暂单侧指接触，contact_actual 保持未知；所需持物接触未建立和未入区可见。抓取几何不适配与 IK 跳支对抓取失败的具体贡献无法区分，可行替代抓法也未经本次证据验证，根因停在控制并将 conf 降至 4。七项原生数值指标均未由评分器单独报告，保留 null。"
+ },
+ "summary_zh": "本次右夹爪尝试抓取银色件却未形成持物，随后空手执行路径，视频 28.27 s 银色件仍在目标区外，断点为银色件入区的抓取环节，现象为没建立接触、根因归控制。任务设计问题：金色件开局在两夹爪远离时自行沉降，结合初态与交付末态 bounds 推断其越过固定分隔面，保留最终两节点均不成立，但不把自然沉降归为机器人位姿误差或规划失败。无状态日志、分隔面不可见，金色件丢失时间及抓取控制子因未能直接判定，conf 降至 4。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间大体可接受，但断点与根因选错：金色件在视频约0.1 s 的倾转是开局物理沉降（成功的 oracle 视频 0.0–1.0 s 同样出现），不是机器人行为；机器人实际着手并失败的是银色件抓取（视频 2.5–4.4 s 右夹爪闭合未抓起），应作断点，并补 没建立接触 现象。把‘位姿不准’‘推理/规划’归于一个无机器人接触的沉降事件缺乏证据。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "断点（银色件入区，视频约 3.6 s）、没建立接触现象、控制根因及两节点 final=false 与帧和 log 相符；金色件越面时间为已声明的推断，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": "2026-10-31T00:15:51Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--g4mc3kt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54904a674b8357746fa70d2648252474b867f52d57e71de05f22877d7fc15396",
+   "video_sha256": "9921ad3e68aaaf89d84c3cc733e0efa7270427918bf787aa8eb5c44ef7843d51",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k.json
new file mode 100644
index 0000000000000000000000000000000000000000..73031d9c10f009a1070fb26e64e5812fc042fa4a
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k.json
@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--i4yrn3k",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 620,
+   "submitted_actions": 620,
+   "sim_steps": 620,
+   "physics_steps": 6200,
+   "sim_time_s": 15.500000000000153,
+   "final_reward": 0.0,
+   "replay_wall_s": 61.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 10,
+   "agent_sim_steps": 1890,
+   "agent_records": 2,
+   "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/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k/replay.mp4",
+  "duration_s": 15.6,
+  "fps": 15.0,
+  "frames": 234,
+  "sha256": "e7f3682ffef8f813820437ac65d0ef6676e5ace7ec0018c4f9c29664c814ed03"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件位于绿框近侧，与银色件套接；视频 0.0–1.0 s 有初始落稳，随后直至视频 15.53 s，金色件一直留在同一桌面位置，两臂均未触及它。"
+     },
+     {
+      "t": 15.53,
+      "log_step": null,
+      "text_zh": "推断：DAG确认初态已在系统侧，视频 0.0–15.53 s 未见金色件向目标方向移送，故将该初始关系记为全程维持；不是仅凭金色件未进入绿框判定。隐形分隔面的毫米级余量无状态数据复核。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.4–3.4 s 右臂向银色件方向转动、降低，右夹爪在银色件右侧仍有明显间隔处合拢；银色件继续留在原处，未随夹爪运动。视频 3.4–14.6 s 可见夹爪重复开合，但未将银色件夹在两指之间。"
+     },
+     {
+      "t": 15.53,
+      "log_step": null,
+      "text_zh": "观察：视频 14.6–15.53 s 各视图仍显示银色件与金色件相互套接、留在绿框近侧，整个银色轮廓未进入绿框，目标区为空；全程未见分离、提起或搬入目标区。"
+     },
+     {
+      "t": null,
+      "log_step": 134,
+      "text_zh": "观察：log step 132 的脚本输出为抓取失败并保存 partial (620, 14)；log step 134 读回交付文件，动作数为620且元数据注明 grasp failed，与评分器 n_actions=620 及视频中空夹后未搬动物体一致。此前 log step 127 的1202行动作属于另一会话尝试，不计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 3.4–14.6 s 右臂二指夹爪反复开合，目标为银色钥匙孔件，但手指一直在物体右侧的空处，未夹住或推动银色件；左臂未参与。候选名称：空夹（未接触的抓取尝试）；抓握要求实际夹住，推/扫、压/擦等也没有发生，故用其他记录这次实际尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 3.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.4 s，右臂在银色件右侧闭合夹爪时，银色件没有位于两指之间，仍与金色件套接在原处；之后到视频 15.53 s 末帧都未抓取、解脱或入区。此处为银色件入区步骤的抓取阶段失败，后续开合未修复。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.2–3.8 s 右夹爪在银色件右侧开合，指尖与银色件之间留有可见间隔，物体没有进入两指间；视频 5.6–15.53 s 的后续开合也没有使银色件离开原位或随手移动，所需抓握从未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 132,
+    "evidence_zh": "推断：log step 132 对最终保存620行的尝试输出 right arm IK failed，位置残差33.9毫米及48.6毫米，随后报告 in_hand: None、no_bilateral_candidate 并保存 grasp failed 轨迹；log step 134 确认提交的正是620行失败文件。结合视频 3.4–15.53 s 夹爪在银色件旁空合，说明本次抓取运动未求解并执行到需要的末端位姿，使夹指未到达物体；这不证明整项任务或所有抓姿不可达。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志或接触对记录，不能数值复核隐形分隔面、网格边距和速度；金色件维持系统侧由DAG给定初态及视频中未被操作、未明显向目标移动推断。评分器未报告DAG列出的七项原生指标，均记为null。日志的会话调试不逐条映射视频时间；解脱路径未在该交付轨迹中执行，不能据会话中的搜索结果证明其物理可行性。"
+ },
+ "summary_zh": "评分轨迹维持了初始的金色件留系统侧关系，最终为1/2节点；银色件始终与金色件套接在绿框外。右臂在视频约 3.4 s 开始空夹，未建立抓握，日志中最终620行尝试的IK残差与此一致，银色件解脱和入区均未发生。无状态日志，金色件相对隐形分隔面的精确余量及七项原生指标无法数值复核。",
+ "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、现象与根因均与视频和日志一致：金色件初态在系统侧、银色件始终未脱离，右夹爪在其右侧空合；log step 132/134 的IK残差和620行失败文件与评分器n_actions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": "2026-10-30T23:49:45Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--i4yrn3k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b48aedc467fcb8cac535b3ad869ceb0472f5632bfc65a97cb852f1aa7fa16b3b",
+   "video_sha256": "e7f3682ffef8f813820437ac65d0ef6676e5ace7ec0018c4f9c29664c814ed03",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--mwr6abo.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--mwr6abo.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a620946ecd6f23b878252a64eb6fff6bbb0ab1b
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--mwr6abo.json
@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--mwr6abo",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 27172,
+   "submitted_actions": 27172,
+   "sim_steps": 27172,
+   "physics_steps": 271711,
+   "sim_time_s": 679.2774999996561,
+   "final_reward": 1.0,
+   "replay_wall_s": 1879.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 27172,
+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 8,
+   "agent_sim_steps": 119144,
+   "agent_records": 53,
+   "agent_replays": 5,
+   "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/roboarc-cast-keyhole-03-i01-privileged--mwr6abo/replay.mp4",
+  "duration_s": 679.4,
+  "fps": 15.0,
+  "frames": 10191,
+  "sha256": "f78d3e8890079696b2f33799b530736e7c9c8c779bda12835c135c3bd1c17571"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两件在绿框近侧相互套接，金色件位于原拼图一侧，符合本节点的初态系统侧关系。"
+     },
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–15.0 s，左夹爪夹住金色件并抬起，银色件随互锁结构离开桌面；视频 50.0–55.0 s，右夹爪接住银色件、左夹爪松开金色件，视频 80.0–100.0 s 左夹爪重新夹住金色件的长端。"
+     },
+     {
+      "t": 317.5,
+      "log_step": 182,
+      "text_zh": "推断：视频全程每隔约 10 s 的三视图及视频 35.0–105.0 s 的换抓帧中，金色件虽有抬高、转动和平移，未见向目标侧越过分隔面的明确迹象；log step 182 的已录制检查点 12706 显示金色件水平 y 上界为 -0.02719 m，仍在目标近侧。分隔面本身不显示，连续保持按这些观察推断，未把抬高导致的画面投影上移当作越界。"
+     },
+     {
+      "t": 679.33,
+      "log_step": 274,
+      "text_zh": "观察：视频 629.0–679.33 s，左夹爪持金色件留在画面左下方，右夹爪仅将已分开的银色件送向绿框；视频 678.267–679.333 s 的逐帧检查中金色件保持该处。log step 274 的交付生成器重放结果为 success=True、episode_end=success；评分器 strict_goal_reached=1、success=1，支持金色件末态满足系统侧判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.0–15.0 s 左臂二指夹爪夹持并抬起金色件；视频 50.0–55.0 s 松开换抓，视频 80.0–100.0 s 重新夹住金色件长端，后续持住并调整其位姿，末态仍夹持。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      679.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 银色件在绿框外并与金色件套接；视频 13.0–15.0 s 随左爪持起的金色件升离原桌面位置。"
+     },
+     {
+      "t": 100,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–55.0 s 右夹爪从新方向夹住银色件、抬持互锁组件；视频 80.0–100.0 s 左夹爪重抓金色件后，两臂各持一件。视频 140.0–600.0 s 两件经历缓慢的相对平移、翻转和过槽，尚未入目标区。"
+     },
+     {
+      "t": 620,
+      "log_step": 212,
+      "text_zh": "观察：视频 606.0–620.0 s，左爪的金色件向左下方退开，右爪的银色长框与之拉开明显间隙；视频 621.0–632.0 s 两件保持分开，银色件随后开始向绿框移动。log step 212 的录制检查点 25170 也记录两夹爪分别持有金色件和银色件。"
+     },
+     {
+      "t": 679.3,
+      "log_step": 274,
+      "text_zh": "推断：视频 650.0–679.33 s 右爪把银色件悬持于绿框上方，末秒逐帧显示其位姿趋于稳定，金色件仍远离绿框。悬空件在斜视图中的轮廓不能直接当作桌面垂直投影，严格边距、高度、速度与共同确认采用本次交付重放的评分结果：success=1、strict_goal_reached=1、strict_goal_row=27172；log step 274 的生成器重放也在 sim_steps=27172 成功结束。按该交付的 40 Hz 控制行计数，27172/40=679.3 s（与视频末帧相合），并以 log step 212 的检查点 25170/40=629.25 s 对应视频 629.0–632.0 s 分离后开始入区运动作可见事件核对，故完整验收时间记为约视频 679.3 s；不是将 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.0–15.0 s 左爪先持金色件带起互锁的银色件；视频 50.0–55.0 s 右爪换抓银色件并支承组件、左爪暂时松开；视频 80.0–100.0 s 左爪重抓金色件。随后左爪夹金色件、右爪夹银色件，协同翻转解脱；视频 629.0–679.33 s 左爪留持金色件、右爪将银色件移入目标体积，末态两爪均未释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "双臂通过换抓及相对平移、翻转将两件解脱，左爪将金色件留在系统侧，右爪悬持银色件送入目标体积，约视频 679.3 s 通过共同验收，最终完成 2/2 个节点，无失败断点。金色件从视频 0.0 s 起计为成立，途中未见明确失去系统侧关系的证据。无状态日志，隐形分隔面的逐点边界和银色件的毫米边距、精确速度无法从斜视录像独立测量，连续区间含视觉推断、严格末态依评分器成功字段确认；评分器未逐项报告 DAG 原生指标，七项数值均留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点终局成立、无断点，与评分器 success=1/strict_goal_reached=1 及视频末帧（金色件在左下、银色件悬于绿框上方）一致；时钟换算有事件核对，未发现需改的错误。",
+    "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": "2026-10-30T23:48:37Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--mwr6abo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--mwr6abo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8d410d3297d7fe5ba4974ef9e7a560995efe23278f677e34411b7d4b2f1d441",
+   "video_sha256": "f78d3e8890079696b2f33799b530736e7c9c8c779bda12835c135c3bd1c17571",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wcrfat2.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wcrfat2.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ca6de3d2bfe3ee044329877909eaa6722d3d38
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--wcrfat2.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--wcrfat2",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 33,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 13336,
+   "submitted_actions": 13336,
+   "sim_steps": 13336,
+   "physics_steps": 133360,
+   "sim_time_s": 333.39999999997065,
+   "final_reward": 0.0,
+   "replay_wall_s": 1325.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 72,
+   "agent_resets": 105,
+   "agent_sim_steps": 153329,
+   "agent_records": 19,
+   "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/roboarc-cast-keyhole-03-i01-privileged--wcrfat2/replay.mp4",
+  "duration_s": 333.467,
+  "fps": 15.0,
+  "frames": 5002,
+  "sha256": "7cf95589f76c1e2745f7d04d96fe449be1f024865cb19e67a8ee63d56ecc9ce9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      178.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "观察：视频 0.0 s，金色长框在绿色目标框近侧，与银色件套接；log step 4 的初态金色件 bounds 给出最高 y=0.08076 m，按任务固定分隔面向目标外移 5 mm 的定义，初态满足系统侧条件。"
+     },
+     {
+      "t": 174.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10–174 s，金色件先随右臂操作转动、向画面近侧移动，随后右夹爪直接推拨金色件；视频 174 s 金色件仍横放在目标框近侧，明显远于初态的目标近边。"
+     },
+     {
+      "t": 178.0,
+      "log_step": 210,
+      "text_zh": "推断：视频 176–180 s，双臂接触推压使两件大幅转向，金色件圆头转到朝向目标的一端；结合后续持续向目标侧移动，估计约视频 178 s 失去系统侧关系，边界时刻不确定约数秒。log step 210 对最终保存的 run 12 输出金色件 ymax=0.114–0.158 m，已超过该脚本使用的固定分隔面 y=0.08576 m；这些迭代没有视频控制步计数，未把其日志时钟换算成视频时钟。"
+     },
+     {
+      "t": 333.4,
+      "log_step": 211,
+      "text_zh": "推断：视频 308、326、332.5、332.8、333.4 s，机器人末段推拨后两件仍靠在目标近侧偏左，金色件圆头没有明确退回初态系统侧范围；log step 211 的 run 12 结束输出 GOLD OK: False，log step 212 确认保存 13336 行，log step 215 明确提交 run 12，与评分器 n_actions=13336、deterministic=1 相符，支持终态为假。末帧本身不能量出隐形分隔面的毫米距离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 96–138 s 右夹爪指端直接推拨金色件；视频约 140–326 s 的双臂协同推压中，一侧指端推拨两件接合处，另一侧接触银色件，金色件随之移动、转向；末段再次尝试把金色件拨回系统侧。未见左右夹爪各自抓稳一件的双臂抓握。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 4–8 s 右二指夹爪夹住银色圆头；视频约 10 s 两件转向后落回桌上，右臂随后重新靠近并夹持银色件。视频 16–60 s 可见右臂反复提拉、转腕，金色件在银色件另一端随动；这段两件一直在绿框近侧。"
+     },
+     {
+      "t": 62.25,
+      "log_step": null,
+      "text_zh": "观察：视频 61.25–62.25 s，右臂持银色件转腕时金色件一起摆动；视频 62.5 s 两件落回桌面、银色长框斜靠金色件，视频 66–90 s 右夹爪离开并向目标上方空手移动，银色件仍留在原处，没有随夹爪进入目标区。"
+     },
+     {
+      "t": 180.0,
+      "log_step": 207,
+      "text_zh": "观察：视频约 140–326 s，左右夹爪先后及同时从近侧推压，银色件翻转、向左偏移并带动金色件；银色件的整个轮廓从未落在绿框以内。log step 207 将最终运行的控制脚本改为左臂保持推压、右臂加入推压，符合这段实际双臂动作。"
+     },
+     {
+      "t": 333.4,
+      "log_step": 211,
+      "text_zh": "观察：视频 332.5、332.8、333.4 s，两臂撤开后银色件仍斜靠金色件，完整留在绿框近侧偏左，绿框内没有银色长框；最终保存的 run 12 在 log step 211 输出 SILVER IN SQUARE: False，评分器 strict_goal_reached=0。对照成功示例 oracle 视频 675、679.3 s，银色件由右臂单独持于目标上方、金色件由左臂留在近侧，形态与本次末段明显不同；示例只用于辨认形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 140–326 s 左右夹爪指端协同直接推压银色件及两件接合处，造成滑移与转动，未形成双臂各持一件的抓握。此前视频约 4–62 s 为右侧单只二指夹爪抓握银色圆头并提拉、转腕，金色件借桌面或与银色件的接触承托；视频约 62 s 后该抓握丢失。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 62.25,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 61.25–62.25 s 右夹爪转腕后两件落回桌上，视频 62.5–90 s 银色件留在桌面而右臂空手向目标移动，所需的持件输送没有发生；视频约 140–326 s 的推移重试也未把银色件完整送入绿框，视频 333.4 s 仍在框外。金色件系统侧关系的后续丢失未修复，但银色件入区操作更早已失败且从未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 62.25,
+    "log_step": null,
+    "evidence_zh": "观察：视频 60.75–61.75 s 右夹爪夹持银色圆头，转腕时银色件和另一端的金色件一起摆动；视频 62.25–62.5 s 两件回落并斜靠在桌上，视频 66–90 s 夹爪已空而银色件留在原处。不是在目标内按计划放置后失稳，持件输送在框外就已丢失。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 176.5,
+    "log_step": 207,
+    "evidence_zh": "观察：视频 174–180 s 左右夹爪在两件相接处推压，银色件翻转、金色件被一并转动和带向目标侧；视频 184–198 s 及 220–326 s 两件持续贴靠，推压反复牵动金色件而未使银色件单独进入绿框。log step 207 的脚本明确让左臂保持推压、右臂接着推并周期性前冲，视频中可见的碰动还破坏了金色件原有的位置关系。"
+   }
+  ],
+  "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：视频约 60.75–62.5 s，右夹爪只夹银色圆头，转腕时另一端金色件的随动载荷使两件摆动，银色件最终未留在夹爪内；后续视频约 140–326 s 又用同侧指端推压相互贴靠的两件，没有把金色件与银色件的运动隔开。log step 207 可读到最终脚本只按银色件 bounds 选两个近侧推点，左臂保持推压后右臂继续前推，并加入前冲；log step 210 的同一 run 12 输出银色件 x 下界约 -0.400 m、金色件 ymax 超过分隔面，log step 211 同时报告两项目标为假。这支持接触位置及承载布局不适配当前两件状态，不能产生所需的独立入区运动；没有足够证据确定具体摩擦、夹持力或辅助抓取断开阈值。成功示例使用双臂各持一件，但其镜像版本不同，未据此确认当前版本的替代接触方案。"
+   }
+  ],
+  "gap_zh": "无状态日志，固定分隔面不可见，金色件越界约视频 178 s 为结合转向前后画面与最终保存 run 12 的对象边界输出作出的估计，误差约数秒，不能重建毫米级临界抖动；其终态为假有同一交付运行的 GOLD OK: False 支持。银色件始终明显在框外，无需猜测速度或 0.5 s 保持是否达标；七项原生连续指标均未由评分器报告，故 value 为 null。日志中“完全分离”的叙述涉及多次会话测试，未替代本次视频中的持件、移动证据；部分生成脚本输出被截断，没有逐帧接触力或辅助抓取状态，根因只推断到接触设计。",
+  "unmet": {
+   "gold_on_system_side": false,
+   "silver_in_goal": false
+  }
+ },
+ "summary_zh": "金色件留系统侧在开局成立，约视频 178 s 的双臂推压转向后丢失；银色件全程未完整入区，终态为 0/2。断点为银色件入目标区操作：约视频 62 s 持件接触丢失，后续同侧推压又使两件共同转动、偏移，接触布局未能实现独立输送。无状态日志，金色件越界时刻只能粗估，接触力及辅助抓取失效机制无法进一步核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（银色件入区，约视频62 s持件丢失）、现象与根因与可见画面和最终run 12输出一致；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": "2026-10-30T23:55:24Z",
+  "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/roboarc-cast-keyhole-03-i01-privileged--wcrfat2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--wcrfat2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bce0f7c0d7d3811b9d651843491b06e52927c57ea6c8624cc355025ea3565d2d",
+   "video_sha256": "7cf95589f76c1e2745f7d04d96fe449be1f024865cb19e67a8ee63d56ecc9ce9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--7swrrxf.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--7swrrxf.json
new file mode 100644
index 0000000000000000000000000000000000000000..47987779e4f3043dbeb16b9f38a6d4d8d6e87461
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--7swrrxf.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--7swrrxf",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 19158,
+   "live_rows": 19158,
+   "sim_steps": 19158,
+   "physics_steps": 191580,
+   "steps": 2481,
+   "elapsed_s": 10818.5,
+   "replay_wall_s": 998.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--7swrrxf/replay.mp4",
+  "duration_s": 479.0,
+  "fps": 15.0,
+  "frames": 7185,
+  "sha256": "8b212c1e95e0515069b83e053df9ac570210dc4168f4de23e129ab87524ac89f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      62.5
+     ],
+     [
+      128.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件与银色件套接于绿框近侧；金色件处于任务规定的初始系统侧位置。"
+     },
+     {
+      "t": 62.5,
+      "log_step": null,
+      "text_zh": "推断：视频 62.5–63.0 s 左夹爪失去金色件，两件落回桌面并转斜；结合视频 64.0 s、80.0–118.0 s 的桌面及腕部视图，金色弧端向目标方向超出初态最靠近目标的边缘，位移明显大于分隔面相对该边缘的5毫米，故系统侧关系失去。越界时刻约为视频 62.5 s。"
+     },
+     {
+      "t": 128.0,
+      "log_step": 70,
+      "text_zh": "推断：视频 120.0–128.0 s 机器人重新双手夹持、抬起并将组合件向近侧移开，约视频 128.0 s 金色件退回系统侧；视频 136.0–472.0 s 各段操作及视频 478.9 s 的主视图、正面视图显示金色件此后位于目标近侧的操作空间。log step 70 的脚本确实命令双手将组合件沿远离目标方向平移；此处时间取自画面，恢复边界估计误差约2秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.0–60.0 s 左二指夹爪夹持金色件并抬起；视频 62.5 s 金色件脱离夹爪，之后重新夹持弧端、杆部并多次换抓。金色件由左夹爪固定和转动，右夹爪操作银色件的协作记在银色件节点。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 27,
+      "text_zh": "观察：视频 20.0–27.0 s 机器人双夹爪夹着两件尝试相对抽拉，但银色齿形框仍穿在金色框内；视频 38.0–47.0 s 右夹爪离开后银色件仍挂在金色件上，未解脱。log step 27 的脚本命令右手继续平移20毫米。"
+     },
+     {
+      "t": 232.0,
+      "log_step": null,
+      "text_zh": "观察：视频 128.0–232.0 s 两臂反复改变两件夹角并抽拉；视频 240.0–304.0 s 右手夹住银色件，金色件曾悬挂其上，左手再夹金色件。两件一直存在可见的套接，没有形成独立的银色件入区状态。"
+     },
+     {
+      "t": 478.9,
+      "log_step": 375,
+      "text_zh": "观察：视频 400.0–454.0 s 两件齿口交接处仍相互卡挂；视频 475.75–478.75 s 的逐帧检查及视频 478.9 s 末帧显示银色件仍套在金色件上，且主体伸在绿框右侧，整个轮廓没有进入目标体积。评分器 live_success=0、replay_success=0 且 live_matches_replay=1 与画面一致；log step 375 的在线服务仍报告 done=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.0–27.0 s、128.0–224.0 s 及后续多段中，左二指夹爪夹金色件、右二指夹爪夹银色件，协同抬升、旋转和抽拉；各手分别夹住一件。视频 232.0–264.0 s 及约视频 450.0 s 的恢复片段中，左手空出，右手单独夹银色件并承受仍套接的金色件，随后左手重新抓取金色件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 26.0,
+   "log_step": 27,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.0–27.0 s 右手继续抽拉时，银色齿形件仍卡在金色件内；后续虽反复重抓和调整角度，至视频 478.9 s 仍未解脱入区。log step 27 执行右手20毫米抽拉，log step 28 的在线安全监测记录该段最大受压接触力194.2牛；这是机器人服务测得的接触载荷，不是 agent 的文字判断。金色件中途的系统侧关系后来恢复，未修复的步骤是银色件解脱入区。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 26.0,
+    "log_step": 28,
+    "evidence_zh": "观察：视频 24.0–27.0 s 抽拉没有使两件脱开；视频 38.0–47.0 s 银色件挂在金色框中，视频 128.0–224.0 s 及400.0–448.0 s 的腕部视图反复显示银色齿部与金色环框相互卡住，改变夹角后也未通过，末帧视频 478.9 s 仍套接。log step 28 的机器人服务测得最大受压接触力194.2牛，与有阻挡的抽拉一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：实际双手相对位姿和抓持未稳定维持，导致细齿通道的执行反复受阻。log step 317 中 agent 脚本用服务实测TCP减去规划TCP，打印左手y/z误差约+12/-12毫米、右手y/z误差约-10/-12毫米，说明两手相对位置明显偏离计划；log step 325、357 的服务实测左夹爪间隙均降为0，log step 357 同时测得受压接触力92.9牛及约39毫米跟踪误差。视频 400.0–454.0 s 可见两件继续卡挂、左手撤开后金色件挂在银色件上而非保持既定双手姿态。上述证据支持控制问题，但尚不足以把根因唯一细分为抓取设计或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或金色件全网格相对固定分隔面的数值读数；金色件的越界与退回按多视图、初态边缘及明显平移推断，视频 62.5 s 和128.0 s 的分界仅为近似，不能精确核验5毫米边界或排除边界附近更短的变化。未提供DAG所列七项原生度量的评分数值，均记null。agent 的相机几何重建不是场景真值，现有证据不能验证整条规划路线的实际可行性，亦不能进一步区分规划误差、抓持内滑转和反馈跟踪各自的贡献。"
+ },
+ "summary_zh": "机器人建立了双手抓持并多次抬升、转动和抽拉两件；金色件留系统侧的关系开局成立，约视频 62.5 s 失去、约视频 128.0 s 恢复，最终为1/2节点成立。银色件始终未解脱入区，视频 478.9 s 仍明显套接且伸出绿框，断点是解脱入区操作中的卡阻，日志还显示相对位姿跟踪偏差和抓持丢失。无状态日志，金色件隐形分隔面的跨越时间及控制问题的细分归因有不确定性。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "已对照视频核查：银色件始终套在金色件上、末帧仍伸出绿框，silver_in_goal 未达成与断点（银色件解脱入区，约视频 26 s）成立；金色件系统侧在视频 63–100 s 明显被带离初态位置，视频 128 s 之后回到近侧，与标注一致。未发现需要改动内容的错误（金色件后段的系统侧恢复为近似推断，文件已在 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": "2026-10-31T00:00:24Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--7swrrxf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--7swrrxf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dc6d592f07b800a2d0949977bfcc218f88599692b1d01dfb46a799e1ee410ada",
+   "video_sha256": "8b212c1e95e0515069b83e053df9ac570210dc4168f4de23e129ab87524ac89f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--am7ruxx.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--am7ruxx.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f5ee4e39be7637c043770692c0e7a269d671cfa
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--am7ruxx.json
@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--am7ruxx",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 2978,
+   "live_rows": 2978,
+   "sim_steps": 2978,
+   "physics_steps": 29780,
+   "steps": 368,
+   "elapsed_s": 10819.4,
+   "replay_wall_s": 154.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--am7ruxx/replay.mp4",
+  "duration_s": 74.533,
+  "fps": 15.0,
+  "frames": 1118,
+  "sha256": "84e3c2d9772d3797c3e7bea4ce3568a6befc4054bd3b62af83e2936812f64763"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色长框在绿框近侧，与银色件套接，初态满足DAG所述系统侧关系。"
+     },
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "推断：对比视频 0.0、18.0、30.0、52.0、60.0 s 和视频 73.4–74.47 s，金色件主要向画面右侧及近侧滑移，未见向目标远侧推进；结合其初态系统侧位置，按视觉判断该关系持续成立。此判断依据初态轮廓和运动方向，非仅依据未进入绿框；未取得隐形分隔面的逐顶点距离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 56–66 s 左臂二指夹爪夹住金色件近侧横杆，右臂夹爪同时夹银色件作相对拉动；金色件仍在桌面上，有小幅随动。此前左夹爪曾从侧面和上方多次试夹、重新定位。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30,
+      "log_step": 179,
+      "text_zh": "观察：视频 28.5–30.3 s 右夹爪夹着银色件作短距离向右拉动，金色件随动，两件仍套接且在绿框近侧。log step 179 在线机器人服务返回 control step 1200；按任务40 Hz控制率，1200/40=视频 30.0 s，与所查拉动帧相符。"
+     },
+     {
+      "t": 65,
+      "log_step": 332,
+      "text_zh": "观察：视频 56.0–66.0 s 左夹爪夹金色件、右夹爪反复拉银色件，两件仍近乎平放并保持套接；视频 65 s 附近右夹爪向上退开时，银色件仍在桌面原互锁处，未被携离。"
+     },
+     {
+      "t": 74.47,
+      "log_step": 386,
+      "text_zh": "观察：视频 73.4–74.47 s 的主视、侧视及腕视中，银色长框仍在绿色目标框近侧外面并与金色件重叠套接，整个绿框未承接银色件；后续复夹也未使它解脱或入区。评分器 live_success=0、replay_success=0、live_matches_replay=1，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：前段右臂二指夹爪独自多次闭合试夹银色框边，并有拉动拼图的实际接触；视频约 56–66 s 左夹爪夹金色横杆、右夹爪夹银色件，双臂配合拉动。夹爪确有包夹接触，但未观察到银色件被可靠携离互锁位置，不能由闭合间隙认定辅助抓取已建立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better"
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "value": null,
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 29.5,
+   "log_step": 179,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 28.5–30.3 s 机器人右夹爪沿银色件长轴拉动时，金色件被一起带动，互锁未解除；视频 56–66 s 改为双臂夹持后仍未完成相对脱出，视频 74.47 s 银色件仍在目标区外。这一步一直未完成，后续复夹未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 29.5,
+    "log_step": 190,
+    "evidence_zh": "观察：视频 28.5–30.3 s 右夹爪向右拉银色件，金色长框也向右滑移，两件没有拉开；视频 10–13 s 的较早试拉同样使两件整体右移。agent 在 log step 190 自述“拉动了包括金色件在内的整个组件”，与画面相符。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 60,
+    "log_step": 328,
+    "evidence_zh": "观察：视频 56–65.3 s 左夹爪夹金色横杆、右夹爪向外拉银色框，金色弯端仍扣在银色框内，银色件没有沿所拉方向通过并脱出。log step 328 的在线服务接触监测返回本次读取窗口最大压接触力175.6 N；它是基准机器人服务的传感读数，并非agent估算。该步 control step 2595/40=视频约64.88 s，已在视频64.5–65.0 s的拉动处核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent在log step 170 明确选择沿银色长轴拉出；log steps 269、287、291、294、298 的命令继续增加右末端横向位置，试图以金色件固定加银色件直拉来解除互锁。视频 28.5–30.3 s 及56–66 s显示两件保持近乎共面的互扣形态，直拉使组件随动或卡住；期间主要改变夹爪抓位，未形成让两件相对转位并通过槽口的解锁路径。由明确的动作策略及其几何后果，判断解锁路径规划不足，而非仅从失败或预算耗尽反推。"
+   }
+  ],
+  "gap_zh": "没有状态日志，缺少逐顶点分隔面距离、银色件速度和辅助抓取建立/解除标志；金色件系统侧全程成立为依据初态及画面运动的推断，不能精确核验5毫米隐形分隔面。若干中段log工具返回文本为空或截断，无法确认每次试夹的实际承载状态，故不进一步断言具体辅助抓取故障或失握阈值。",
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  }
+ },
+ "summary_zh": "评分尝试最终保持金色件留系统侧，按视觉推断为1/2个节点；银色件始终未解脱并进入目标区。机器人先单臂拉动、后双臂夹持对拉，出现带动金色件和互锁阻挡，日志中的轴向直拉策略支持解锁路径规划不足的判断。无状态日志，隐形分隔面的毫米级判定及每次辅助抓取状态仍不能精确核验。",
+ "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：金色件全程留在系统侧，银色件始终未解脱入区（视频0.0/29/66/74.4 s帧），control step 2978/40=74.45 s与视频时长吻合；断点、现象与推理/规划根因有证据支持，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": "2026-10-30T23:52:19Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--am7ruxx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--am7ruxx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b5ff3e982164424be1db3636388bfcbcd513c6c426c39c4d7764a97564635263",
+   "video_sha256": "84e3c2d9772d3797c3e7bea4ce3568a6befc4054bd3b62af83e2936812f64763",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--aqktokm.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--aqktokm.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76be2a951d00f1e0bab6930a2d9af05e8c763c8
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--aqktokm.json
@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--aqktokm",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4633,
+   "live_rows": 4633,
+   "sim_steps": 4633,
+   "physics_steps": 46330,
+   "steps": 1106,
+   "elapsed_s": 10778.6,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--aqktokm/replay.mp4",
+  "duration_s": 115.933,
+  "fps": 15.0,
+  "frames": 1739,
+  "sha256": "7569c20aafa89242bf9712fc34e3d493c8d3943c05b29f0c2fd880dffe5b53a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两件呈支起的套接姿态，金色件位于绿框近侧；task/task_dag.json 的 gold_on_system_side.criterion_zh 明确初态满足固定分隔面的系统侧条件。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 69,
+      "text_zh": "推断：对比视频 0.0、0.067、0.133、0.2 s 的主视放大图及右上侧视，拼图姿态变低，但金色件朝目标的远侧边基本留在原处，未见足以支持越界的向目标展开；结合 DAG 给定的初态成立，保留系统侧关系。log step 69 的 gold y[-0.029,0.094]、z[0,0.113] 是 agent 自行分割、反投影得到的可见点范围，含可疑离群点，不是服务的网格边界读数；log step 73 关于越界的自述及 log step 31、79 的点云估计均不用于判定越界。"
+     },
+     {
+      "t": 115.867,
+      "log_step": null,
+      "text_zh": "推断：已检查全程粗抽帧、视频 28.0–46.4 s 的试夹段、视频 106.0–115.6 s 的末次操作及视频 114.933–115.867 s 的逐帧末段。金色件大部分时间保持原处；视频约 109.2–111.6 s 随仍套接的银色件向画面左下转动、滑移，朝目标的边缘未见越过其原有远侧位置，末段仍留在目标近侧。结合初态满足及这些相对位移，记持续满足、最终 true；这是视觉推断，未由状态日志或原生分隔面距离复核，不能仅以未进入绿框代替严格判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 6.4–8.5 s，左臂闭合夹爪沿金色件上方和近侧边缘下探、扫过，执行 log step 63 的推倒拼图尝试；接近处被夹爪遮住，金色件没有明确随动，无法确认夹指实际碰到金色件还是从其上方掠过。未见包夹抓握。视频 108.8–111.6 s 的金色件随动来自仍套接的银色件，不能据此虚构右夹爪直接抓金色件。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，银色件与金色件套接，整个组件位于绿色虚线框近侧，银色件右端伸在框外。"
+     },
+     {
+      "t": 40.8,
+      "log_step": 129,
+      "text_zh": "观察：视频 28.0–40.8 s，右臂夹爪反复在银色长条右端及开槽处下探、闭合或张开，随后抬起时银色件仍留在原桌面位置；视频 42.4–46.0 s 又在槽附近尝试，仍未解脱、搬入目标区。log step 104、121、123、125、129 的工具回传也均未给出成功。"
+     },
+     {
+      "t": 111.6,
+      "log_step": 169,
+      "text_zh": "观察：视频 70.0–78.0 s、89.2–96.0 s 及 106.0–114.0 s 的细帧中，右夹爪再次下降到银色件右段，末次接触使整套拼图在桌面转动、滑移，但夹爪抬起后银色件未随之升起。视频 114.933–115.867 s，银色轮廓仍在绿框近侧，与金色件套接，绿框内没有完整银色件；log step 169 回传 done=False。"
+     },
+     {
+      "t": 115.867,
+      "log_step": null,
+      "text_zh": "观察：成功参考视频 675.0 s 中，银色件由右夹爪持有、与左夹爪持有的金色件明显分开，银色轮廓位于绿框上方；本次视频 115.867 s 清楚可见银色件仍在桌面框外。因此未达成不是目标被遮挡造成的未知；参考仅用于辨认形态，不作为本次达成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 33.6 s、38.4–40.0 s 以及 43.2 s，右臂夹指在银色件右端或槽边下压、擦触；后续空手抬起，未见形成能带起银色件的对向夹持，故不记抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 108.8–111.6 s，右臂夹爪在银色件右段接触后使银色件沿桌面转动、滑移，并带动仍套接的金色件；随后夹爪抬起而两件留在桌面。此段只有右夹爪操作，未见两臂同时抓住两件协同解脱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 28.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 28.0 s，右臂夹爪开始在银色件右端下探；视频 28.0–40.8 s 多次下压、闭合或张开后空手抬起，银色件仍留在桌面，视频 42.4–46.4 s 的槽附近试夹也未带起银色件。视频 108.8–111.6 s 末次操作仅使套接组件沿桌面滑转，视频 114.933–115.867 s 银色件仍在绿框外并与金色件套接。因此首个已证实反复失败且未修复的步骤是银色件解脱入区；视频约 28.0 s 是首次下探的导航锚点。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 33.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 33.6–40.8 s，右臂夹指在银色件右端或槽边下压、擦触后抬起，银色件未随夹爪升起；视频 43.2–46.4 s 再次试夹也空手撤离。视频 108.8–111.6 s 夹爪虽推动整套拼图滑转，抬起后两件仍留在桌面。未建立带起银色件所需的对向夹持，故记没建立接触；并非完全没有擦触，也没有先抓住后掉落的证据。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志、冻结网格或逐件分隔面距离读数。金色件持续留在系统侧是由 DAG 给定的初态及视频中远侧边和相对位移推断，严格的毫米级边界仍不能直接复核；log step 31、69、79、169 的 agent 点云估计及 log step 73 的越界自述不作原生判据，整体 success=0 也不能决定金色件的单独真值。银色件未被夹起可由视频直接确认，但现有画面不能区分夹指深度、槽内间隙、定位误差或互锁阻碍各自的因果作用；log step 168、170、172 对失败原因的 agent 总结未经独立验证，故根因继续留空。原生七项几何、速度及共同确认时间均未在 reward 中报告，值保留 null。"
+ },
+ "summary_zh": "金色件初态满足系统侧条件，开头姿态变低及末段滑转均未显示朝目标越过原有远侧边，按视觉推断持续满足，最终进度为 1/2。右夹爪从视频约 28.0 s 起反复试夹银色件，未建立能带起它的夹持，视频 115.867 s 仍套接在桌面框外，断点为银色件入目标区。金色件的严格分隔面边界及银色件抓取失败的具体根因缺少独立读数，因此保持置信度 6，根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "金色件在视频 0.0 s 与 0.2 s 的俯视中远侧边基本没动（仅姿态由支起变平），“视频约 0.1 s 越过分隔面并失去”只靠 agent 的点云估计和叙述（log step 73、79），而这些点云含离群点（gold z 到 0.113 m、y 下限 −0.029 m），不是对毕业局的可信观测；断点因此应落在银色件步骤，而不是金色件。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "金色件初态满足、视频中未见越过分隔面，银色件始终套接在框外，断点为银色件入区、现象为没建立接触，根因因缺乏独立证据留空并写明 gap_zh，均与帧一致。",
+    "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": "2026-10-31T00:17:27Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--aqktokm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--aqktokm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--aqktokm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--aqktokm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e040841e314e6dd88a9f71f54dd2accef476e94afe23020657a3a4c43462e1d7",
+   "video_sha256": "7569c20aafa89242bf9712fc34e3d493c8d3943c05b29f0c2fd880dffe5b53a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--egdgok4.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--egdgok4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3deeb1bb77140b8e61de391695b414cbe78e0b
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--egdgok4.json
@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--egdgok4",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 36880,
+   "live_rows": 36880,
+   "sim_steps": 36880,
+   "physics_steps": 368800,
+   "steps": 9068,
+   "elapsed_s": 6947.2,
+   "replay_wall_s": 1774.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--egdgok4/replay.mp4",
+  "duration_s": 922.067,
+  "fps": 15.0,
+  "frames": 13831,
+  "sha256": "9bab5cf289b812eab306d75cc042fbcd9f5626cdaa747820d2fa1f1eb336135e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色长框位于绿框近侧的初始拼图位置；本节点按任务初态从视频 0.0 s 成立。"
+     },
+     {
+      "t": 150,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s 的初始位置与视频 35–63 s、80–145 s、215–269 s、340–378 s、490–538 s 的主视图及侧视，机器人主要在拼图近侧抬升、翻转金色件，没有辨认出金色件向目标远侧跨过初态分隔位置的运动；抬高后主视图与绿框重叠属于透视投影，不能单据此记越界。按多视图空间关系保留系统侧区间，隐形分隔面的毫米级余量未复算。"
+     },
+     {
+      "t": 921.2,
+      "log_step": null,
+      "text_zh": "推断：视频 920.8–922.0 s 金色件在左夹爪下方朝机器人近侧斜悬，较初态更靠近机器人，整个可见轮廓远离绿框近边，结合侧视判断终态仍在系统侧；此判断不是由 success=0 或“未进绿框”单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 35–63 s 左臂二指夹爪夹住金色框并将其抬起；视频 130–150 s 再夹金色件，其后多次开爪、重抓。右臂对银色件的协同抓持记在银色件节点。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 银色件与金色件相套，均在绿框近侧，银色件没有完整进入目标区。"
+     },
+     {
+      "t": 150,
+      "log_step": null,
+      "text_zh": "观察：视频 58–63 s 左爪抬金色件时银色件随互锁处悬起；视频 90–95 s 右爪已夹住银色件，左爪离开后金色件仍挂在银色件上。视频 145–168 s 左右夹爪分别夹金、银两件，腕视图可见银色横档仍穿在金色槽口，未解脱。"
+     },
+     {
+      "t": 700,
+      "log_step": null,
+      "text_zh": "观察：视频 0–920 s 的全程每隔约10秒抽帧及关键转动、换抓处的加密帧中，两件始终相连；视频 700–920 s 双臂主要在原拼图近侧小幅调整，没有把完整银色轮廓送进绿框。"
+     },
+     {
+      "t": 922,
+      "log_step": null,
+      "text_zh": "观察：视频 920.8、921.0、921.27、921.47、921.73、922.0 s 银色框仍被右爪夹持并与金色件互锁，银色件大部在绿框近侧之外，故入区节点终态为假。成功参考录像的参考视频 675.0 s 则显示银色整件已独立悬于绿框内、金色件在左下方，仅用来核对视觉形态。"
+     },
+     {
+      "t": null,
+      "log_step": 247,
+      "text_zh": "观察：agent 在 log step 247 自述两件尚未分离并决定停止；评分器报告 live_success=0、replay_success=0、deterministic=1、live_matches_replay=1，且无重置或恢复。节点为假依据本次视频中未解脱及未完整入区的画面，评分结果作为旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 90–95 s 右夹爪夹住银色件，视频 145–168 s 及后续解脱尝试中左夹爪夹住金色件、右夹爪夹住银色件，两臂各自通过二指相向夹持配合平移和转动。此前左夹爪单独抓金色件抬起互锁组件，后续也多次松开左爪换抓。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better"
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "value": null,
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 156,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 148–168 s 机器人双臂分别夹住金色件和银色件，尝试相对移动，但银色横档一直卡在金色槽内；之后虽反复改姿与重抓，视频 920.8–922.0 s 仍未解脱或入区。本次从未修复的是银色件入目标区步骤中的解脱过程。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 156,
+    "log_step": null,
+    "evidence_zh": "观察：视频 148、156、164 s 腕视图显示银色横档横穿金色框的槽口，机器人改变右爪位置时横档仍被槽壁限制；视频 215–269 s 与340–378 s 改姿、松爪后两件仍相套。视频 920.8–922.0 s 互锁也未消失，阻断了银色件独立移入目标区。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人执行相对位姿调整时，实际运动与脚本设定的精细位移不一致，未能稳定控制两件沿槽通过。log step 152–154 中脚本将相对坐标 s 设为40毫米而其估计值仍约45毫米，依据机器人本体反馈计算的右TCP目标与实测偏差在金色件坐标系为[-7.4,17.6,-1.1]毫米；log step 237 再次输出STUCK，log step 238 的视觉估计与TCP推算也不一致。视频 148–168 s 及末段相套不脱与这些执行问题相符；证据不足以把控制进一步唯一归为抓取设计、反馈控制或参数问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有金色件全部网格顶点相对固定分隔面的逐帧距离；金色件系统侧区间由主视图、侧视和初末姿态推断，无法排除未辨认出的毫米级短暂越界。评分器未报告DAG列出的七项原生数值，均填null。日志中的相对位姿量是agent脚本的计算，不当作物体真实状态；未将agent工作时间换算为视频时间，也未据agent自述断言辅助抓取在某一视频时刻断开。缺少精确物体姿态及接触对，不能进一步区分几何建模误差和抓持、跟踪误差各自的贡献。"
+ },
+ "summary_zh": "机器人先后抓住并抬起两件，随后双臂反复改姿尝试解脱；金色件按多视图空间关系判断留在系统侧，银色件始终未解脱且未完整入区，终态为1/2。断点在银色件入目标区的操作中，横档受金色槽口阻挡，日志支持相对位姿执行控制存在偏差。缺少状态日志和隐形分隔面的精确距离，金色件区间为视觉推断，原生阈值量未报告。",
+ "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（金色件系统侧终态真、银色件入区终态假）、断点（silver_in_goal，操作中）与现象（两件互锁造成的被挡）均有视频帧支持，与评分器 success=0 一致；根因停在“控制”并注明证据不足以细分，较保守且无误。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": "2026-10-30T23:54:08Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--egdgok4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--egdgok4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "97187a6b97592b056692f4238ba30f5f61ebe0f46b995bbb076d340412ab7f36",
+   "video_sha256": "9bab5cf289b812eab306d75cc042fbcd9f5626cdaa747820d2fa1f1eb336135e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--hwqggkq.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--hwqggkq.json
new file mode 100644
index 0000000000000000000000000000000000000000..232bff49a4851a128b452d23096240ffa9336698
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--hwqggkq.json
@@ -0,0 +1,303 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--hwqggkq",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 43831,
+   "live_rows": 43831,
+   "sim_steps": 43831,
+   "physics_steps": 438310,
+   "steps": 42598,
+   "elapsed_s": 9319.4,
+   "replay_wall_s": 2621.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--hwqggkq/replay.mp4",
+  "duration_s": 1095.867,
+  "fps": 15.0,
+  "frames": 16438,
+  "sha256": "9408dd615a55eadbf0a812e1ecb0a18c1c342aa9db1e75f0df771f6eb9441d6c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      466.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件在绿色目标框近侧；视频 10.0–460.0 s 的抽帧中金色件基本留在原位置，右臂主要接触银色件，左臂没有固定金色件。"
+     },
+     {
+      "t": 466.5,
+      "log_step": null,
+      "text_zh": "推断：视频 465.0–468.4 s 的密集帧显示右夹爪接触银色件时，两件一起转动，金色钩头向目标方向移出初态轮廓；按初态最靠目标点外移5毫米的固定分隔面，约在视频 466.5 s 失去系统侧关系，时间误差约1秒。"
+     },
+     {
+      "t": 1095.8,
+      "log_step": null,
+      "text_zh": "推断：视频 480.0–1080.0 s 的抽帧和视频 1094.8–1095.8 s 的末段显示金色钩头保持转向目标的位移，未退回原系统侧轮廓；log step 479、533、558 的点云分析也报告金色件最靠目标端向目标移动，但这些是 agent 的估计，不是评分器逐点判据。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 90.0–120.0 s 右夹爪在银色件上反复闭合和调整，视频 158.0–168.0 s 夹爪从银色件右端撤起，银色件仍在原桌面位置，没有随夹爪离桌；视频全程每20秒抽帧中均未见银色件整体进入绿框。"
+     },
+     {
+      "t": 624.3,
+      "log_step": 486,
+      "text_zh": "观察：视频 606.0–624.3 s 右臂在目标框上方移动，但银色件和金色件仍留在近侧桌面；log step 486 的控制脚本在脚本自设的“双指受阻”检测为 False 后仍执行抬升、转向和搬运。该步骤服务计数 control_steps=24972；推断：24972/40=视频 624.3 s，与此处空手停在目标上方的画面一致，43831/40=1095.775 s 也与视频终点一致。"
+     },
+     {
+      "t": 1038,
+      "log_step": null,
+      "text_zh": "观察：视频 1008.0–1038.0 s 右夹爪在银色件上闭合后向右移动，银色件主体仍在桌面近侧；log step 550、564 的 agent 自述“已分离”不代表银色件已入区。"
+     },
+     {
+      "t": 1095.8,
+      "log_step": 558,
+      "text_zh": "观察：视频 1080.0–1095.8 s 包括最后一秒，右夹爪在银色件上方反复压拖，银色长框仍明显伸在绿色目标框近侧之外；评分器 live_success=0、replay_success=0，与画面中的入区未完成一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 90.0–120.0 s、320.0–460.0 s 及末段，右夹爪指端压在银色件表面或孔边，未见可靠的双指夹持搬运。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 465.0–468.4 s 右夹爪拨动银色件并使互锁两件一起转动；视频 1008.0–1095.8 s 又沿银色件做横向推拨及向目标方向的拖动尝试。左臂未参与操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 164,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 158.0–168.0 s 右夹爪在前面闭合尝试后从银色件右端空手撤起，银色件仍留在桌面；以后持续尝试抓取、解脱和推拖，视频 606.0–624.3 s 出现空手搬运，直到视频 1095.8 s 仍未入区。该步早先的失败始终没有通过完成入区得到修复；金色件约在视频 466.5 s 的被动转动是后续丢失的关系。"
+  },
+  "unmet": {
+   "gold_on_system_side": false,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 164,
+    "log_step": null,
+    "evidence_zh": "观察：视频 158.0–168.0 s 夹爪从银色件右端撤起而银色件留桌，视频 606.0–624.3 s 又空手走完搬运；视频 1080.0–1095.8 s 右夹爪继续在银色件处压拖，银色件仍未整体进入目标框。log step 557 输出夹指驱动 effort=-13.26，随后两次向目标运动的夹爪实测位移为 -1.81毫米、-0.01毫米，脚本以 no gain 停止；这些不是银色件的位移测量，也不是接触力牛顿数。推断：早期夹取没有建立能带走银色件的对向抓握接触，后续压拖也未完成搬运；未另证实独立的接触力异常，不将同一未完成接触操纵重复标注。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "观察：log step 4 服务规格将 proprio[56:58] 定义为按左右臂顺序给出的两个夹爪开口；log step 485、490、494 编辑的脚本却将 pr[56]、pr[57] 作为同一夹爪两侧的 STALL[1]、STALL[2] 反馈。log step 486 实际执行 log step 485 编写的 carry1.py，输出 both stalled: False、lift 阶段 conv=False 后仍执行转向和搬运，视频 606.0–624.3 s 显示右夹爪空手而银色件留桌；log step 495 执行 carry5.py 后则输出 WELD (both stalled): False、no weld - stop。推断：反馈字段解释和持物验证不可靠，且未验证持物仍继续运动，可解释空手搬运的控制行为；字段误读是否直接导致抓不起或影响仿真的辅助抓取，现有证据不能确定。竞争解释：agent 在 log step 490、494、496 自述条带约31毫米宽、两条带不等高、南侧条带比垫片可达位置远约20毫米，提示抓取接触几何可能不适配；这些尺寸与接触判断待核实，不能当作已观察到的物理原因。两种解释尚不能区分，保留上位“控制”，可行替代为未知。",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "无状态日志或评分器的逐顶点分隔面距离、速度与保持时间；金色件越界及其约视频 466.5 s 的时刻由初末轮廓和转动帧推断，不能精确到毫米或物理步。孔口局部被夹爪遮挡，不能独立确认 agent 在 log step 550、564 声称的解脱是否完成；银色件明显未整体入区不受此缺口影响。七项原生数值指标均未报告。 抓取失败中反馈字段误读与接触几何不适配的贡献无法区分；几何尺寸及垫片接触位置仅有 agent 自述，未独立验证可行替代抓法。"
+ },
+ "summary_zh": "金色件留系统侧在开局成立，约视频 466.5 s 随银色件被拨转而丢失；银色件入目标区始终未达成，末态为0/2。右夹爪多次未建立可搬运的夹持，空手走过目标上方，后续压拖仍未完成入区；控制脚本误读左右夹爪开口且未可靠验证持物，抓取几何不适配是另一待核实的解释。无状态日志，金色件越界时刻、孔口解脱与具体抓取根因仍有缺口，因关键时刻和因果解释含推断将 conf 从7降为6；标准模式后写入脚本的未执行计划不计进度。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度节点（金色件约视频466.5 s失去、银色件始终未入区）、clock 换算（control_steps/40）和断点位置与视频一致；问题在 phenomena[1]「接触力异常」：证据只有夹指驱动 effort 读数（标签自己也承认不是力），没有力不对的可见或传感证据，且这一步是同一未建立持物的延续，应删去或改写。根因「控制」的因果链（字段误读导致没验证持物）是推断，与 agent 自述的垫片够不到南侧条带（抓取几何）竞争，建议在证据中写明并核对 conf。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "金色件初态成立、约视频466.5 s转动越界丢失，银色件始终未入区，断点在silver_in_goal，与首末帧及468 s帧一致；一轮问题已修，现表述（没建立接触 + 控制，alt_feasible未知）有证据且标注了推断，未发现需改动处。",
+    "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": "2026-10-31T00:17:44Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--hwqggkq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--hwqggkq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--hwqggkq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--hwqggkq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c6b2a5cc458a613ea49e989f7bf013df04fd36c4a3d7b026a7e5d5aaa2e058d1",
+   "video_sha256": "9408dd615a55eadbf0a812e1ecb0a18c1c342aa9db1e75f0df771f6eb9441d6c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--q3sknfo.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--q3sknfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..2103f96dc0bb15006c683699ac74a95b8344a4b2
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--q3sknfo.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--q3sknfo",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 20599,
+   "live_rows": 20599,
+   "sim_steps": 20599,
+   "physics_steps": 205990,
+   "steps": 5408,
+   "elapsed_s": 10809.5,
+   "replay_wall_s": 1720.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-03-i01-standard--q3sknfo/replay.mp4",
+  "duration_s": 515.067,
+  "fps": 15.0,
+  "frames": 7726,
+  "sha256": "e3643ea8f60125a89f331ec97bc375acbcc2915bb500403de59de2c991712584"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      9.5
+     ],
+     [
+      448.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件在绿框近侧，与银色件套接；结合 DAG 明定的初态，金色件留系统侧从开局成立。"
+     },
+     {
+      "t": 9.5,
+      "log_step": 146,
+      "text_zh": "推断：视频 9.0–12.0 s 左夹爪转向并压低金色件，金色件展开后靠目标的边缘较初态前移，估计从视频约 9.5 s 起有部分越过仅距初态最前点 5 毫米的分隔面。log step 146 中 agent 根据相机深度重建的金色可见点也向目标方向扩展；该重建仅作支持，边界时刻是视觉估计。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：视频 218.0–240.0 s 金色件被夹爪带动、转成左端朝目标的斜姿；视频 240.0 s 左端伸至绿框近边以内，视频 250.0–420.0 s 仍保留这一明显前伸姿态。"
+     },
+     {
+      "t": 448.0,
+      "log_step": null,
+      "text_zh": "推断：视频 432.0–447.0 s 金色件仍斜向目标，视频约 448.0 s 随右爪操纵银色件向近侧转移后，整个金色轮廓退到初态最前边缘的近侧，故估计在视频 448.0 s 恢复系统侧关系。"
+     },
+     {
+      "t": 515.0,
+      "log_step": null,
+      "text_zh": "观察：视频 450.0、465.0、480.0、500.0 s 及视频 514.1–515.0 s，金色件随银色件移到画面右下方，远离绿框及初态最前位置；末帧金色件仍在系统侧，但挂在银色件上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 240.0–300.0 s 左二指夹爪夹住金色件左端，右二指夹爪夹住银色件，配合拉动和转动；早期还有指尖抵推金色件。视频约 448.0 s 后左爪张开，金色件经与银色件的互锁被右臂间接带回近侧。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–58.0 s 右夹爪反复调整并夹持银色件，银色齿条/横杆仍穿在金色件开口内；银色件未离开原拼图一侧。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–510.0 s 的每隔约 10 秒抽帧以及视频 200.0–239.0、432.0–451.0 s 的逐秒检查，均未出现银色件解脱后完整进入绿框的形态；视频 240.0 s 双爪拉转两件时仍互锁。"
+     },
+     {
+      "t": 480.0,
+      "log_step": null,
+      "text_zh": "观察：视频 465.0–480.0 s 右臂抬起银色件，同时把金色件带起悬挂；视频 500.0 s 及视频 514.1–515.0 s，金色件仍扣在银色件下端齿槽处，两件在画面右下方，绿框内空着。"
+     },
+     {
+      "t": 515.0,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段 success=0、live_success=0、replay_success=0，且 live_matches_replay=1、deterministic=1；与视频末段未解脱、未入区相符。成功参考的 oracle 视频 675.0 s 则显示两件分开，银色件位于绿框上方，金色件由左爪留在近侧，仅用于辨认完成形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 240.0–300.0 s 左二指夹爪夹住金色件，右二指夹爪夹住银色件，协同尝试齿槽解脱；视频 448.0–515.0 s 转为右爪单独持银色件，金色件仍套挂其上，左爪张开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 40.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 40.0 s 起，右夹爪已在夹持并拉动银色件，但其齿槽与金色件开口持续相扣；视频 200.0–240.0 s 的拉转、视频 432.0–451.0 s 的换姿及视频 465.0–515.0 s 的抬起均未使两件解脱。银色件入区这一步始终未完成；金色件中途前伸后在近侧恢复，故断点仍为银色件入区。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 40.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 40.0–58.0 s 右夹爪拉动时银色齿条仍卡在金色件弧形开口内；视频 240.0 s 的腕部视图仍能看到两件在齿槽处交叉套接，视频 465.0–480.0 s 右臂提起银色件时金色件也被带起。视频 514.1–515.0 s 金色件依然扣在银色开口内，解脱路径被两件自身的接触阻断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 194,
+    "evidence_zh": "推断：log step 189 的脚本用连续的 +X、-Y 小步推进，log step 194 接着以 +X 直拉作为脱出路径；其实际服务反馈在 log step 214 记录各段接触压力 47.9–64.8 N，log step 430 又记录同类 +X 分块拉动只到第二块便因 63.4 N 暂停。结合视频 40.0–440.0 s 齿槽始终相扣，以及视频 465.0–515.0 s 两件一起被提走，所选局部平移和转动顺序未形成让两件齿口依次通过的解锁路径，最终无法进入单独搬运银色件的阶段。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐节点评分读数；分隔面不可见，且未提供冻结网格。金色件中段明显前伸、末段远离目标可判，但视频约 9.5 s 的最早越界及视频约 448.0 s 的恢复仅为姿态与初态相比较的估计，不能精确验证 5 毫米边界或排除早期微小往返；相邻时刻有约数秒不确定性。银色件明显未解脱且不在目标内，因此不需要凭画面估算其毫米级边距和速度阈值；全部原生连续指标未由评分器报告，填 null。根因是对执行路径的推断，缺少真实接触几何与期望轨迹的逐步对照。"
+ },
+ "summary_zh": "金色件留系统侧在初态成立，中途向目标方向前伸后于视频约 448.0 s 恢复，末段为 1/2 节点成立；银色件从未解脱并完整进入绿框。机器人反复拉动、转动仍被两件自身的齿槽互锁阻断，末段右臂把两件一起提起，依据脚本和可见结果推断主要问题为解锁路径的推理/规划。无状态日志，金色件最早越界及恢复的精确时刻、严格网格边界不能确定。",
+ "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（金色件留系统侧末段成立、银色件未入区）、断点 silver_in_goal、被挡/碰撞现象与推理/规划根因均与视频及评分字段（success=0）相符；金色件越界/恢复的时刻本身是视觉估计，文件已如实标注。",
+    "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": "2026-10-31T00:01:57Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--q3sknfo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--q3sknfo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f68b51b6e4fafcee7e764fd9cbe28cc5d1e6a753e365333d357361d84230ec7",
+   "video_sha256": "e3643ea8f60125a89f331ec97bc375acbcc2915bb500403de59de2c991712584",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--ttqvjxw.json b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--ttqvjxw.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc2edba59205301f2c6cef208846588013b7ffc
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--ttqvjxw.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--ttqvjxw",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 3010,
+   "live_rows": 3010,
+   "sim_steps": 3010,
+   "physics_steps": 30100,
+   "steps": 737,
+   "elapsed_s": 9773.9,
+   "replay_wall_s": 161.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 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": 7,
+   "peak_disk_gb": 0.381,
+   "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/roboarc-cast-keyhole-03-i01-standard--ttqvjxw/replay.mp4",
+  "duration_s": 75.333,
+  "fps": 15.0,
+  "frames": 1130,
+  "sha256": "cf4ff0b61affe683e4a6e703315bc8fc8767bf8b2c94c251d5a634a8ae5b4ef5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件与银色件套接，金色件在绿色目标框近侧；DAG 明确初态满足系统侧关系。"
+     },
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 10、12、20、28 s 金色件转平并有偏航，仍在原拼图位置附近与银色件套接；画面未显示金色件明显向绿色目标框平移。固定分隔面不可见，不能由这些画面确定毫米级越界。"
+     },
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频 29–33 s 左夹爪将金色件拉转成立放；这是可见的姿态变化，无法据此确定此前曾越过固定分隔面或此刻恢复该关系。"
+     },
+     {
+      "t": 75.267,
+      "log_step": 298,
+      "text_zh": "观察：视频 33–75.267 s 金色件保持近乎竖直，左夹爪随后换抓左端并在末段向画面右侧移动金色件；视频 74.25、74.5、74.75、75.0、75.267 s 其轮廓仍留在原拼图一侧。"
+     },
+     {
+      "t": 75.267,
+      "log_step": null,
+      "text_zh": "推断：依据视频 0.0 s 的已满足初态，以及视频 10、12、20、28、33、48、70、72、74.5、75.267 s 金色件始终位于原拼图一侧的可见位置关系，将金色件留系统侧记为连续区间并保持 final=true；不再从 agent 自行拟合的点云估计构造失去与恢复事件。此判断是视觉推断，严格网格分隔面未获测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5–9 s 左二指夹爪合拢夹金色件，提举时失去夹持；视频约 28–33 s 再夹持并拉转金色件，随后重新抓其左端，视频 43–75.267 s 持住金色件配合右臂操作。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 68,
+      "text_zh": "观察：视频 5–9 s 两夹爪分别合拢接触两件拼图；视频约 9.3–11.9 s 双臂抬起而两件均留在桌面，初次提举没有把拼图持续带离原处。log step 68 的动作名虽为提起两件，但不能据此记为已拿起或解脱。"
+     },
+     {
+      "t": 48,
+      "log_step": 146,
+      "text_zh": "观察：视频 30–48 s 左臂将金色件转成立放并换握，银色件仍横在桌面、与金色件交叠套接，绿色目标框为空。"
+     },
+     {
+      "t": 71.75,
+      "log_step": 290,
+      "text_zh": "观察：视频 68.5–71.5 s 右夹爪带着银色件右端抬起转动，左夹爪夹金色件向右移；视频约 71.75 s 银色件从右夹爪脱落，视频 72.0–72.5 s 回到桌面，未被送入绿色框。"
+     },
+     {
+      "t": 75.267,
+      "log_step": 298,
+      "text_zh": "观察：视频 73.5–75.267 s 右夹爪撤离后为空，银色件留在金色件右侧的桌面，整个绿色目标框内没有银色件；最后一秒各帧未见重新抓起或入区。评分字段 live_success=0、replay_success=0、live_matches_replay=1，与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 5–9 s 左夹爪夹金色件、右夹爪夹银色件后尝试一起提举；后续左臂多次单独换握金色件，视频约 60–71.5 s 左夹爪持金色件，右二指夹爪夹银色件中央附近并抬转，视频约 71.75 s 银色件脱手。两只夹爪各自夹住一件配合解脱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "silver_horizontal_border_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.24454,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "silver_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "remainder_max_signed_distance_goalward_of_separator",
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 71.75,
+   "log_step": 290,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 68.5–71.5 s 机器人用左夹爪移动金色件、右夹爪抬转银色件进行解脱；视频约 71.75 s 银色件失去右夹爪夹持并落回桌面，视频 75.267 s 仍未重新抓起或进入绿色框，最终未达的是银色件入区步骤。"
+  },
+  "unmet": {
+   "gold_on_system_side": true,
+   "silver_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 71.75,
+    "log_step": 290,
+    "evidence_zh": "观察：视频 69.0–71.5 s 银色件随右夹爪倾斜抬起，视频约 71.75 s 突然转平落回桌面，随后右夹爪空手上撤。log step 290 的脚本保持原夹爪闭合指令，log step 304 的该段传感记录却显示右夹爪开口由约38.9 mm缩至16.4 mm、夹持驱动力由约 -22 N降至接近0，与物体已经脱离夹爪一致；主动开爪撤退是在后续 log step 298。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 285 已读到右 TCP 目标约[30.58,-28.27,45.52] mm而实测约[36.23,-14.11,37.6] mm；log step 290 仍从指令关节值建立固定持物变换，整块提交双臂关节插值、沿程不据物体或接触反馈修正。该调用结束时左 TCP 的目标与实测 x 相差约50 mm，右 TCP 的目标与实测 z 相差约30 mm，服务接触监测峰值1261.9 N；视频 69–71.75 s 对应抬转中滑脱，说明控制未能维持预定双臂相对运动和夹持。证据不足以进一步区分接触设计、接触阻挡与跟踪控制，保留在“控制”层级。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐物体接触对，评分字段未报告任何 DAG 原生几何、速度或共同保持时间指标。视频约 9–29 s 金色件转平并有偏航，是否越过固定分隔面无法由帧判定；log step 91、94、125 是 agent 自行编写程序拟合相机点云的结果，并非评分器网格或分隔面读数，故不据此标注失去与恢复。金色件连续留系统侧是依据初态与可见位置关系作出的视觉推断，严格网格边界仍未核实。夹爪附近有遮挡，无法确定末段滑脱由夹持几何、两臂接触还是负载下跟踪偏差主导。log step 311 记录模型提供方过滤中断；中断前视频已出现上述未修复的物理失败，因此按该物理失败标注，不把过滤或剩余预算当成根因。成功参考录像仅用于比较解脱和入区形态，不作本次事实证据。"
+ },
+ "summary_zh": "依据已满足的初态及视频中的位置关系，金色件留系统侧记为连续成立，最终为1/2节点成立；银色件始终未入绿色目标区。视频约 71.75 s 双臂解脱动作中银色件从右夹爪滑脱，落回桌面且未修复，日志中的执行偏差支持控制层面的归因。无状态日志，视频约 9–29 s 金色件偏航时是否越过隐形分隔面无法精确核实，连续区间为视觉推断，故置信度保持6；log step 311 的过滤中断发生在该物理失败之后。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "银色件未入区、断点在 silver_in_goal 的判断与帧一致；但 gold_on_system_side 在视频约 9.3–29.5 s 的“失去并恢复”只来自 agent 点云估计（叙述），帧中金色件始终留在原拼图位置，不应作为观测写入区间。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第一轮问题已修正；银色件始终未入绿框、断点在 silver_in_goal、约 71.75 s 右夹爪脱落与帧一致，金色件连续成立作为视觉推断并在 gap_zh 说明，控制归因标注为推断且层级保守。",
+    "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": "2026-10-31T00:14:46Z",
+  "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/roboarc-cast-keyhole-03-i01-standard--ttqvjxw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--ttqvjxw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--ttqvjxw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--ttqvjxw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25cb483ad56306bcd91e744208e23165d7362fc57bef0eef0a2c51ee3729efe8",
+   "video_sha256": "cf4ff0b61affe683e4a6e703315bc8fc8767bf8b2c94c251d5a634a8ae5b4ef5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ffe60b805f7c921ab6f7c78f2f7a4b9d98c76ec
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy.json
@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--cfhdrvy",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 4339,
+   "submitted_actions": 4339,
+   "sim_steps": 4339,
+   "physics_steps": 43390,
+   "sim_time_s": 108.47500000000754,
+   "final_reward": 0.0,
+   "replay_wall_s": 388.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 59,
+   "agent_resets": 1,
+   "agent_sim_steps": 111017,
+   "agent_records": 3,
+   "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/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy/replay.mp4",
+  "duration_s": 108.533,
+  "fps": 15.0,
+  "frames": 1628,
+  "sha256": "8b4b9bd9d63f502a60e0eaa3bb439c7ccce61fc986b41cf116c24cba83c68e13"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，银色细长件与金色宽槽件在绿色目标框前方相互套接，银色件未入区。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20–28 s，机器人左夹爪夹住金色件、右夹爪夹住银色件；视频 30–64 s 左夹爪退出后，两件仍在原处保持相互套接的排列，没有出现解锁后银色件单独移开的状态。"
+     },
+     {
+      "t": 75.0,
+      "log_step": null,
+      "text_zh": "观察：视频 74–86 s，机器人右夹爪抬起、转动银色件，金色件的圆端仍与银色件环部连在一起，金色件随之离开原位置并被带向目标框；主视和右腕视图均未见两件脱开。"
+     },
+     {
+      "t": 108.467,
+      "log_step": null,
+      "text_zh": "观察：视频 92–108.467 s，包括视频最后一秒的连续抽帧，右夹爪保持银色件近竖直，金色宽槽件仍挂在银色件下端并伸入目标框附近；银色件没有满足与金色件脱开后独立入区的完整判据。成功参考视频 56、64、66 s 中则能看到两件脱开、左夹爪持金色件、右夹爪单独搬运银色件。"
+     },
+     {
+      "t": 108.467,
+      "log_step": 294,
+      "text_zh": "推断：log step 294 的 rec3 保存了 4339 行动作，服务状态为仿真 108.475 s，均与本次评分器 n_actions=4339、sim_time_s=108.475 一致，且其末态与视频吻合，故用作交付对应关系的辅助证据；不把其他调试运行的“已分离”自检当成本次节点进度。评分器 strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20–28 s，左二指夹爪夹住金色宽槽件，右二指夹爪夹住银色细长件，配合尝试分离；两爪分别夹持各自的物件。随后左爪松开退出，右爪继续夹持银色件，视频 74–108.467 s 的搬运又通过两件间的套接接触带走金色件。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      76.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "观察：视频 0 s 金色件位于目标框前方的初始拼图侧；log step 4 的初态金色件 y 上界为 0.08076 m，任务固定分隔面位于初始最靠近目标点之外 5 mm，初态留系统侧成立。"
+     },
+     {
+      "t": 64.0,
+      "log_step": 292,
+      "text_zh": "观察：视频 20–30 s 左夹爪夹住金色件并略向左移，随后松开退开；视频 32–64 s 金色件保持在目标框前的桌面位置。log step 292 的 rec3 诊断在松手后记录金色件 y 上界 0.0627 m，小于脚本使用的分隔面 0.0857 m，与画面位置一致。"
+     },
+     {
+      "t": 76.0,
+      "log_step": null,
+      "text_zh": "推断：视频 72 s 金色件仍在目标框前的原桌面位置；视频 74–80 s，右夹爪抬起银色件，仍套接的金色件离开原位、被斜向带起并向目标框移动。结合主视、侧视及腕视，以及固定分隔面仅在初态金色件最靠近目标的点之外 5 mm，将越过分隔面的节点丢失锚点估在视频 76 s，时间不确定约 ±2 s；该时刻为多视图运动线索支持的近似推断，并非直接看见不可见平面的毫米级越界。此后至视频 108.467 s 金色件一直随银色件停在目标方向，未返回原侧。"
+     },
+     {
+      "t": 108.467,
+      "log_step": 294,
+      "text_zh": "推断：视频 96–108.467 s 可见金色件下部已接近桌面、圆端仍连接银色件并位于目标方向；与评分动作数和仿真时长相符的 rec3 末态诊断（log step 294）给出金色件 y 上界 0.2726 m，远越 0.0857 m 分隔面，支持末态为假，而非由总分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20–30 s，机器人左二指夹爪夹住金色宽槽件并将其略向左移，随后张开退出；视频后段金色件由与右爪所持银色件的套接接触被动带走，未被左爪重新抓回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 75.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 75 s，机器人右夹爪正在抬起并搬运银色件，金色件仍套在银色件环部并被一起带起；视频 84–108.467 s 仍未脱开，且金色件随之移向目标区。失败发生在银色件分离入区过程中，该步始终没有补做完成。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 75.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 75–86 s，右夹爪所持银色件的环部仍与金色件圆端相互套住，搬运没有使银色件独立移走，反而抬起、转动并拖走金色件；视频 108.467 s 两件间的挂接仍在。这里是可见的件间接触阻止脱开，并带走另一任务件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 193,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 193 明确依据自写检查声称“抓取后两件已相距 10 mm，抓取本身就拆开拼图”，据此把流程改为抓取后直接搬运，省去解锁曲线。该步展示的 clear_meas 代码仅用测得位姿更新金色件包围盒，实际参与 fcl.distance 的 Gobjs 却仍以单位变换初始化，未更新到金色件世界位姿，因而其返回的 10 mm 上限不能证明脱开；log step 292–294 的交付记录继续执行直接搬运。视频 20–30 s 没有完成脱开，视频 75–108.467 s 金色件仍随银色件运动，说明错误的阶段判断使必要的分离过程被跳过。"
+   }
+  ],
+  "gap_zh": "没有状态日志；金色件跨越不可见分隔面的准确时刻无法从现有画面逐毫米确定，视频 76 s 是根据视频 72 s 仍在原位、视频 74–80 s 离开原位并被带向目标框的多视图运动取的近似锚点，误差约 ±2 s。原生速度、完整网格内缩及共同确认时长未由评分器逐项报告，native_metrics 均保留 null。log step 313 把保留文件称作 rec5，但 log step 311 的文件时间仍对应较早录制；本次 4339 个评分动作及仿真 108.475 s 与 log step 294 的 rec3 完全相符，因此节点只按本次视频判断，其他录制结果不计入。"
+ },
+ "summary_zh": "初始金色件留系统侧成立，进度为 1/2；机器人双爪抓取后未将两件脱开，右爪搬运银色件时又把金色件带向目标，末态为 0/2。断点是银色件入区的分离搬运过程：agent 根据有位姿错误的自写距离检查跳过解锁流程，视频 75–108.467 s 始终能看到两件挂接。没有状态日志，金色件丢失系统侧条件的时刻仅能估在视频 76 s 附近（不确定约 ±2 s），毫米级边界和速度不能精确复核。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "总体（0/2、断点 silver_in_goal、推理/规划 根因）与视频一致，但 gold_on_system_side 的丢失时刻标成视频 84 s 偏晚：视频 72 s 金色件仍在原位，76–78 s 已被抬起并明显向目标框方向移动，80 s 已贴近目标框边。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "0/2、gold 丢失锚点约 76 s、断点 silver_in_goal 与视频一致；金色件始终随银色件挂接未脱开，末态未达成。根因依据日志的推断已标为推断，未发现须改之处。",
+    "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": "2026-10-31T00:16:01Z",
+  "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/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--cfhdrvy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "43a3319d99642108405a4cb1c4148c262f47ff9ceb63e1d6aa61e5966c398fb2",
+   "video_sha256": "8b4b9bd9d63f502a60e0eaa3bb439c7ccce61fc986b41cf116c24cba83c68e13",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk.json
new file mode 100644
index 0000000000000000000000000000000000000000..250271ee1fb67d0cd46d7cc71ecbcee0c14af131
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk.json
@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--cnbsdxk",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 576,
+   "submitted_actions": 576,
+   "sim_steps": 576,
+   "physics_steps": 5760,
+   "sim_time_s": 14.400000000000137,
+   "final_reward": 0.0,
+   "replay_wall_s": 85.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 33,
+   "agent_resets": 53,
+   "agent_sim_steps": 22323,
+   "agent_records": 14,
+   "agent_replays": 16,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.241,
+   "peak_memory_gb": 1.017,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.993,
+   "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/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk/replay.mp4",
+  "duration_s": 14.467,
+  "fps": 15.0,
+  "frames": 217,
+  "sha256": "693709c80ef003bea8270aca50f2dee943cb57e9e9f2eb41334b5e672373579a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 银色细长件与金色宽槽件相扣，两件均在目标方框外；视频 6.4 s 两爪分别夹住两件，原桌面位置随后腾空。"
+     },
+     {
+      "t": 8.2,
+      "log_step": 248,
+      "text_zh": "观察：视频 7.2–8.2 s 机器人双臂将两件一同抬起并移向绿色方框，两件保持相扣；视频 10.0–14.4 s 两件仍由各自夹爪持握，没有银色件脱开后单独进入目标体积的画面。log step 248 的已提交生成脚本对左右末端使用同一个 carry(delta)，未执行分离运动。"
+     },
+     {
+      "t": 14.4,
+      "log_step": 251,
+      "text_zh": "推断：视频 13.4–14.4 s 的末态仍是两件一起悬持，金色件随银色件跨到目标侧，故不满足本节点的脱开及共同确认条件。log step 251 对最终提交文件回放的自编几何检查报告银色件 all_inside=True、金色件 on_system_side=False，与画面一致；评分器 strict_goal_reached=0，仅作为旁证，不由零分单独判定节点未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.5–3.0 s 左夹爪合拢夹住金色件，视频约 6.0–6.8 s 右夹爪合拢夹住银色件；视频 7.2–14.4 s 两爪各握一件，将仍相扣的两件同步抬起、搬向目标方框并悬持。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      7.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色宽槽件在绿色方框近边之外的初始拼图侧；视频 0.0–6.8 s 金色件基本留在原位置，左夹爪下降并夹住它。"
+     },
+     {
+      "t": 7.7,
+      "log_step": 248,
+      "text_zh": "推断：视频 7.6–8.2 s 机器人将金色件和银色件同步朝方框搬运，金色件离开原侧并跨向目标侧；将条件丢失粗定于视频 7.7 s。分隔平面不可见，首次毫米级越界不能精确定位；本时间取可见整体搬运的起段，约有半秒不确定性。"
+     },
+     {
+      "t": 14.4,
+      "log_step": 251,
+      "text_zh": "观察：视频 8.2–14.4 s 金色件一直随银色件悬停在目标侧，没有回到初始拼图侧。log step 251 对最终提交文件的回放检查打印金色件 y 范围为 [0.2083,0.2748] m，分隔平面为 y≤0.085759 m，报告 on_system_side=False；这些是 agent 检查脚本的输出，与画面的大幅越界相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.5–3.0 s 左侧二指夹爪夹住金色宽槽件，随后一直持握到视频 14.4 s；视频约 7.7 s 起左臂将金色件随银色件一起朝目标区搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gold_on_system_side",
+   "t": 7.7,
+   "log_step": 248,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 7.7–8.2 s，机器人双臂各持一件同步向目标区搬运，原本成立的金色件留原侧关系在这一搬运中丢失；视频 8.2–14.4 s 始终没有恢复。选择这一首次丢失且未修复的节点为断点；银色件也始终没有脱开，不能合格入区。log step 248 明确同时搬运两件，log step 251 对最终提交文件的回放检查也报告金色件越过分隔平面。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.7,
+    "log_step": 248,
+    "evidence_zh": "观察：视频 7.6–8.2 s 左夹爪把金色件随银色件一起移向目标方框，视频 13.4–14.4 s 金色件仍停在目标侧，两件仍相扣；要求留在原侧的金色件没有停在所需位置。两爪持续持物，画面没有脱手或跌落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 248,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 248 的最终生成脚本只按银色件包围盒中心误差计算位移，carry(delta) 将完全相同的平移同时施加给左右末端，继而保持 160 个控制步；脚本说明明确选择携带整对互锁件并让金色件随之移动。这种跨阶段方案没有形成分离运动，却主动破坏金色件留原侧条件，正对应视频 7.6–14.4 s 的同步搬运。log step 251 已检查到金色件 on_system_side=False，log step 264 仍将该文件称为最佳可达结果，log step 282 最终提交文件两次回放仍为失败；这支持规划取舍错误，而非把会话中其他分离实验的力或逆解问题当作本段现象。"
+   }
+  ],
+  "gap_zh": "没有 inputs/states.jsonl；分隔平面不在画面中，金色件第一次毫米级越界的精确时刻不明，视频约 7.7 s 是整体搬运起段的粗估。最终两件大幅同向移动及持续相扣足以判两节点为 false，不需以毫米边界或速度猜测是否达标。评分器未报告 DAG 的四项原生指标值，均记 null；log step 251 的数值属于 agent 自编回放检查，不能当作独立状态日志。agent 在 log step 264、283 声称实例无解，但搜索未找到路径不能排除全部合法方案，现有证据不支持任务设计问题；成功参考仅作相机可见性与脱开外观比较。"
+ },
+ "summary_zh": "机器人双爪分别抓住金色件和银色件，将仍相扣的两件同步抬起并搬向目标区，银色件合格入区始终未达。金色件留原侧从视频 0.0 s 成立，在视频约 7.7 s 的搬运中丢失且未恢复，最终为 0/2；提交脚本对两臂使用相同位移，根因是未实现分离却搬运整对零件的规划。无状态日志，首次越过隐形分隔平面的时刻只能粗估，不能据 agent 的无解声明认定任务设计问题。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "帧显示双爪各持一件、仍相扣地同步搬向方框，金色件越侧、银色件未脱开，节点值、断点和根因与证据一致；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": "2026-10-31T00:13:07Z",
+  "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/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--cnbsdxk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ea15d02d5258d649d00d2ab095f2b5a59d89b413e30436cd71c3f333b89ccca",
+   "video_sha256": "693709c80ef003bea8270aca50f2dee943cb57e9e9f2eb41334b5e672373579a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d34484b9497710827721111ff0c32f22ead4a25
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq.json
@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--kcwn9tq",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 7461,
+   "submitted_actions": 7461,
+   "sim_steps": 7461,
+   "physics_steps": 74610,
+   "sim_time_s": 186.52500000002527,
+   "final_reward": 0.0,
+   "replay_wall_s": 662.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 19,
+   "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": 0.825,
+   "peak_memory_gb": 1.222,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.862,
+   "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/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq/replay.mp4",
+  "duration_s": 186.6,
+  "fps": 15.0,
+  "frames": 2799,
+  "sha256": "3549563245e909a0c7c2fb97a2e4a9e1a1e15e3e80853c48f9968ddc8151d8b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 银色细长件穿在金色宽槽件内，位于绿色目标方框近侧，尚未入区。"
+     },
+     {
+      "t": 30,
+      "log_step": 359,
+      "text_zh": "观察：视频 24–42 s 两爪分别接触两件，机器人反复转动右腕，银色件仍穿在金色槽中，未独立退出；log step 359 的服务读数仍为双手分别持有金、银件，相对旋转目标误差约78.35°。"
+     },
+     {
+      "t": 105.7,
+      "log_step": 429,
+      "text_zh": "推断：log step 328 是最后一次 reset 并开始录制，log step 533 保存7461行；40 Hz下7461/40=186.525 s，与本视频长度相符。log step 429 的 sim_steps=4228 对应视频 105.7 s，已在该帧换手释放后的银件悬立、金件下挂构型核对；评分器 deterministic=1。因此这里用该次录制中的服务读数辅助画面，而不使用保存后的会话动作。"
+     },
+     {
+      "t": 105.7,
+      "log_step": 429,
+      "text_zh": "观察：视频 105.7 s 银色件虽移到方框附近，金色件仍挂在其下端，二者没有脱开；log step 429 的银件包围盒为x=[-0.24801,-0.17932] m、y=[0.1454,0.29042] m，金件最大y=0.2166 m，服务 success=False。这一构型不能以银件投影在框内判为本节点完成。"
+     },
+     {
+      "t": 186.5,
+      "log_step": 532,
+      "text_zh": "观察：视频 185.6–186.5 s 两件仍相互套接并留在绿色方框近侧，银色件的右端明显在框外，末秒没有独立移入。log step 532（保存前最后一次动作）的银件包围盒y=[-0.05196,0.02008] m；目标区在log step 12的近边y约0.11476 m，故末态明显未入区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 12–42 s 左夹爪夹住金色宽槽件、右夹爪夹住银色细长件，两臂拉开并尝试相对旋转；视频 48–100 s 又有双爪各持一件的配合动作。此后反复松爪、换手及用指尖推拨，视频末段右爪在银件端部反复闭合，但未再次形成能搬走银件的稳定夹持。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      44.5
+     ],
+     [
+      92.5,
+      102.0
+     ],
+     [
+      169.5,
+      175.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 9,
+      "text_zh": "推断：视频 0 s 金色件位于拼图原侧；log step 9 的冻结初态金件最大y=0.08076 m，结合任务所述向目标侧外移5 mm，固定分隔平面约为y=0.08576 m。视频 0–44 s 的位置、后续原侧拉动及该次录制log step 333、343、359的金件最大y约0.08189、0.03169、0.05810 m相符，初始节点成立。"
+     },
+     {
+      "t": 45,
+      "log_step": 374,
+      "text_zh": "推断：视频约 44.5–46 s 右臂抬起并转动银色件时，金色件随之向目标侧翻起，节点首次失去；log step 374 金件最大y=0.20916 m，明确超过固定平面。视频 48–90 s 可见两件仍耦合；该录制log step 385–405的多次读数中金件最大y仍在0.09404–0.14186 m等越界值，未把这些夹持停顿误判为恢复。"
+     },
+     {
+      "t": 94,
+      "log_step": 412,
+      "text_zh": "推断：视频约 92.5 s 两臂对拉后的微小位移使金件暂时返回原侧；视频 93–101.5 s 细查中该构型延续，log step 412、417、420的金件最大y分别约0.06548、0.06677、0.07094 m，均在平面内。视频约 102 s 换手时银件再带动金件向目标侧摆动；视频 105.7 s 与log step 429最大y=0.2166 m相符，恢复区间结束。隐形平面的交叉时刻为画面与这些读数结合的估计，不能精确到单帧。"
+     },
+     {
+      "t": 170,
+      "log_step": 512,
+      "text_zh": "推断：视频约 169.5 s 左臂将金件及相连银件一起转回平躺方向，金件再次返回原侧；log step 512最大y=0.06514 m，log step 519松爪后最大y=0.06037 m。视频 170–175 s 可见两件留在方框近侧；约视频 175.5 s 左臂移向银件时将整组推转，金件再次越界，对应log step 521最大y=0.15714 m。"
+     },
+     {
+      "t": 186.5,
+      "log_step": 532,
+      "text_zh": "推断：视频 176–186.5 s 金件保持最后的斜放构型，没有再返回先前平躺的原侧位置；保存前log step 532的金件最大y=0.14626 m，超过约0.08576 m的固定平面约60 mm，故末态为false，不能因主视图中它仍在目标方框近旁就计为留原侧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪先夹住金色件端部，配合右臂操作银件，之后多次重新夹持金件并向原侧拉回、旋转；视频约 112–146 s 还用松开或闭合的指尖接近、推拨金件。视频 169–173 s 左爪持金件转回原侧后松开；末段重新接近金件，未稳固夹住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 30,
+   "log_step": 359,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24–42 s 机器人双爪分别夹持金件和银件，多次旋转、拉动后银件仍卡在金色槽内；log step 353–361反复给右臂相对旋转及拉出目标，实际相对姿态停止改善且接触压力增大。视频 44.5–46 s 又把金件一同带起，直到视频 186.5 s 两件仍未脱开。银色件分离入区这一步始终未修复，断点取其持续卡滞的操作阶段。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 30,
+    "log_step": 359,
+    "evidence_zh": "观察：视频 24–42 s 右夹爪对银件反复施加转动，银件在金色槽口内仅有小幅变化，未退出；log step 355、359、361的服务接触监测峰值压力依次为2218.4、2703.7、3581.1 N，而相对旋转误差停在约78–80°。这是已经接触并受阻的操作，不是从未抓到。"
+   },
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 45.5,
+    "log_step": 374,
+    "evidence_zh": "观察：视频 44.5–46 s 机器人右臂持银色件抬转时，原在桌面的金色宽槽件随之翻起、向目标侧移动，未出现银件独立退出；视频 48 s 后金件仍与银件相连。log step 369到374金件中心y由0.01936 m变为0.14455 m、最高点升至1.06994 m，且左手已无辅助持物，说明操作银件带动了应留原侧的金件。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志；金色件的固定分隔平面不可见，恢复与越界区间由多视角画面和已提交录制的离散服务包围盒读数推断，边界约有1–2 s不确定性，未声称毫米级逐帧核实。日志显示脚本以固定相对90°目标反复旋转、拉动，但没有经过验证的完整脱锁路径，也缺少连续关节目标与实测轨迹，无法可靠区分槽口相对路径规划不当、抓取布局或逆解执行问题，故根因层留空。四项原生指标均未由评分器报告，value留null。"
+ },
+ "summary_zh": "金色件留原侧从视频 0 s 成立，操作中两次暂时恢复，末态仍越界；银色件始终没有完成分离入区，最终为0/2。机器人双爪抓住两件后，银件旋转、拉出受阻，随后又带动金件一起翻起，视频 186.5 s 两件仍相互套接。无连续状态日志，隐形分隔平面的区间边界为估计；现有证据不足以可靠区分规划和控制根因，根因层留空。",
+ "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、断点（silver_in_goal 操作中）、两个现象与画面一致，末态两件仍套接且未入区；根因层留空并有 gap_zh，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": "2026-10-31T00:06:01Z",
+  "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/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--kcwn9tq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6662b026bb1c67a79d7ea3e161faed07d0ac6a2508ea149c3e568905a2dc345d",
+   "video_sha256": "3549563245e909a0c7c2fb97a2e4a9e1a1e15e3e80853c48f9968ddc8151d8b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d3064403a2760434174aa5b4e823f0294455c4
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa.json
@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--n4wiiaa",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 20,
+   "submitted_actions": 20,
+   "sim_steps": 20,
+   "physics_steps": 200,
+   "sim_time_s": 0.5000000000000001,
+   "final_reward": 0.0,
+   "replay_wall_s": 12.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 356,
+   "agent_resets": 4,
+   "agent_sim_steps": 64304,
+   "agent_records": 1,
+   "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/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa/replay.mp4",
+  "duration_s": 0.6,
+  "fps": 15.0,
+  "frames": 9,
+  "sha256": "ba3f56932162292f5b1844b8459316523f08b0cb714bd736248a834babc88a09"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000–0.533 s 的全部9帧中，银色细长件始终与金色宽槽件互锁并躺在绿色虚线框近侧，未分离、未整体入区；两侧夹爪一直停在拼图外侧上方，未接触拼图。"
+     },
+     {
+      "t": 0.533,
+      "log_step": 147,
+      "text_zh": "观察：log step 147 的 agent 脚本只在 record_start 与 record_stop 之间执行 hold(20)，随后保存提交轨迹；log step 148 确认保存，log step 149 对该文件的两次回放均为20个动作且 success=false。评分器字段 n_actions=20、strict_goal_reached=0，与视频全程未启动操作一致。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000–0.533 s 全部9帧的主视及侧视中，金色宽槽件始终留在桌面的初始拼图位置，未被任何夹爪抓取或搬向绿色目标区。"
+     },
+     {
+      "t": 0.533,
+      "log_step": 147,
+      "text_zh": "推断：本节点按DAG在初态成立；视频 0.000–0.533 s 未见金色件离开初始拼图侧，且 log step 147–149 证实交付只执行初始姿态保持，因此标为从视频 0 s 持续成立。固定分隔面不可见，未由画面精确测得毫米级余量；独立调试中的越界不计入本回放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 0,
+   "log_step": 147,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.000–0.533 s 全部9帧中，机器人两臂保持初姿，没有向银色件接近、抓取、分离或搬运；log step 147–149 表明评分文件仅包含 hold(20) 的基线并已回放验证失败。银色件入区这一步在交付中未启动。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0,
+    "log_step": 147,
+    "evidence_zh": "观察：视频 0.000–0.533 s 中，两夹爪与拼图保持分离，两件拼图一直互锁并位于目标框外；log step 147 的录制段只有 hold(20)，log step 148 确认保存，log step 149 确认回放20个动作。评分尝试未开始银色件分离入区。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，固定分隔面和毫米级余量无法从画面直接量化，原生指标亦未由评分器报告。log step 147–149 确认交付并验证了保持基线；log step 1297 仍列出该基线文件，后续独立实验并不属于评分视频，最后 log step 1500 的 agent 自述仅为等待关节姿态检查。日志不足以判定为何始终未生成替代基线的交付，不能仅凭未启动或会话耗尽预算归为规划、控制或交付操作错误，故根因留空。"
+ },
+ "summary_zh": "评分回放只执行保持基线：视频 0.000–0.533 s 全部9帧中，两臂未操作拼图，金色件留原侧从初态持续成立，银色件仍互锁且未入区，最终进度1/2。断点为银色件入区的首步前，现象为没尝试；log step 147–149 证实提交文件只有20个保持动作，独立调试不计入进度。缺少状态日志及足以解释为何未替换基线的证据，根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分回放只有20个hold动作（视频0.6 s，视频时钟），首末帧均显示两臂静止、银金互锁；银色件未入区、金色件留系统侧，进度1/2、断点首步前+没尝试均有帧和log step 147–149、n_actions=20支持；根因留空并有gap_zh，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": "2026-10-31T00:06:45Z",
+  "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/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--n4wiiaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ff6d5db2a57884fbf8cdf06fc49a3990b413b940779068d3afe48849d388aed3",
+   "video_sha256": "ba3f56932162292f5b1844b8459316523f08b0cb714bd736248a834babc88a09",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c245ba73f762a71b667b11c6d8e0954a59ef253
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--u5hjk6g",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1378,
+   "submitted_actions": 1378,
+   "sim_steps": 1378,
+   "physics_steps": 13780,
+   "sim_time_s": 34.449999999999115,
+   "final_reward": 0.0,
+   "replay_wall_s": 134.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 17,
+   "agent_sim_steps": 0,
+   "agent_records": 5,
+   "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/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g/replay.mp4",
+  "duration_s": 34.533,
+  "fps": 15.0,
+  "frames": 518,
+  "sha256": "f78b35079f7caf27eb0a466a4a38ec80904fb667cf69cfd147e83c05022664e9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 134,
+      "text_zh": "观察：视频 8.0–9.6 s，右夹爪闭合夹住银色件右端；视频 14.0–30.0 s，银色件随右夹爪转动并抬起右端，但另一端仍嵌在金色件槽内。左夹爪移至上方后保持悬空，没有夹住金色件。"
+     },
+     {
+      "t": 34.47,
+      "log_step": 136,
+      "text_zh": "观察：视频 33.53–34.47 s 的逐帧检查显示，两件仍相连，银色件仍横跨金色件与右夹爪之间，没有整体进入绿色框；成功参考视频 54.0–68.0 s 则能看到银色件与金色件分开。log step 136 在停止录制并保存 1378 行动作前记录 GS contacts 1、holds keyhole_silver、success=False；评分器 strict_goal_reached=0。"
+     },
+     {
+      "t": 34.47,
+      "log_step": 136,
+      "text_zh": "推断：log step 134 开始录制、log step 136 继续同一录制并保存，动作行数 1378 与评分器 n_actions=1378 一致，且视频中的单臂抓持、旋转及末态与该段日志相符；因此使用这段保存前的物体读数辅助判断，未把此前多次 reset 的试验算入进度。银色件从未达到脱开并整体入区条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指平行夹爪合拢夹住银色件右端，在辅助抓持下持续转动、抬升银色件；左夹爪悬在拼图上方，未参与夹持。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      14.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 30,
+      "text_zh": "观察：视频 0.0–13.53 s，金色件留在初始拼图位置，夹爪未直接碰它；log step 30 读取冻结场景的初态，金色件最大 y=0.08076 m，目标框近边 y=0.11476 m。"
+     },
+     {
+      "t": 14.5,
+      "log_step": 136,
+      "text_zh": "推断：按任务说明的初态最靠目标点外移 5 mm，固定分隔平面为 y=0.08576 m。视频 14.0–15.4 s，右夹爪操作银色件时金色件明显倾转，随后视频 17.6–30.0 s 又随银色件移动；结合 log step 136 同一保存轨迹的金色件读数（完成前段旋转时最大 y=0.1201 m，末态最大 y=0.1199 m），判断金色件已越过平面且未恢复。区间终点视频 14.5 s 是依据首次明显倾转估计，误差约 1 s；不是直接看到了不可见平面。"
+     },
+     {
+      "t": 34.47,
+      "log_step": 136,
+      "text_zh": "观察：视频 30.0–34.47 s，金色件仍停在被带动后的姿态，没有退回原姿态或位置；log step 136 保存前的金色件最大 y=0.1199 m，大于固定分隔平面位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "候选作用端：所持拼图件。右夹爪夹住银色件，银色件通过互锁槽齿接触带动金色件倾转、移动；没有夹爪直接抓住金色件。该间接接触既不是夹爪直接接触，也不是使用辅助工具，故 who 用其他。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 14.5,
+   "log_step": 136,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.0–15.4 s，右夹爪开始操作已抓住的银色件时，金色件随之倾转；视频 18.1–30.0 s 两件继续相连并共同移动，直到视频 34.47 s 仍未分离。log step 136 的保存段在旋转参数 rho=-8 度处打印 STALL，随后保存部分轨迹，未执行分离后的搬运入区；断点取当时正在操作的银色件分离入区步骤，金色件留原侧条件也被该操作破坏。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 14.5,
+    "log_step": 136,
+    "evidence_zh": "观察：视频 13.53 s 金色件仍处于原姿态，视频 14.0–15.4 s 右夹爪转动银色件时金色件一起倾转；视频 18.1–30.0 s 金色件继续被带着移动，银色件没有从槽内抽离。左夹爪悬空，没有固定金色件。log step 136 的同段读数仍有 1 对金银件接触，末态金色件最大 y=0.1199 m；需要的银色件相对脱开没有完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 14.5,
+    "log_step": 136,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 124 的离线搜索逐个选择最近的无碰撞构型，log step 130 列出的候选路径在相邻旋转位置间出现抬升参数从 12 mm 到 57 mm 的跳变，没有证明一条连续可执行的脱开路线。实际提交段的 log step 134、136 仍以局部贪心构型搜索推进，并把右夹爪目标绑定在实时金色件坐标系内，左夹爪停在空中，未限制金色件相对固定分隔平面的位移；脚本到 rho=-8 度找不到后继而停止。结合视频 14.0–34.47 s 金色件被带动、两件始终相连，失败归于未解决完整分离路径及保留金色件位置的规划，而非由停止或零分倒推。"
+   }
+  ],
+  "gap_zh": "没有状态日志。金色件分隔平面不可见，越界终值由与视频一致的保存段物体边界读数辅助判断，首次越界的视频 14.5 s 为约 1 s 精度的估计；无法逐帧核验毫米边界。评分器未报告 DAG 四项原生指标的数值，均留 null；银色件未脱开且未入区已有直接画面证据，无需由速度阈值反推。"
+ },
+ "summary_zh": "评分轨迹中右夹爪抓住银色件并尝试旋转、抬升，但两件直到视频 34.47 s 仍相连，银色件从未入区；金色件初态合格，约视频 14.5 s 起被带动越界，最终进度为 0/2。断点是银色件分离入区，现象为带动本体，日志支持完整分离路径及金色件位置保持的规划不足。没有状态日志，金色件首次越界时刻约有 1 s 不确定性，终值由保存轨迹的物体边界读数辅助确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "银色件未入区(终值 0/2)、金色件由 log step 136 的保存段读数(最大 y 0.0884→0.1199 m,越过 0.0858 m 平面)及视频 14–34 s 的倾转判为越界,断点、接触、现象与根因均有证据支持;未发现需改内容的错误。越界起点 14.5 s 已自述约 1 s 不确定。",
+    "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": "2026-10-31T00:28:04Z",
+  "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_rerun1/runs/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/roboarc-cast-keyhole-04-i01-privileged--u5hjk6g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b9feedcc39f646a30f0019a36233db6d25bdc36cec1efaca82069d003600544",
+   "video_sha256": "f78b35079f7caf27eb0a466a4a38ec80904fb667cf69cfd147e83c05022664e9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--xw7xbea.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--xw7xbea.json
new file mode 100644
index 0000000000000000000000000000000000000000..781e30a99ac45762cbcb1a4f2c52f4ac53e11a71
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--xw7xbea.json
@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--xw7xbea",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 855,
+   "submitted_actions": 855,
+   "sim_steps": 855,
+   "physics_steps": 8550,
+   "sim_time_s": 21.374999999999854,
+   "final_reward": 0.0,
+   "replay_wall_s": 102.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 71,
+   "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": 0,
+   "peak_memory_gb": 1.123,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.078,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 1,
+   "session_log_from_monitor": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-keyhole-04-i01-privileged--xw7xbea/replay.mp4",
+  "duration_s": 21.467,
+  "fps": 15.0,
+  "frames": 322,
+  "sha256": "612c2e349f784a53275fc5e4ddd6e5bf49d1f34d3e1a458728349b2a8ea9e355"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s中银色细长件穿在金色宽槽件内，两件均在绿色虚线目标框的原侧。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频约3.0–5.0 s，机器人左夹爪夹住金色件、右夹爪夹住银色件并将两件抬离桌面；视频6.5–8.0 s右爪调整银色件角度时，银色件仍穿在金色槽口内，没有抽出。"
+     },
+     {
+      "t": 21.4,
+      "log_step": 212,
+      "text_zh": "观察：视频12.0–20.0 s两件在双爪间继续翻转、抽拉，视频20.4–21.4 s逐帧检查仍见银色件与金色件交叉卡接，未出现银色件脱开后整体独立入区的结果；评分器strict_goal_reached=0。log step 212记录保存855步轨迹，与评分器n_actions=855一致，后续会话测试不计入本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约3.0–21.4 s，机器人左侧二指夹爪夹持金色宽槽件，右侧二指夹爪夹持银色细长件；两爪分别夹住各自部件，抬起后配合转动、抽拉以尝试脱开银色件。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 206,
+      "text_zh": "观察：视频0.0 s金色件在绿色框近边之外的拼图原侧，尚未接触机器人；log step 206所列初态金色件y上界为0.08076 m，目标框y近边为0.11476 m。"
+     },
+     {
+      "t": 15.0,
+      "log_step": 198,
+      "text_zh": "推断：视频约3.0–21.4 s主视图与两侧腕部视图中，金色件被左爪抬起并转动，仍留在原拼图一侧；主视图中与目标框重叠的部分来自悬空投影，侧视未见金色件被送往目标侧。log step 198的提交脚本先将金色件向远离分隔平面的方向移动30毫米，后续候选姿态检查金色件留侧，结合连续画面将该初始关系保留至结束；隐形平面的毫米边界缺口见gap_zh。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约3.0–21.4 s机器人左侧二指夹爪夹住金色宽槽件并抬起、转动，保持其在原拼图一侧；金色件并非全程无接触地留在桌面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 7.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约6.5–8.0 s，机器人两爪持件调整并尝试相对抽拉，银色件的内端仍受金色槽口限制；之后虽继续大幅转动，视频20.4–21.4 s两件仍未脱开。本次首先未修复的是银色件分离入区步骤，断点时间取视频约7.0 s作为卡接阶段的导航锚点。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 7.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频6.5–8.0 s银色件穿入金色件槽口的部位保持卡接，机器人右爪改变银色件方向而未将其抽离；视频12.0–18.0 s两件在夹爪间贴靠交叉转动，至视频21.4 s仍未分开。阻挡来自金色件的槽口及其周围接触，未见银色件成为可独立搬运的物体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 169,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 166中agent的三维几何检查显示，从相对姿态(0,0.2,22.4,-4.5,0)到(0,0.4,22.4,-7.5,0)的插值在alpha=0.1–0.7均有碰撞；log step 169仍明确将该边保留为直接运动并保存37点verified_path。log step 198的提交脚本沿该路径执行，随后不检验实际脱开便继续向目标区搬运，log step 212保存855步结果；视频约7.0–21.4 s实际仍卡接。因而分离路径及阶段切换没有保证几何可通过性，是可预先检查的拼图规划失败。"
+   }
+  ],
+  "gap_zh": "没有状态日志。金色件留侧依据连续多视角画面、初始位置和提交脚本的留侧安排推断；不可见固定分隔平面与所有网格顶点的毫米级距离无法独立核验。银色件未脱开可直接判未达，无须从零分推断；其精确速度和四项原生指标未由评分器报告，均填null。log step 212的中段输出在所给运行记录中已被截短，未取其中不可见的终态字段或将后续重置测试当作本次轨迹。"
+ },
+ "summary_zh": "机器人双爪各自抓住金、银两件并抬起，金色件留系统侧按连续多视角证据推断保持，最终进度1/2；银色件始终未脱开，未完成入区。断点在视频约7.0 s的脱开操作，现象为槽口阻挡，日志中的碰撞插值仍被保留并执行支持推理/规划根因。无状态日志，金色件相对隐形分隔平面的毫米余量及原生指标无法精确核验。",
+ "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（银色件未入区、金色件留侧）、接触（双臂协作/抓握；手指/夹爪抓握）、断点与根因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": "2026-10-31T00:14:27Z",
+  "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/roboarc-cast-keyhole-04-i01-privileged--xw7xbea/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--xw7xbea/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a348f2cf5f18ba1fa01e258d7ed1694c08a63437e985ce6200a7b47461026583",
+   "video_sha256": "612c2e349f784a53275fc5e4ddd6e5bf49d1f34d3e1a458728349b2a8ea9e355",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--3wvmbng.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--3wvmbng.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc5b1af37900348f9734e805b1d20786e0860dd
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--3wvmbng.json
@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--3wvmbng",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 9,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 8709,
+   "live_rows": 8709,
+   "sim_steps": 8709,
+   "physics_steps": 87090,
+   "steps": 4300,
+   "elapsed_s": 10800.4,
+   "replay_wall_s": 1218.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-04-i01-standard--3wvmbng/replay.mp4",
+  "duration_s": 217.8,
+  "fps": 15.0,
+  "frames": 3267,
+  "sha256": "97651c1ff178a650dde554c90510b5bf9beefa8b8e330dff9ba6357f4bd4eaf7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两件拼图相互套接，银色件从金色件向右伸出，尚未整体进入绿色虚线目标区。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 111,
+      "text_zh": "观察：视频 7.5–10 s 左夹爪接触金色件、右夹爪夹住银色件，拉动后两件仍套在一起；log step 111 的脚本要求右末端沿 X 正向移动10毫米，服务返回右末端 X 仅由0.15885米变为0.15929米。"
+     },
+     {
+      "t": 139.75,
+      "log_step": 577,
+      "text_zh": "观察：视频 138–143 s 双臂各夹一件拉扯，齿槽连接处没有脱开。log step 577 的机器人服务安全监测记录左臂所持金色件压在银色件上，事件 control step 5590、最大压力396.7牛、驱动达到上限，持续0.8975秒；该监测是本次单一实时回合的服务读数。推断：按任务40赫兹，5590/40对应视频139.75 s，已用该处双臂停滞画面核对；全回合8709控制步/40=217.725 s也与视频时长吻合。"
+     },
+     {
+      "t": 217.73,
+      "log_step": 935,
+      "text_zh": "观察：视频 190、194、198、202、206、210、214、217及217.73 s 的主视图和腕部近景中，金色件仍套在银色件的细长部分，两件随右臂搬运、再受左臂拉扯，末段仍未分开。成功参考视频66 s可见两件已脱开，本次末帧未出现该状态；评分器记录 live_success=0、replay_success=0、live_matches_replay=1，未发现曾完成后再失去的入区状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8–40 s 及138–143 s，机器人左侧二指夹爪夹持金色宽槽件，右侧二指夹爪夹持银色细长件，协同拉动和转动以尝试分离；视频 64–76 s、190–202 s 等阶段左爪离开，右爪单独夹住银色件，连带仍套接的金色件一起移动。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 金色件处于初始拼图位置，未进入绿色目标框；依DAG对固定分隔平面的定义，初态本节点成立。"
+     },
+     {
+      "t": 139.75,
+      "log_step": 577,
+      "text_zh": "观察：视频 138–143 s 左夹爪夹持金色件，右夹爪持银色件；log step 577 的服务监测明确将金色件识别为左手所持物，且金色件与银色件相压。金色件在此之前和之后均曾被搬动、倾斜、悬起，并非一直保持初始桌面姿态。"
+     },
+     {
+      "t": 217.73,
+      "log_step": 926,
+      "text_zh": "观察：视频 190–217.73 s 金色件挂在银色件上随臂移动，最后被两夹爪及银色件部分遮挡；主视图显示两件在目标框附近悬空，侧视能确认其离桌，但没有绘出固定分隔平面。log step 926 的金色件坐标来自agent自行进行的RGB/深度筛选，未提供评分器的全网格分隔判定。推断：不能把悬空投影在框附近直接当作全部顶点越界，也不能用agent的少量可见点代替完整金色件；因此完整成立区间及终值均无法可靠确定，intervals保留null，初态成立事实保留在本节点证据中。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8–40 s 及138–143 s，机器人左侧二指夹爪夹持金色宽槽件，尝试在右臂操作银色件时固定金色件；后段又接近并夹持金色件尝试将其拉回。右夹爪直接夹持的是银色件，金色件因仍套接而被连带搬动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 8.5,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.5–10 s 机器人已经双臂接触拼图并尝试相对拉开，两件仍在齿槽处套接；log step 111 的10毫米拉动请求仅产生约0.44毫米的右末端X位移。视频 138–143 s 仍有两件相互顶压，直至视频 217.73 s 最后一帧仍未完成分离入区；本节点的早期受阻从未被后续动作修复。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 139.75,
+    "log_step": 577,
+    "evidence_zh": "观察：视频 138–143 s 两臂夹持的拼图在齿槽连接处相抵，拉扯后连接仍未解开。log step 577 的服务监测在control step 5590明确记录左手所持金色件压住银色件，最大压力396.7牛且左肘驱动达到扭矩上限；推断：按40赫兹对应视频139.75 s，已在该时刻画面核对。这里有具体的金银件阻挡接触，故标被挡/碰撞；最终视频217.73 s同一分离目标仍未完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 577,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent未找到能让相互咬合的齿槽通过的相对运动路径，而反复用固定朝向的拉开或抬升请求代替解锁。log step 134 规划先抬升6毫米再沿X拉60毫米，log step 145、158 继续增大两臂间距；log step 577 又在保持各件当前朝向时，把左末端送至[-0.050,0.010,0.030]米、右末端送至[0.260,0.050,0.260]米，其服务读数证实这一拉开过程使金色件压在银色件上并达到驱动上限。视频138–143 s和217.73 s均显示两件仍互锁，支持分离路径规划失败；不是仅凭最终零分归因。"
+   }
+  ],
+  "gap_zh": "未提供模拟器状态日志，固定分隔平面没有在视频中绘出，金色件多次转动、悬空且末段局部被夹爪遮挡，无法可靠恢复全部网格点留系统侧的成立区间和终值。log step 58、926 等坐标是agent自行筛选可见RGB/深度点的估计，不能作为评分器全网格判定。银色件始终未脱开已有直接可见证据；评分器未报告DAG四项原生指标的数值，均记null。"
+ },
+ "summary_zh": "机器人建立了双臂夹持并多次拉扯、转动和搬运拼图，但银色件始终未与金色件脱开，银色件入区节点未达成。分离操作早期即受阻，后续服务记录金色件压在银色件上且驱动达到上限，支持齿槽分离路径的推理/规划失败。金色件初态留原侧成立，但缺少状态日志和显式分隔平面，其完整成立区间及终值无法可靠判定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "银色件未入区、断点在 silver_in_goal、被挡/碰撞与推理/规划均有视频和服务读数支撑；时钟换算（5590/40=139.75 s）有核对，未发现需改的错误。金色件节点按 unknown 处理合理（无状态日志、悬空遮挡）。",
+    "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": "2026-10-31T00:15:52Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--3wvmbng/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--3wvmbng/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6bb7f77f1749913fe2f0ada3531f45c992c86293af2b8d3cd75845e6fb942ff8",
+   "video_sha256": "97651c1ff178a650dde554c90510b5bf9beefa8b8e330dff9ba6357f4bd4eaf7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--5gmu8ar.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--5gmu8ar.json
new file mode 100644
index 0000000000000000000000000000000000000000..070bee26885ffb835f3d911056e7f7ea70f61671
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--5gmu8ar.json
@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--5gmu8ar",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 120,
+   "live_rows": 120,
+   "sim_steps": 120,
+   "physics_steps": 1200,
+   "steps": 30,
+   "elapsed_s": 4965.5,
+   "replay_wall_s": 13.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.558,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.277,
+   "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/roboarc-cast-keyhole-04-i01-standard--5gmu8ar/replay.mp4",
+  "duration_s": 3.067,
+  "fps": 15.0,
+  "frames": 46,
+  "sha256": "73fcb132e0130e2d6f60a25c0d169878a6b8d9af56d73bb7edd8194fe833b1fe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s主视图及侧视中，银色细长件与金色宽槽件仍互锁，均在浅绿色目标框近侧，银色件未整体入区。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 37,
+      "text_zh": "观察：逐帧检查视频0.00–3.00 s（全部46帧），机器人双臂仅改变腕部观察位姿，夹爪始终远离拼图；银色件未离开桌面原位，末帧仍与金色件互锁。log step 23、37仅提交scan1、scan2相机扫描动作；log step 125、127的分离路线逆解计算没有后续动作提交。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：视频0.00–3.00 s机器人移动双臂以改变腕部相机视角，探索银色件及互锁结构；两侧夹爪均未接触拼图，没有实际抓握、推移或分离。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s金色宽槽件在初始拼图侧，位于浅绿色目标框近侧。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s全部46帧的主视图、侧视及腕部视图显示，金色件一直由桌面承托，未被机器人触碰或搬动，末帧保持初始位置。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "推断：DAG明确金色件初态满足固定分隔平面的系统侧条件，结合视频0.00–3.00 s金色件始终未移动，本节点从视频0.00 s持续成立；无需以银色件入区作为门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 128,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.00–3.00 s全部46帧中，机器人只调整双臂观察位姿，两侧夹爪未接触拼图，拼图未移动；log step 23、37为两次相机扫描，后续至log step 127仍在计算分离几何及逆解，log step 128以“This request was blocked by Gemini's filters”结束，未见完成交付记录。推断：会话在结果固定前被模型提供方过滤器外部截断，未出现可定位到某个DAG步骤的物理失败事件；依docs/03_trajectory.md Step 3.5第5条，断点记为unknown、首步前。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 128记录模型提供方过滤器阻断；此前只有log step 23、37两次扫描动作提交，未见任务完成、主动结束或已验证最终交付记录。视频0.00–3.00 s未出现实际抓取或分离失败。推断：这是结果固定前的外部中断，按Step 3.5及D37排除于机器人失败归因，现象和根因均留空，不标没尝试；也无法定位物理失败时刻。无状态日志，评分器未报告DAG四项原生指标，无法量化毫米边界与速度；金色件的持续成立依据初态及全程未移动推断。"
+ },
+ "summary_zh": "观察：视频0.00–3.00 s仅见机器人改变腕部相机观察位姿，两件拼图保持初始互锁位置，银色件入区未达成，金色件留原侧从初态持续成立，末态为1/2。观察：log step 128记录模型提供方过滤器阻断，之前log step 125、127仍在做未执行的逆解计算。推断：运行在首步前被外部中断，不能归为机器人接触或规划失败；无状态日志及原生指标读数，未据此虚构失败现象或根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "节点值、时间、contact_actual及空现象/根因层（Gemini过滤器外部截断，结果固定前）均与视频和log一致；仅breakpoint.where不符合03 Step 3.5对外部截断的规定（应为首步前）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点值（银色件未入区、金色件从0 s留原侧）、contact_actual、breakpoint(unknown/首步前)及空现象/根因层加gap（Gemini过滤器在结果固定前截断，无交付）均与视频和log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": "2026-10-31T00:17:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--5gmu8ar/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--5gmu8ar/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--5gmu8ar/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--5gmu8ar/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9cbf410ea7b8b933ee026a8143fd37afef6a7eda488bc0a317d776aacbf6a4fb",
+   "video_sha256": "73fcb132e0130e2d6f60a25c0d169878a6b8d9af56d73bb7edd8194fe833b1fe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agqzkro.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agqzkro.json
new file mode 100644
index 0000000000000000000000000000000000000000..efb15f132f9952a89113dc685bc0a2afcda2752e
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agqzkro.json
@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--agqzkro",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 79562,
+   "live_rows": 79562,
+   "sim_steps": 79562,
+   "physics_steps": 795620,
+   "steps": 8571,
+   "elapsed_s": 10577.5,
+   "replay_wall_s": 5038.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-04-i01-standard--agqzkro/replay.mp4",
+  "duration_s": 1989.133,
+  "fps": 15.0,
+  "frames": 29837,
+  "sha256": "50d97e9a129a931775c4d32d65356e031e68dd4d69eda4918d941e5653780319"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的银色细长件穿在金色宽槽件内，两件位于绿色虚线目标框近侧；银色件不在目标区内。"
+     },
+     {
+      "t": 71,
+      "log_step": 216,
+      "text_zh": "观察：视频 60.5–73 s，右夹爪在银色件上下降、闭合和改变姿态，随后左夹爪靠向金色件推拨；两件随接触翻转，银色件仍穿在金色槽口中，没有脱出后独立到达目标框。log step 214、216 记载 agent 依次安排右臂、左臂推金色件以释放银色件。"
+     },
+     {
+      "t": 1537,
+      "log_step": 323,
+      "text_zh": "观察：视频 1477–1547 s，右夹爪夹住银色件后拉动、抬起并向目标框搬运，金色件仍挂在银色件的另一端，随其转动、拖行及抬升；视频 1552–1572 s 松爪后两件仍相连。log step 317、319 所称银色件已与金色件有间隙、可搬运，不作为脱开证据。"
+     },
+     {
+      "t": 1989.06,
+      "log_step": 383,
+      "text_zh": "观察：视频 1988.2 s、1989.06 s，两件均在桌面附近，金色件仍穿接于银色件槽口，银色件圆头越过绿色方框右边界。此前视频 1580–1980 s 的反复夹取、推拨也未形成银色件脱开且整体入区的状态；评分器 live_success=0、replay_success=0 与此相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1477–1547 s、1600–1620 s，机器人右二指夹爪合拢夹住银色件并拉动、抬升；夹持由夹爪包夹和银色件随夹爪移动可见。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1860–1950 s，右夹爪指体反复从侧面推拨银色件及其相连拼图，带来翻转和沿桌面移动；并非每次接近都形成有效推动。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      70.8
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，金色宽槽件位于拼图初始侧；视频 45–60 s 仍接近初态位置。推断：分隔平面由初态金色件最靠近目标的点外移 5 毫米定义，故初态该节点成立。"
+     },
+     {
+      "t": 70.8,
+      "log_step": 216,
+      "text_zh": "观察：视频 60.5–68 s 两件发生翻转；视频 70.3–71.3 s 左夹爪进入金色件一侧推拨，金色件向目标框方向展开，视频 100–104 s 清晰可见其朝目标的一侧已比初态更靠近目标，低视角同时显示姿态变化。推断：金色件初态仅有 5 毫米的分隔余量，此次翻转、移位使其部分越过固定平面，区间终点估为视频 70.8 s，误差约 1–2 s。此处没有把 agent 的分隔面坐标估计当作评分器状态。"
+     },
+     {
+      "t": 1537,
+      "log_step": 323,
+      "text_zh": "观察：视频 1512–1547 s，右夹爪搬动银色件时金色件一起朝绿色方框移动；视频 1557 s、1730 s 金色件明显伸入目标框，后续扫推也未使整件退回初始侧。"
+     },
+     {
+      "t": 1989.06,
+      "log_step": 383,
+      "text_zh": "观察：视频 1988.2 s、1989.06 s，金色件沿银色件斜放，主体伸入绿色目标方框，低视角显示两件已落在桌面附近。推断：目标框位于固定分隔平面外，且这里不存在高悬导致的投影误判，故金色件全部留系统侧的终态条件为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 70–73 s、94–100 s 左夹爪在金色件旁推拨；视频 1640–1850 s 右夹爪指体多次接触金色件边缘，试图将其推回原侧，亦带动相连银色件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 71,
+   "log_step": 216,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 60.5–104 s，机器人为分离银色件而下降夹爪、改换抓点并推拨金色件，两件翻转但银色件没有退出槽口；这一分离入区步骤后续始终没有完成。视频 1512–1547 s 的搬运仍把金色件一起带走，视频 1989.06 s 两件仍相连且银色圆头出框。推断：断点属于银色件分离入区的操作过程；视频约 71 s 是早期未修复失败的导航锚点，金色件留原侧条件的丢失是同一操作造成的后果。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 1512,
+    "log_step": 323,
+    "evidence_zh": "观察：视频 1512–1547 s，右夹爪夹持并提拉银色件时，金色宽槽件没有留在原位，而是仍挂在银色件一端，随银色件整体拖行、倾转并被带向目标框。视频 1557 s 松爪后仍见两件穿接；机器人没有获得所需的银色件相对金色件的脱出运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 278、314–315 的方案是抓银色杆后沿 +x 拉出，再抬升搬运；log step 317 将局部点云的间隙解释为脱开，log step 319 将银色件竖起、金色件仍在其下端的姿态视为可搬运构型，log step 322–324 继续上提并向目标区平移、下降松爪。视频 1477–1547 s 则显示两件仍穿接、金色件随行。推断：agent 没有完成并验证钥匙孔互锁几何所需的解锁相对位姿，就把直拉后的构型当作可独立搬运银色件的状态；这一分离到搬运的阶段规划错误解释了金色件被一起带走。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有评分器输出的全网格边界、固定分隔面坐标及四项原生指标，因此这些指标填 null，不能从画面声称毫米级余量或精确速度。金色件首次越界按视频 70.3–71.3 s 的翻转及视频 100–104 s 的后态推断，区间端点约有 1–2 s 误差；早期夹爪局部遮挡，无法精确定位第一个越界网格点。log step 148、271、274 对平放姿态与分隔面位置的自述有反复，未直接采用；脱开与否以回放中两件共同运动为据。"
+ },
+ "summary_zh": "初态仅金色件留原侧成立，银色件分离入区未达到；机器人反复夹取、推拨和搬运后，两节点最终均为假。银色件没有完成解锁，右夹爪搬运时仍带着金色件，结尾银色圆头又超出目标框；证据支持分离到搬运的规划错误。无状态日志，金色件早期越界时间为视觉估计，不能精确核查毫米级边界及速度。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点终态均为假，与评分器 live_success=0 及视频 1557 s、1989 s 两件仍穿接一致；金色件初态成立、早期越界的区间标注为推断并说明误差，断点、现象与根因有证据支持。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": "2026-10-30T23:57:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--agqzkro/03_label"
+   },
+   {
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+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--agqzkro/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
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+   "video_choice": "HF replay.mp4"
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+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--bmbbyeq.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--bmbbyeq.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2c418ab81c7acbd84c5315572520636e9f7b50
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--bmbbyeq.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--bmbbyeq",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
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+   "finalized": 1,
+   "n_actions": 38428,
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+   "sim_steps": 38428,
+   "physics_steps": 384280,
+   "steps": 8446,
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+   "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/roboarc-cast-keyhole-04-i01-standard--bmbbyeq/replay.mp4",
+  "duration_s": 960.8,
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+ },
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+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，银色细长件穿在金色宽槽件中，两件都在绿色虚线框近侧，银色件未入区。"
+     },
+     {
+      "t": 40.5,
+      "log_step": 42,
+      "text_zh": "观察：视频 36–43.5 s，双爪先各夹住一件并抬起；随后银色件与金色件的穿套处仍相连，两件倾转回落，未完成分离。log step 42 的脚本只将右爪沿世界 x 正向平移10毫米；机器人服务返回该动作最大接触压力111.8牛，随后夹爪闭合而物件已落回桌面。视频时刻来自抽帧，不由 agent 工作时间换算。"
+     },
+     {
+      "t": 800,
+      "log_step": null,
+      "text_zh": "观察：视频 200、500、800 s及全片每约10秒的抽帧中，机器人持续换握、旋转和移动相互穿套的两件，未见银色件独立搬到绿色框内。成功参考视频 63–67.9 s 的银色件已与金色件分开，本次未出现对应的脱开终态。"
+     },
+     {
+      "t": 960.73,
+      "log_step": 502,
+      "text_zh": "观察：视频 950–960.7 s以约0.5秒间隔检查，并核查视频 959.8、960.2、960.6、960.73 s：左爪夹住金色弯端、右爪夹住银色圆端，两件仍互锁并留在目标框近侧。log step 502 中 agent 也自述两件仍相连；评分器 live_success=0、replay_success=0、live_matches_replay=1，与画面相符，节点判假依据是画面的未脱开、未入区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 30–40 s及后续多段可见左侧二指夹爪夹金色件、右侧二指夹爪夹银色件，共同抬起并作相对平移、转动；后段右爪夹银色圆端，左爪反复换到金色导轨或圆弧，末段两爪分别夹持各自圆端，手指有内外相对夹持。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，金色宽槽件位于绿色框近侧的初始拼图位置；按DAG所述固定平面由初态金色件最靠近目标的点再外移5毫米定义，因此初态本节点成立。"
+     },
+     {
+      "t": 200,
+      "log_step": 103,
+      "text_zh": "观察：视频 0–160 s的粗采样及视频 20、30、35、40、60、80、100、120 s，金色件在原拼图侧被抬起、倾转或落回桌面；视频 200 s主视图和侧视图显示整副拼图已移向机器人近侧，远离绿色框。log step 103 的服务输出记录 move_puzzle_front，画面可见这次向近侧的搬移。"
+     },
+     {
+      "t": 960.73,
+      "log_step": null,
+      "text_zh": "推断：结合视频 200、500、800、950、960.73 s的主视图、侧视图及覆盖全片的粗采样，金色件后续均在向近侧移开的操作区域内，未被带向目标侧；末帧仍由左爪握在该区域，故金色件留原侧记为持续成立。隐形平面没有可直接读取的坐标，近初态的毫米余量不能由画面独立复算，详见gap_zh。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左侧二指夹爪夹持金色件的导轨及圆弧端，调整其姿态、向机器人近侧搬移并保持在系统侧；换握时曾由桌面或仍互锁的银色件承托，末段左爪一指在金色开口内、一指在圆弧外夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 40.5,
+   "log_step": 42,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约40.5 s，机器人在双爪各持一件后的直拉过程中未使两件脱开，穿套位置受阻且物件随后倾转回落；log step 42 的 silver_slide_10mm 动作返回最大接触压力111.8牛。之后机器人反复换握、绕齿转动和平移，视频 950–960.73 s仍显示两件相连，银色件从未完成分离入区；早期掉落后重抓不等于完成该节点。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 40.5,
+    "log_step": 42,
+    "evidence_zh": "观察：视频 40–43.5 s及后续腕部视图可见金银两件在齿槽穿套处相互顶住，拉动未形成脱开的相对运动。机器人服务在log step 42 返回直拉最大接触压力111.8牛，log step 189 的计划转动又返回120.6牛；末段log step 503、505 的滑动和转动仍返回43.3、54.3牛，视频 950–960.73 s的两件继续相连。这里记录的是两件互相阻断脱开路径。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 42 的脚本在两件仍穿套时直接将银色件沿 x 正向拉10毫米，服务返回111.8牛；log step 44 中agent自述该直拉遇到内部齿部。之后log step 181–189虽由近似几何搜索生成转动加平移的路线，实测第一段转动的压力从0增至120.6牛，agent在log step 190停止该段并重新找路。末段log step 499、502、504继续以短抬升、向开口平移和局部转动寻找出口，但视频 950–960.73 s仍互锁；结合视频中的齿槽阻挡，主要问题是没有形成能让两件依次绕过内部齿部的可行分离序列，而非仅末端放置精度不足。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；已核对inputs/中存在本次完整视频、run.json及成功参考视频。固定分隔平面坐标、金银两件全部网格顶点和目标速度未由评分器输出，四项native_metrics均未报告，不能量化毫米边界或速度阈值；金色件持续留原侧由初态及后续向近侧的空间运动推断。部分穿套处受手爪遮挡，不能精确还原每次阻挡的齿面和接触对，也不足以另判独立的感知或控制子类根因。日志末条动作没有返回结果，已用视频最后一秒核实实际末态。"
+ },
+ "summary_zh": "机器人多次双爪抓持、抬起、换握和转动金银两件，金色件留原侧从初态保持，银色件始终没有脱开并整体入区，最终进度1/2。断点为银色件入区的操作中：直拉及后续局部转动反复受齿槽阻挡，证据支持未找到可行分离序列的推理/规划问题，末帧两件仍互锁。无状态日志，隐形分隔平面的毫米余量及速度等原生指标无法独立量化，金色件持续成立含视觉空间推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "银色件未入区、金色件留原侧(1/2)与视频一致；断点、被挡/碰撞与推理/规划均有视频和服务读数支持，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": "2026-10-31T00:00:56Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--bmbbyeq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--bmbbyeq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c705baec7697b8d950680e3e1825ec4e9871384e028ad892cafa8c16eb36a4d",
+   "video_sha256": "2224c604ecf7fd8307a53caaea43a70ac2e8f77fe0d5ac85674c7a0f80ba3a9d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--jgq4dc9.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--jgq4dc9.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d66fee2aa18c31f324fd95cf0d884a21ddf47d8
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--jgq4dc9.json
@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--jgq4dc9",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 14240,
+   "live_rows": 14240,
+   "sim_steps": 14240,
+   "physics_steps": 142400,
+   "steps": 2431,
+   "elapsed_s": 10895.0,
+   "replay_wall_s": 860.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.311,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.148,
+   "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/roboarc-cast-keyhole-04-i01-standard--jgq4dc9/replay.mp4",
+  "duration_s": 356.067,
+  "fps": 15.0,
+  "frames": 5341,
+  "sha256": "632d87ddda7b528ea45cad1789d5fb7bb31fe28ecbba249a8f22f03c2ac65893"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 银色细长件穿在金色宽槽件内，两件均在绿色框近侧，银色件没有整体进入目标体积。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5–24.0 s 右夹爪夹着银色件向右拉并抬高，金色件随之倾斜、离开原位，仍挂在银色件上；视频 34.0–46.0 s 左夹爪也伸向金色件，但没有将两件脱开。"
+     },
+     {
+      "t": 181.0,
+      "log_step": 365,
+      "text_zh": "观察：视频 175.0–183.0 s 右臂携带两件向目标框上方移动后返回，侧视及腕部视图仍见金色件穿挂在银色件中，银色件也没有全部收进框内。log step 365 的脚本执行了向目标区的搬运，随后 agent 在 log step 372 改口承认金色件仍钩在银色件上。"
+     },
+     {
+      "t": 355.8,
+      "log_step": 787,
+      "text_zh": "观察：视频 344.0–355.8 s 机器人重新对准银色环部闭爪，互锁的两件仍留在桌面前侧，绿色目标框空着；视频最后一秒没有脱开或转移。log step 787 的服务返回末次闭爪间隙为 0，评分字段 live_success=0、replay_success=0，与未完成入区的画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–24.0 s、约 164.0–210.0 s 主要由右夹爪夹住银色件并拉动、抬升、旋转；视频 34.0–46.0 s 左夹爪同时介入金色件，右夹爪继续保持银色件。抓握指右夹爪的对向夹持，不声称左夹爪成功固定金色件。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 36.0–46.0 s 左夹爪指端接触、压在金色框条上，右夹爪仍夹着银色件，构成两臂同时接触拼图的尝试；左夹爪退出后金色件仍会随银色件移动。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、10.0、16.0 s 及视频 16.0–18.0 s 每0.5秒检查的画面中，金色件留在初始拼图位置，整体在目标框近侧。推断：按本节点初态定义，视频 0.0–18.0 s 成立，应从视频 0.0 s 计入初始进度；这段不是未知，也不是从未成立。"
+     },
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5–20.0 s 金色件开始随银色件移动、倾斜；视频 181.0 s 金色件被互锁的银色件携带到目标框上方，悬空时主视图投影与框重叠。推断：视频 18.0–220.0 s 内有越过分隔面的风险，但没有固定平面的精确世界坐标和逐帧网格位置，无法确定该范围内各次失去、恢复的时刻，不能把整段认作连续不成立或连续成立。intervals=null 表示完整时间线不能确定，不否定已确认的初始成立区间。"
+     },
+     {
+      "t": 355.8,
+      "log_step": null,
+      "text_zh": "观察：视频 220.0–355.0 s 每5秒检查的主视及侧视画面中，金色件始终留在桌面前侧、远离目标区；视频 355.8 s 仍在绿色框近侧。视频 318.0、320.0、322.0 s 右腕视图中，两指夹住的是灰银色环件，金色宽槽件在旁，未见金色件被两指夹持。推断：视频 220.0 s 至结束，金色件整体在系统侧，final=true；视频 220.0 s 是已确认区间的保守起点，不是判定的恢复时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 36.0–46.0 s 左夹爪指端在金色框条处下压、试夹并撤离，未见它把金色件稳定提起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 20.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 19.0–24.0 s，右夹爪已夹住银色件，但继续上提时金色件也被带起、倾斜，银色件并未从槽口退出；此后多轮拉、转、换抓均未完成脱开，视频 355.8 s 仍未入区。推断：首次未修复的问题发生在银色件脱开并入区的操作过程，断点属于 silver_in_goal，时间取视频约 20.0 s 作为导航锚点。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 20.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.0–24.0 s 右夹爪拉抬银色件时，原在桌上的金色宽槽件随之倾斜、移动；视频 175.0–183.0 s 搬向目标区时金色件仍被一起带走。所需的银色件相对金色件脱开没有发生，而非银色件从未被抓到。"
+   },
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 215.0,
+    "log_step": 439,
+    "evidence_zh": "观察：视频 212.0–216.0 s 两臂靠近，所持拼图没有脱开。log step 439 中机器人服务的 safety.forcing 是本次单一实时回合的安全监测通道，其返回右臂所持银色件压向金色件，max_press_force_n=693.7、longest_forcing_s=1.5875、events=1，说明互锁接触下出现过大压力；评分器 forcing_events=1，且 simulator_instability=0、review_events=0，因此不将这次压力记录说成仿真崩溃或历史否决。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 354、356 中 agent 将短距离抬升和平移理解为已经脱开；log step 365 的脚本只检查机械臂逆解连续性后，就执行抬高、向左、再向目标区搬运，log step 372 又承认金色件仍钩着银色件。视频 175.0–183.0 s 对应搬运确实携带两件，视频 19.0–24.0 s 的直拉也已显示金色件被带动。推断：在尚未解决槽口互锁的相对运动顺序时就进入搬运阶段，是分离与转移顺序的规划错误；后续转动和拉动始终未修复这一脱开步骤。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有本次视频、完整会话日志及成功参考视频，但没有状态日志。推断：金色件在视频 0.0–18.0 s 及视频 220.0 s 至结束可判在系统侧；视频 18.0–220.0 s 内具体哪些区间成立未知，不能将该范围整体标成失去。固定分隔面不可见，毫米级全部网格点判据无法可靠重建；现有 intervals 格式没有局部未知区间的表示，故保留 null 并在节点证据明确已知区间，progress.base/peak 的 null 也不表示初始进度为0，初始有1/2节点成立。银色件从未完成脱开入区可直接判断；速度、水平内缩及联合确认窗口的四项原生指标均未在评分字段中报告，保留 null。"
+ },
+ "summary_zh": "机器人多次夹住银色件并拉抬、转动，也尝试用左夹爪固定金色件，但始终未完成脱开入区；金色件初态和末态均在系统侧，初始及最终节点满足均为1/2。失败断在银色件入区操作，互锁使金色件随动，且出现过银色件压向金色件的高压力记录；日志支持尚未解决脱开顺序就开始搬运的规划问题。没有状态日志，金色件在视频 18.0–220.0 s 内的具体成立区间不能可靠确定，完整时间线仍留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "整体判断（银色件未入区、断点在 silver_in_goal、末态金色件在系统侧）与视频一致。但 gold_on_system_side 的 contact_actual 把 318–322 s 的夹持写成夹金色件，帧上被夹的是银色（灰）件；该节点初态成立却 intervals 为 null，未按 S4 从 0 起。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（silver_in_goal 未达成、gold_on_system_side 终态成立）、断点（silver_in_goal，操作中）、带动本体/接触力异常现象及规划根因均能被视频帧与 log 支持；视频时间与 sim_time_s 对应（step 439 sim 215.85 s ≈ 视频 215 s 的画面）。未发现需要修改内容的错误。",
+    "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": "2026-10-31T00:24:26Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--jgq4dc9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--jgq4dc9/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--jgq4dc9/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--jgq4dc9/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "752938c6362230b8d29e3e0c3f01eadf2d721a0feb93c6af96b5fb53efd843fa",
+   "video_sha256": "632d87ddda7b528ea45cad1789d5fb7bb31fe28ecbba249a8f22f03c2ac65893",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--t4qnmqx.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--t4qnmqx.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97d7be6c542a2a4c00162262fd1c8d32733a480
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--t4qnmqx.json
@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--t4qnmqx",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 33432,
+   "live_rows": 33432,
+   "sim_steps": 33432,
+   "physics_steps": 334320,
+   "steps": 4551,
+   "elapsed_s": 9219.0,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-04-i01-standard--t4qnmqx/replay.mp4",
+  "duration_s": 835.867,
+  "fps": 15.0,
+  "frames": 12538,
+  "sha256": "f8d5652350f084d1be366902418f863cfb55a1bf94a2a27a902c3db1987dd4b2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，银色细长件与金色宽槽件互锁，两件均在绿色虚线目标框前方，银色件没有整体入区。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频88.0–95.0 s，机器人右夹爪提起银色件，金色件随之离开桌面并转为竖直悬挂，未见两件脱开；视频300.0–318.0 s双臂分别接触两件并调整，银色件仍穿在金色槽内。"
+     },
+     {
+      "t": 835.8,
+      "log_step": 258,
+      "text_zh": "观察：视频834.5–835.8 s的主视图和腕视图中，右夹爪处的银色件仍斜穿金色件，未形成两件脱开后银色件独立整体入区的状态。agent在log step 258也自述银色件仍与金色件相连；此处未完成的判断依据是画面，评分器live_success=0仅作旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "视频17.5–22.5 s，左右夹爪在移动腕部相机时先后以指端和夹爪边缘扫碰互锁的金、银两件，使拼图转动并倒伏；这是实际发生的非抓握接触。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "后续视频约300.0–318.0 s，右夹爪夹持银色件，左夹爪合拢在金色件局部，两臂配合提拉、调整；金色件仍能摆转，不据此声称刚性辅助抓取已建立。此抓握阶段发生在早期扫碰之后。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "视频834.5–835.8 s，右夹爪已经张开，但一根手指仍穿在银色件的开口内，银色件被该指勾挂；这是后期实际接触，未完成分离。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      18.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s金色宽槽件位于绿色框前方的初始拼图位置；本节点按DAG定义在该初态成立。视频17.5 s之前金色件基本保持原有位置。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 40,
+      "text_zh": "推断：视频17.5–22.5 s，机器人夹爪扫碰拼图，金色件向目标方向翻转、移位；视频25.0 s金色件已落回桌面附近，其靠目标的一端明显较初态深入绿色框近边一侧。结合初态外移5毫米即为固定分隔平面的定义，将本节点首次失去估在视频18.5 s，约有1秒误差；不是按金色件中心或单一悬空投影判定。log step 40记录这段双臂腕部相机换位命令。"
+     },
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "推断：加密检查的视频30.0–99.0 s显示，金色件先在改变后的桌面位置，随后被银色件带起悬挂，未整体退回初态系统侧；后续全段粗采样中的金色件仍在目标近边附近摆转，未见恢复。"
+     },
+     {
+      "t": 835.8,
+      "log_step": null,
+      "text_zh": "观察：视频834.5–835.8 s，金色件竖立在目标框近边，主视图中下端接近桌面且位于框近边处；侧视和腕视可见它仍与银色件互锁，左夹爪已撤开。"
+     },
+     {
+      "t": 835.8,
+      "log_step": 258,
+      "text_zh": "推断：视频末尾金色件接近桌面的下部已到绿色框近边，而固定分隔平面在该近边之前至少30毫米，因此金色件并非全部留在系统侧，final=false。agent在log step 258自述金色件越过分隔线，与画面一致，但不以其自述替代位置证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "视频17.5–22.5 s，两臂夹爪换观察位时扫碰互锁拼图，使金色件翻转、向目标方向移位，破坏其初始留原侧关系。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "其后视频约300.0–318.0 s，左夹爪夹金色件局部，右夹爪持银色件配合调整；金色件的固定不牢，随两件相互牵连而摆转，最终未被送回系统侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gold_on_system_side",
+   "t": 18.5,
+   "log_step": 40,
+   "where": "探索",
+   "evidence_zh": "推断：视频17.5–22.5 s机器人为观察拼图而低位移动两侧腕部相机，夹爪扫碰金、银两件，金色件离开初态并向目标侧移位。金色件留原侧是最早丢失且之后未恢复的节点，故断点选gold_on_system_side，时间取视频18.5 s附近的导航锚点。log step 40调用s2.py移动两腕相机，log step 23、26显示该动作使用关节插值；并非一次有意的金色件放置。视频末尾835.8 s金色件仍未回到系统侧，银色件也未脱开入区。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 18.5,
+    "log_step": 40,
+    "evidence_zh": "观察：视频17.5–22.5 s，两侧夹爪低位扫过拼图，接触后金色件抬起、转向，银色件也被带动；夹爪退开后两件以不同于初态的姿态倒伏在桌面附近。log step 40的服务反馈在两次动作中分别记录最大压力93.3牛、258.7牛，支持这是实际碰撞；不是仅有末端未到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "推断：log step 23定义的move_free只对目标相机位姿求末端逆解，再将当前关节角直线插值至该解，代码中没有对中间路径检查拼图碰撞；log step 26的相机换位脚本调用它，log step 40又用该脚本把两臂移至靠近拼图的侧视位置。视频17.5–22.5 s可见中间运动直接扫过拼图并改变金色件位置，说明观察目标本身之外的关节空间路径没有避开物体，导致最早的留原侧状态丢失。该归因依据实际命令与可见碰撞，不由最终零分推导。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定分隔平面不可见，金色件首次越界时刻只能结合前后主视、侧视及初态几何定义估计，视频18.5 s约有1秒误差，不能作毫米级边界测量。银色件始终互锁已足以否定入区节点，无需猜测其速度阈值；评分器没有报告DAG列出的四项原生指标数值，因此均填null。辅助抓取是否激活没有逐时记录，不把agent关于未建立辅助抓取的自述当作已核实根因。"
+ },
+ "summary_zh": "本次实时尝试初态达到金色件留原侧，银色件始终未脱开并整体入区；金色件在视频约18.5 s的腕部相机换位扫碰后失去原侧关系，最终两节点均未满足。最早未恢复的断点为金色件留原侧：机器人使用只求终点逆解的关节插值路径，夹爪扫过拼图；后续双臂夹持与提拉仍未分离两件或恢复金色件位置。没有状态日志，分隔平面的首次越界时刻为视觉估计，毫米边界和原生速度指标无法精确核实。",
+ "conf": 6,
+ "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0–835 s：17.5–23 s夹爪扫碰拼图、金色件被带离初态，200–835 s两件始终互锁，银色件未入区；节点值、断点（gold_on_system_side，探索，被挡/碰撞）与根因与画面一致，未发现需修改之处。金色件首次越界的精确时刻只能目视估计，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": "2026-10-31T00:16:35Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--t4qnmqx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--t4qnmqx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "059e98ee130a840610f43f26c59e63d677b8ee2d143d182dfcb628b31e61013c",
+   "video_sha256": "f8d5652350f084d1be366902418f863cfb55a1bf94a2a27a902c3db1987dd4b2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--tdawiad.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--tdawiad.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f64b2a2e075971084b698c85322e5703676b76
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--tdawiad.json
@@ -0,0 +1,294 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--tdawiad",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 9,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 7911,
+   "live_rows": 7911,
+   "sim_steps": 7911,
+   "physics_steps": 79110,
+   "steps": 1729,
+   "elapsed_s": 10854.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-04-i01-standard--tdawiad/replay.mp4",
+  "duration_s": 197.867,
+  "fps": 15.0,
+  "frames": 2968,
+  "sha256": "9242a5a2c554c225217784efc5bf33da7a92342115afdfa5217d90f653427c46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 银色细长件与金色宽槽件交叠互锁，均在绿色虚线框近侧，银色件尚未入区。"
+     },
+     {
+      "t": 38.4,
+      "log_step": 53,
+      "text_zh": "观察：视频 37.3–39.5 s 左夹爪抬动金色件时，两件在交叉处仍相扣，随后两件改变倾斜姿态并落回桌面，未形成独立的银色件搬运。"
+     },
+     {
+      "t": 76.7,
+      "log_step": 97,
+      "text_zh": "观察：视频 75.7–80.3 s 右夹爪夹住银色件并抬起、转向目标框，金色件也随之悬起和转动；视频 80–85 s 两件仍相接，金色件伸到框内，银色件并未独立完成入区。"
+     },
+     {
+      "t": 197.8,
+      "log_step": 156,
+      "text_zh": "观察：视频 196.8–197.8 s 两件均已落在桌面，银色件的圆头位于目标框近边之外，长轴斜向右下并与金色件交叠，绿色框基本空着。由全件明显未入框即可判本节点为假，无需用成功为零反推，也无需估计毫米边界或静止速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 34–38 s 左夹爪合拢夹住金色件尝试解除互锁；视频 75–79 s 右夹爪合拢夹住银色件并带起两件。两臂的这些抓握先后发生；后段改为用闭合夹爪推拨两件（例如视频 134–136 s、178–181 s），未见两件完全脱开。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      76.5
+     ],
+     [
+      161.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 金色件处于初始拼图位置，全部位于目标框近侧；任务 DAG 的固定分隔平面按初始金色件最靠目标的点外移5毫米定义，故初态本条件成立。"
+     },
+     {
+      "t": 76.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 75.5–78 s 右夹爪抓住银色件后上提并向目标侧移动，金色件被一同带起；视频 80 s、120 s 金色件圆端伸入目标框对应范围，结合侧视和前后运动可判其已越过固定分隔平面。推断：金色节点约在视频 76.5 s 失去；视频 80–160 s 的连续抽样与视频 128–160 s 加密抽样未见明确恢复，不能因平面本身不可见而把整个区间留空。"
+     },
+     {
+      "t": 161.5,
+      "log_step": 151,
+      "text_zh": "观察：视频 160.5–161.5 s 右夹爪向系统侧推移组件，金色件圆端从框近边附近移到其近侧；视频 162 s、168 s、175 s 金色件整体处于目标框近侧，随后视频 178–183 s 的推拨又使其进一步远离目标框。推断：与初态金色件最靠目标的位置及侧视对照，恢复边界取视频约 161.5 s，并持续至视频结束；边界是约半秒至一秒精度的视觉估计。log step 151 的点云程序报告可见金色点 y上界先为0.077米、后为0.149和0.160米，但受裁切、遮挡和颜色分割影响，不能用这些估计替代全部网格点判据，也不能仅由其波动新增失去区间。"
+     },
+     {
+      "t": 197.8,
+      "log_step": 155,
+      "text_zh": "观察：视频 179–183 s 左夹爪向右下推移金色件，视频 192–197.8 s 金色件整体停在绿色框近边的近侧且有明显间隔，侧视也显示其已靠桌面。推断：此时金色件远离分隔平面并全部留在系统侧，final=true；log step 155 的点云估计 y上界为负值与画面一致，仅作辅助。"
+     },
+     {
+      "t": 197.8,
+      "log_step": 155,
+      "text_zh": "推断：本次为单一实时局，服务控制频率40赫兹（log step 5），最终 control_steps=7911（log step 155）对应视频约197.775 s，与视频末尾静止姿态核对一致；日志引用按控制步核对，未用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 34–38 s 左夹爪两指夹住金色宽槽件并尝试提起、移回系统侧；随后松开。视频 134–136 s、178–181 s 左夹爪又以推拨方式移动金色件，后一次将其推离目标框；未把右爪持银色件造成的间接带动算成直接抓金色件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 38.5,
+   "log_step": 53,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 37.3–39.5 s 左夹爪试图上提金色件以解除互锁，交叉处仍相扣，两件翻转后落回桌面；此后机器人持续夹取、旋转及推拨，直到视频 197.8 s 银色件仍在目标框外。推断：最早未被完成修复的是银色件分离入区步骤，金色件后来回到系统侧不构成对本步骤的修复。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 38.5,
+    "log_step": 53,
+    "evidence_zh": "观察：视频 38.4–39.2 s 左夹爪提动金色件，银色件与其在槽口交叉处相扣，两件一起改变姿态后落回；视频 75.7–80.3 s 右夹爪提银色件时，金色件也被挂着带起，始终未获得独立银色件。推断：两件的互锁接触阻挡所需的相对脱开运动，后续搬运和推拨未解除该阻挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：agent 在 log step 52 提出直接竖直提金色件即可解除互锁、让银色件落平；log step 53 的脚本执行该上提。agent 又在 log step 95 自述“推开后已分离”，并在 log step 97 按银色件可独立上提、平移、旋平的顺序执行；但视频 38.4–39.2 s 和视频 76.7–80.3 s 显示两件仍相扣并一起运动。推断：agent 未规划出适合互锁槽口的解扣顺序，反复把仍相扣的组件当作可直接分离搬运，属于相对运动与跨阶段顺序的规划错误。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，固定分隔平面和全部网格点的毫米级距离无法直接测量；金色件中段明显越界及推回原侧可结合主视、侧视和前后运动判定，失去、恢复边界分别取视频约 76.5 s、161.5 s，具有约半秒至一秒的视觉估计误差。短暂遮挡按前后姿态和运动连续性推断，不把 agent 点云估计当作真值。四项原生指标均未在评分器 reward 中报告，value=null；银色件末态明显在框外，未受此缺口影响。"
+ },
+ "summary_zh": "机器人反复抓取、上提、旋转和推拨两件，未完成银色件分离入区，最终仅金色件留系统侧成立（1/2）。金色件约在视频 76.5 s 越界、约在视频 161.5 s 恢复并保持到结束；断点仍在银色件入区的解扣过程中，互锁阻挡相对运动，日志显示直接提起及误判已脱开的规划未能解除互锁。缺少状态日志，金色件区间边界按多视图与运动连续性估计，不能精确核实毫米级判据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "银色件入区为假、断点、推理/规划均可接受；但金色件节点 intervals 留空，而视频显示其在约 76–175 s 明显越过分隔平面（伸入绿框范围），应给出间隔。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "银色件入区为假、金色件区间 [0,76.5],[161.5,null]、断点与推理/规划均与视频一致，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": "2026-10-31T00:24:40Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--tdawiad/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--tdawiad/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--tdawiad/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--tdawiad/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "798545218763902f9a890c242b207b6d9de4973ae40a7686cd79f09c1d1fe912",
+   "video_sha256": "9242a5a2c554c225217784efc5bf33da7a92342115afdfa5217d90f653427c46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--wdcyftl.json b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--wdcyftl.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0514e4a7dd60aed5caeea4e5d16e16bfa9fd181
--- /dev/null
+++ b/phase2/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--wdcyftl.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--wdcyftl",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 111071,
+   "live_rows": 111071,
+   "sim_steps": 111071,
+   "physics_steps": 1110710,
+   "steps": 21440,
+   "elapsed_s": 10044.2,
+   "replay_wall_s": 5091.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-cast-keyhole-04-i01-standard--wdcyftl/replay.mp4",
+  "duration_s": 2776.867,
+  "fps": 15.0,
+  "frames": 41653,
+  "sha256": "6fdda9d926f86684568a43418b83f8a429e3b76b23ed02e23c6449da054c6fd5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，银色长件与金色宽槽件互锁，二者都在绿色目标框近侧，银色件未入区。"
+     },
+     {
+      "t": 44,
+      "log_step": 223,
+      "text_zh": "观察：视频 41.3–52 s，机器人右夹爪夹住银色件后提起并向目标方向搬运，金色件随之转动、悬起，原桌面位置没有留下独立的金色件；两件仍勾连。log step 221、223、256记录夹紧、向上提拉及直接平移的命令。"
+     },
+     {
+      "t": 970,
+      "log_step": 508,
+      "text_zh": "观察：视频 967–1343 s，机器人把相连的整组零件拖回目标框近侧，再反复抓取、推扫；银色件的长端始终有一部分在框外，未出现单独分离后完整入区的状态。"
+     },
+     {
+      "t": 1850,
+      "log_step": 591,
+      "text_zh": "观察：视频 1847–1858 s，机器人左夹爪将两件一起搬到目标方向，金色宽槽件仍随银色件悬挂移动；视频 1860–1950 s放回桌面后两件仍在同一勾连处相交。"
+     },
+     {
+      "t": 2776.8,
+      "log_step": 674,
+      "text_zh": "观察：视频 2776.0 s和2776.8 s，两臂已撤开，银色件近乎立起，其下端在绿色框近边之外，金色件仍斜靠并穿接在银色件上；log step 674服务返回done=false、reason=null，评分器live_success=0、replay_success=0。"
+     },
+     {
+      "t": null,
+      "log_step": 674,
+      "text_zh": "推断：本次为单次实时评分局，评分器live_matches_replay=1、resumes=0。log step 110服务说明控制率40 Hz；log step 674的control_steps=111071，对应视频2776.775 s，与视频2776.8 s的撤臂末态核对一致；此处只用控制步核对视频导航，不将agent工作时间换成视频时间。银色件未脱开这一可见条件已经不满足，无需用零分推断未入区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪在视频 41–52 s夹住银色件提拉；后续左右夹爪先后夹持零件并拖移或抬起整组拼图，金色件常随银色件一起运动。未观察到两夹爪同时各自稳固持住一件完成解锁。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左右夹爪先后以闭合指端横向拨推银色件及相连拼图，例如视频 1240–1410 s的反复扫动；这些接触不计为抓握。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      41.5
+     ],
+     [
+      967.5,
+      1345.0
+     ],
+     [
+      1824.5,
+      1847.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，金色宽槽件留在初始拼图一侧，目标框为空；本节点的固定分隔面由初态最靠目标的金色件点外移5毫米定义，因此初态成立。"
+     },
+     {
+      "t": 41.5,
+      "log_step": 223,
+      "text_zh": "推断：视频 40.8–44.0 s，机器人提拉银色件时金色件一并倾转，金色圆端向目标方向越过初始轮廓；结合主视图与侧视图，节点约在视频 41.5 s失去。log step 237对同次提拉前后的点云测量给出金色件y最大值从约0.075 m变为0.095–0.097 m，仅作画面变化的辅助证据。"
+     },
+     {
+      "t": 50,
+      "log_step": 256,
+      "text_zh": "观察：视频 47.2–52.0 s，右夹爪携带银色件向目标框移动时，金色件也悬在目标方向，并未留在原侧。视频 60–960 s的全程粗采样及早期密集帧中，两件反复转向、搬运和推扫，金色圆端仍在分隔面目标侧。"
+     },
+     {
+      "t": 967.5,
+      "log_step": 508,
+      "text_zh": "推断：视频 964.5–969.4 s，右夹爪将相连的两件拖向近侧；视频 970 s主视图与侧视图都显示金色件整体已回到初始分隔面近侧，恢复时刻约为视频 967.5 s。视频 970–1343 s的补充采样显示金色件保持在近侧，机器人推扫时有转动，但不是每次松手或重新夹取都失去该关系。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "推断：视频 1343–1351 s，机器人推扫使相连拼图转动并向目标方向前移，金色圆端再次超过初态分隔面，约在视频 1345 s失去；随后视频 1410–1810 s主视图与侧视图显示金色件持续随整组零件偏向目标区。此边界受手爪遮挡及不可见平面影响，约有数秒误差。"
+     },
+     {
+      "t": 1824.5,
+      "log_step": 580,
+      "text_zh": "推断：视频 1822.0–1827.3 s，左夹爪把整组零件搬回近侧并松开；视频 1827.9–1844.1 s可见金色件整体留在系统侧。按这次搬回动作将恢复锚点定在视频 1824.5 s，未把银色件仍在框外误作金色件未恢复。"
+     },
+     {
+      "t": 1847,
+      "log_step": 591,
+      "text_zh": "推断：视频 1844.7–1852.1 s，左夹爪再提起并向目标方向搬运，金色件一起被带过分隔面，约在视频 1847 s失去。视频 1860–2776.8 s后续采样中金色件仍有部分伸向目标侧，未确认再次整体返回。"
+     },
+     {
+      "t": 2776.8,
+      "log_step": 674,
+      "text_zh": "推断：视频 2776.8 s主视图与侧视图中，金色圆端相对初态明显向目标方向突出；使用log step 21、95的静态相机标定对两视图圆端对应点作几何核对，其y约为0.10–0.11 m，超过初态金色件最靠目标点外移5毫米所得约0.08 m的分隔面，故末态为false；不是根据总成绩反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人夹爪先后尝试夹持金色件，将相连拼图拖回系统侧，例如视频 964–970 s；后续左夹爪在视频 1822–1827 s持物搬回并释放。两件相连，未把对银色件的夹持虚写成同时对金色件建立独立抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左、右夹爪轮流以指端接触金色宽槽件，将其向系统侧拨推，包括视频 1240–1410 s及视频 2640–2765 s的多次扫动；金色件随银色件被动运动的部分在节点证据中说明。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 43.0,
+   "log_step": 223,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41.3–52 s，机器人右夹爪开始提拉、搬运银色件，但金色件同时转动并被一起带走，未获得所需的相对脱开；视频 2776.8 s两件仍相连，银色件仍有部分在目标框外。这一分离入区步骤始终未修复；期间金色件返回系统侧不等于修复银色件入区。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 43.0,
+    "log_step": 223,
+    "evidence_zh": "观察：视频 41.3–52 s右夹爪持住银色件提拉、平移，金色宽槽件随之离开原位、倾转并一起悬起；视频 1847–1858 s左夹爪搬运时再次出现两件一起运动。需要留在系统侧的金色基件被银色件带走，所需的相对分离没有形成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 223的方案是在相同夹持朝向下沿z方向提拉，log step 256继续以固定朝向直接移向目标；发现两件一起移动后，log step 302、333、371、426等继续用直线推扫将银色件向目标、金色件向原侧移动，视频中主要得到整组平移或转动。log step 624、634才尝试分别抓住两端，但输出未建立所需的双件持握，预设对拉分支没有执行；log step 675 agent自述从未分离两件，与视频末态相符。这些记录支持未规划出解除互锁的相对位姿路径，而不是仅因预算结束归因；没有足够证据再指定逆解、反馈或力控为独立根因。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告逐节点真假、全部网格顶点、分隔面参数或四项原生指标。金色件分隔面不可见，其区间由主视图、侧视图及同次实时操作日志联合估计，越界边界尤其视频 1345 s附近有数秒误差；不能排除遮挡中极短的毫米级往返。银色件持续未脱开及末态框外部分可见，足以判定该节点为false，无需猜测速度阈值。"
+ },
+ "summary_zh": "机器人反复夹持、抬起、拖动并推扫两件互锁拼图，但没有完成银色件脱开入区；金色件初态及两次搬回时留在系统侧，最终也未保持，进度从1/2结束于0/2。断在银色件入区的操作中：提拉银色件一并带走金色件，日志与画面支持未形成有效解锁路径的规划问题。没有状态日志，金色件穿越不可见分隔面的区间边界为视觉估计，原生毫米级与速度指标未报告。",
+ "conf": 6,
+ "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0、44、970、1830、2776 s帧：初态两件互锁、提拉时金色件被一并带起、末态两件仍相连且银色件未入区，与标注一致；终值false、峰值1/2、断点与“带动本体”现象及规划根因均有证据支持，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": "2026-10-31T00:18:44Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--wdcyftl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--wdcyftl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "50dbcf82a9c5cd0cf886179568ff083572eee1ab627013efd7e41ff38a6790eb",
+   "video_sha256": "6fdda9d926f86684568a43418b83f8a429e3b76b23ed02e23c6449da054c6fd5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3292dd18d9b9a726db208d9eb77dba3c81f7575
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5.json
@@ -0,0 +1,245 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 10,
+   "submitted_actions": 10,
+   "sim_steps": 10,
+   "physics_steps": 100,
+   "sim_time_s": 0.24999999999999997,
+   "final_reward": 0.0,
+   "replay_wall_s": 11.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 334,
+   "agent_resets": 322,
+   "agent_sim_steps": 57042,
+   "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/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5/replay.mp4",
+  "duration_s": 0.333,
+  "fps": 15.0,
+  "frames": 5,
+  "sha256": "019871064f3bcd914f2eb1b41b451feb2615473f9fad29c1c2eea38ad7ad979c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.000、0.067、0.133、0.200及0.267 s的全部5帧中，机器人双臂均停在拼图两侧，夹爪远离拼图；铜色圆环与银色马蹄及链条保持初态相套位置，没有抓取、退环或分开移动。"
+     },
+     {
+      "t": null,
+      "log_step": 32,
+      "text_zh": "观察：log step 32中agent编写的生成脚本在reset后仅录制hold(10)，随即停止录制并保存轨迹；log step 843读回的脚本仍为这段保持基线。评分器报告n_actions=10、agent_records=1，与短暂静止的评分视频一致，后续会话测试不属于该交付轨迹。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.000 s至视频0.267 s的全部5帧中，两只银色马蹄与连接链条始终平放在同一初始位置，机器人未触碰或搬动余件。"
+     },
+     {
+      "t": 0.267,
+      "log_step": null,
+      "text_zh": "推断：DAG判据规定系统侧分隔平面由初态余件最靠目标点再向目标偏移5毫米确定，故初态余件满足此关系；全片余件保持初态位置，判定该关系从视频0.000 s持续至片尾。此判断依据初态定义及无移动，而非仅依据余件没有进入绿框；不可见平面和毫米级余量没有状态日志可直接核验。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.267,
+      "log_step": null,
+      "text_zh": "观察：视频0.000、0.067、0.133、0.200及0.267 s的全部5帧中，前方绿色虚线目标框始终为空，铜色圆环始终留在框后方的初态拼图处；机器人没有持环向目标框搬运。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：成功参考视频43.800 s的主视图与右下近景可见铜色圆环位于绿色框内，并与后方悬垂的马蹄及链条分开；本次视频所有帧均未出现这种入区结果。参考视频仅用于核对可见判据，不作为本次进度证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 0.0,
+   "log_step": 32,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.000 s至视频0.267 s的全部5帧中，机器人夹爪始终远离拼图，圆环未移动，首个退环步骤从未启动；log step 32保存的是reset后的10步hold基线，log step 843读回脚本仍如此，评分器n_actions=10与视频吻合。"
+  },
+  "unmet": {
+   "remnants_system_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 32,
+    "evidence_zh": "观察：评分视频全部5帧（视频0.000、0.067、0.133、0.200及0.267 s）显示机器人保持初始姿态，没有向铜色圆环或马蹄建立操作接触，也没有退环动作；log step 32的交付录制代码只有hold(10)。这是实际交付基线未启动步骤，不能把后续独立会话中的抓取或拉动测试算入评分尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，固定分隔平面不可见，余件留在系统侧只能由DAG的初态定义与全片不动推断，无法直接核验毫米级网格余量；评分器也未报告DAG列出的四项原生连续指标。日志能确定交付仅含保持基线，但不能确定最终未替换它的具体原因：log step 1175仍在启动新的抓取及拉动会话测试，log step 1176最后自述仍是等待测试完成，并无最终诊断或成功轨迹被误保存的记录。因此根因留空，不从没尝试或预算耗尽反推规划、控制或交付操作出错。"
+ },
+ "summary_zh": "评分轨迹仅保留初态：余件留在系统侧从视频0.000 s保持至片尾，最终进度1/3；圆环未脱离拼图，也未放入目标区。断点为圆环脱离拼图的首步前，现象是没尝试：视频全部5帧无操作动作，log step 32及log step 843确认交付脚本仅保存10步保持基线。没有状态日志可核验不可见分隔面和毫米级余量，日志也不足以确定为何最终未替换基线，根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频仅5帧（0.333 s），全程静止；余件自初态留在系统侧、圆环未脱离也未入区，最终1/3，与 n_actions=10、log step 32/843 的10步hold基线一致。断点首步前/没尝试成立，根因留空并在 gap_zh 说明（未把预算耗尽当原因），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": "2026-10-30T23:59:43Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--ecqhsh5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e35bac4b48d607520bb058d87cb1826f7ac327483079c5d108b0273948581538",
+   "video_sha256": "019871064f3bcd914f2eb1b41b451feb2615473f9fad29c1c2eea38ad7ad979c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz.json
new file mode 100644
index 0000000000000000000000000000000000000000..afc463b24d1b8c3c064159a0fb17595350c4084c
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz.json
@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--prbsmzz",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1577,
+   "submitted_actions": 1577,
+   "sim_steps": 1577,
+   "physics_steps": 15770,
+   "sim_time_s": 39.42499999999883,
+   "final_reward": 0.0,
+   "replay_wall_s": 332.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 15,
+   "agent_sim_steps": 0,
+   "agent_records": 44,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.512,
+   "peak_memory_gb": 1.216,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.877,
+   "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/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz/replay.mp4",
+  "duration_s": 39.533,
+  "fps": 15.0,
+  "frames": 593,
+  "sha256": "a37fc3ad6e311cfcf5b7a6c03427328f435402391fa1228ce7e0d643a26364a3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 442,
+      "text_zh": "观察：视频 7.0 s，机器人左夹爪夹住铜色圆环左侧弧段并将其提起，两只银色马蹄和链条同时悬起，仍从环内穿过；圆环没有单独退离余件。"
+     },
+     {
+      "t": 39.4,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s 及视频 38.5–39.4 s 的腕部近景中，银色马蹄、链眼仍穿在铜环内；右夹爪多次靠近和拨动余件后仍未分离。整段录像未出现圆环离开全部余件、可独立移动的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪双指夹住铜色圆环弧段并持续提持；先由左臂单独提环，之后左臂维持夹持、右臂参与处理银色余件。这里的抓握指左夹爪对圆环的夹持。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：左夹爪持环期间，右夹爪在银色马蹄弧段旁反复闭合、挪动和拨压，银色余件随之小幅摆动；未观察到右夹爪成功固定马蹄并把它与圆环分开。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      8.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两只马蹄和两条链均位于初始拼图区域；本节点按 DAG 的固定分隔面定义在初态成立。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 444,
+      "text_zh": "推断：比较视频 0.0、7.5、8.0、8.5、9.0 s，左臂把悬挂的整组余件从初态区域向绿框方向搬走；分隔面仅在初态余件最靠目标处之外 5 毫米，因此这次大幅前移已使余件越过该面，区间结束近似记为视频 8.5 s，误差约 0.5 s。此判断依据相对初态位置的位移，而非只检查余件是否进入绿框。"
+     },
+     {
+      "t": 39.4,
+      "log_step": 458,
+      "text_zh": "观察：视频 9.0 s 至视频 39.4 s，马蹄和链条一直随圆环停留在靠目标的一侧，没有被搬回初态区域；末帧银色余件已与铜环一同处于绿框上方。agent 也在 log step 458 自述余件被拉过分隔面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：左夹爪持续持住尚相套的圆环，右夹爪直接靠碰并拨压银色马蹄，尝试改变余件位置；余件没有被送回系统侧。未把右夹爪的闭合尝试记成成功抓握。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": 444,
+      "text_zh": "观察：视频 9.0 s，左夹爪将铜环搬到绿框上方，但马蹄和链条也被一同带来；铜环仍套住银色余件。"
+     },
+     {
+      "t": 39.4,
+      "log_step": 457,
+      "text_zh": "推断：视频 38.5–39.4 s 铜环仍由左夹爪提持，余件仍在目标侧；即使铜环自身的大尺度投影进入绿框，本节点要求余件同期留在系统侧的共同 0.5 秒条件始终未满足，故不计达成。log step 457 保存该 1,577 步轨迹时服务返回 success=False；评分器 strict_goal_reached=0，与所见一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪夹住铜环左侧弧段，将其从拼图初始位置搬向绿框并继续保持夹持；搬运时银色马蹄和链条仍与圆环相套。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 7.0,
+   "log_step": 442,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.0 s 左夹爪提起铜环时，两只银色马蹄及链条也被一起提起，所需的圆环与余件分离没有发生；视频 8.5–9.0 s 随后的整组搬运又把余件带向目标。后续右夹爪多次处理马蹄，至视频 39.4 s 仍相套，最早未修复的步骤是圆环脱离拼图。"
+  },
+  "unmet": {
+   "remnants_system_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 7.0,
+    "log_step": 442,
+    "evidence_zh": "观察：视频 7.0 s，机器人左夹爪夹环上提，银色马蹄和链条整体随环悬起，而不是留在原处让环退出；视频 8.5–9.0 s 整组又随环前移，最终余件与环一起停在目标侧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 8.5,
+    "log_step": 444,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：交付录制从 log step 440 的 reset、record_start 开始，到 log step 457 保存结束；其中 log step 441–443 只抓环并竖直上提，log step 442 的输出已显示两马蹄、两链同时升高，log step 444 却直接按圆环中心到目标的位置差平移，没有先完成退出互锁的相对位姿变化。视频 7.0–9.0 s 对应显示余件随行，之后直到视频 39.4 s 仍未脱离；因此交付方案在尚未分离时进入搬运阶段，是拓扑解脱与阶段顺序的规划失败。"
+   }
+  ],
+  "gap_zh": "无状态日志；固定分隔面不可见，余件越界的区间边界由初态位置及搬运过程近似判断，不能精确到毫米。输入评分字段未报告四项原生指标的数值，视频也不能独立核实毫米级包容余量、速度阈值和永久连接的链接数；没有将这些未观测量补写为约束违规。"
+ },
+ "summary_zh": "初态余件留在系统侧，进度为 1/3；左夹爪提环时带起马蹄与链条，随后整组被搬向绿框，最终三个节点均未满足。断点是圆环脱离拼图：交付脚本未先完成解脱就搬运，后续右夹爪调整也未修复相套状态。无状态日志，分隔面越界时刻仅为视觉近似，原生毫米级余量和速度指标未报告。",
+ "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 0/7/9/25/39 s：初态余件在系统侧，7 s 左夹爪提环时马蹄与链条随环悬起，之后整组搬向绿框直至结束仍相套，与标签一致；断点、现象与根因有证据支持。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": "2026-10-30T23:56:15Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--prbsmzz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e36da014fe6d86aa136a38fe304d6d8243124bc14cc2bd9be5735769e0de0cd9",
+   "video_sha256": "a37fc3ad6e311cfcf5b7a6c03427328f435402391fa1228ce7e0d643a26364a3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f016f5eeb43b7be49ff798be6f22bde7bb06d77
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--qtbtfux",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1761,
+   "submitted_actions": 1761,
+   "sim_steps": 1761,
+   "physics_steps": 17610,
+   "sim_time_s": 44.02499999999857,
+   "final_reward": 1.0,
+   "replay_wall_s": 306.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1761,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 15,
+   "agent_sim_steps": 3522,
+   "agent_records": 8,
+   "agent_replays": 6,
+   "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/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux/replay.mp4",
+  "duration_s": 44.133,
+  "fps": 15.0,
+  "frames": 662,
+  "sha256": "589723eb9199f984501a83acbc4c97734825e13984342f26892b5e4bcc256345"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4–10 s，左夹爪夹住并抬起一只银色马蹄，右夹爪夹住铜色圆环；另一只马蹄由两条链悬垂。视频 12–16 s，右夹爪转动圆环，使其套在悬垂马蹄外，随后逐渐向下移动。"
+     },
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "推断：视频 33–35 s 的正面小视图与主视图显示铜环退至悬垂马蹄底端以下，脱离时刻估为视频 34.0 s，约有0.5秒误差；视频 35.5–38 s，右夹爪持环向前移开，银色马蹄和链条留在原处，确认圆环已经能独立移动。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 82,
+      "text_zh": "观察：视频 38–44.06 s，圆环与马蹄、链条持续分开；log step 82 保存1761行动的交付轨迹并重放，服务返回 success=True、episode_end=success；评分器字段 deterministic=1、review_events=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–35 s，左平行二指夹爪夹持一只银色马蹄的弯曲底部并抬高，右平行二指夹爪夹持铜环的一段环丝，转动并下移铜环，使它退过由链条悬垂的另一只马蹄；两手各夹持自己的部件协同分离。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，两只银色马蹄与两条链集中在桌面拼图初始位置，绿色目标框位于其前方；本节点按初态固定分隔面的定义从初态成立。"
+     },
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0–35 s 的连续粗采样及操作关键帧显示，左夹爪抓持马蹄后主要向上抬升，另一只马蹄和链条在其下悬垂；视频 35.5–44.06 s 只有铜环被运向目标，余件保持在原拼图位置附近，未见其向目标方向越界的运动，据此保留从初态至结束的区间。不可见平面的毫米级余量不能由画面独立测定。"
+     },
+     {
+      "t": 44.0,
+      "log_step": 88,
+      "text_zh": "观察：视频 44.0–44.06 s，左夹爪仍持银色马蹄，链条及另一只马蹄仍悬垂在目标框后方；log step 88 对已保存轨迹的两次官方重放返回 all_success=true、deterministic=true，输入评分器字段 strict_goal_reached=1，支持余件系统侧终态条件已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–44.06 s，左二指夹爪夹持并抬高一只银色马蹄，持续将它保持在拼图侧；另一只马蹄及两条链由永久连接悬垂，未见机器人直接抓取它们。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "观察：视频 38–41 s，右夹爪将已分离的铜环向前搬至绿框内；视频 42–43.4 s，夹爪继续降低圆环，圆环未松手，位置仍有调整。"
+     },
+     {
+      "t": 44.0,
+      "log_step": 88,
+      "text_zh": "推断：视频 43.6、43.8、44.0及44.06 s，整个可见铜环保持在绿框内且没有可辨运动，右夹爪继续夹持。log step 88 的已交付轨迹官方重放成功，输入评分器 strict_goal_reached=1、strict_goal_row=1761、success_in_hold_only=0，故将包含共同0.5秒确认窗口的达成时刻锚定在视频约44.0 s；毫米级网格边界、速度及窗口由有效评分结果支持，画面只支持大尺度入区与末尾稳定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 35.5–44.06 s，右二指夹爪夹住铜环环丝，将整个圆环搬入绿框并降低、保持；末尾继续持环，没有释放，任务明确允许持环验收。左夹爪同期保持余件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "交付轨迹完成3/3节点：余件留系统侧从初态成立，双臂分别夹持马蹄和铜环，铜环约在视频 34.0 s 退过悬垂马蹄，随后搬入绿框并持稳，视频约44.0 s通过联合终态验收。log step 88 的两次官方重放均成功且确定一致，评分器记录严格目标在交付行动内达成，无复核事件。无状态日志；分隔平面不可见，脱离时刻约有0.5秒误差，毫米级几何、速度与0.5秒共同保持依有效评分结果判断，四项原生连续指标未报告具体数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三节点时间与取值与视频一致：铜环约视频 34 s 退出悬垂马蹄，随后被右夹爪搬入绿框并持稳；成功由评分器字段（strict_goal_row=1761、review_events=0）支持，接触标注合理，无失败层。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": "2026-10-31T00:08:31Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--qtbtfux/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f303a198e19c4cc67744f9cf35e56f248a26660337dbe05378806ab0a9c330f",
+   "video_sha256": "589723eb9199f984501a83acbc4c97734825e13984342f26892b5e4bcc256345",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb762c47353e2e8ad21728f6ccf7bc94923dd41d
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 557,
+   "submitted_actions": 557,
+   "sim_steps": 557,
+   "physics_steps": 5562,
+   "sim_time_s": 13.90500000000013,
+   "final_reward": 1.0,
+   "replay_wall_s": 171.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 557,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 24,
+   "agent_sim_steps": 3403,
+   "agent_records": 2,
+   "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/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z/replay.mp4",
+  "duration_s": 14.0,
+  "fps": 15.0,
+  "frames": 210,
+  "sha256": "c43e1c380f958e5239fea1b6e7ff1c802cda9aeeb899ce57fd45f068e21fbdfd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s 右夹爪已夹住铜色圆环边缘；视频 3.5 s 左夹爪夹住左侧银色马蹄，两个物件随后分别随对应夹爪移动。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–10.0 s 左臂抬起马蹄及相连余件，右臂持铜环向前移开；视频 10.0 s 铜环已退过另一马蹄，右下近景中不再有银色部件穿在环内；视频 10.2–11.0 s 两者继续分开移动。脱离时刻约为视频 10.0 s，精度约0.3秒。"
+     },
+     {
+      "t": 13.93,
+      "log_step": null,
+      "text_zh": "观察：视频 13.93 s 铜环与仍相连的马蹄、链条分处前后两处；inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、review_events=0，未报告断连或深接触复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住铜色圆环边缘并旋转、平移；左侧二指夹爪夹住左马蹄的弧段并提起、牵动相连马蹄和链条，两臂协同使圆环退出。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只马蹄及连接链条位于初始拼图区域，前方绿色目标框为空；依DAG定义，固定分隔面由初态余件边界外移5毫米建立，该节点开局成立。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：检查视频全程每约0.5秒的帧及视频 8.8–11.2 s 每0.2秒的帧，左夹爪将余件抬高、向后收，再降回拼图侧，未见余件向目标侧越过初态前缘；据运动方向及前后帧将系统侧关系记为持续成立。分隔平面不可见，不能逐顶点直接确认中途毫米级余量。"
+     },
+     {
+      "t": 13.93,
+      "log_step": null,
+      "text_zh": "推断：视频 12.0–13.93 s 余件保持在后方，铜环在前方目标区；评分器 success=1、strict_goal_reached=1 确认最终全部余件满足系统侧判据，而非仅凭余件未进入绿框判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住左马蹄，提起及回收整组相连余件，并在末段继续夹持左马蹄，使另一马蹄和链条留在拼图侧。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.6 s 右夹爪持已分离的铜环向前方绿色虚线框中心搬移、降低；视频 12.6 s 铜环整体已位于框内，右夹爪没有松开。视频 13.0–13.93 s 密集帧中环与夹爪保持同一末段位置。"
+     },
+     {
+      "t": 13.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 success=1、strict_goal_reached=1、strict_goal_row=557、success_in_hold_only=0、replay_hold_steps=0 确认交付轨迹内达成严格终态；结合视频 13.93 s 最后帧，取视频 13.9 s 为已确认满足静止及共同0.5秒窗口的保守到达锚点。无逐帧速度与窗口计数，首次完整满足可能稍早，不能把视频 12.6 s 的几何入框直接当作严格完成。"
+     },
+     {
+      "t": null,
+      "log_step": 123,
+      "text_zh": "观察：log step 123 中agent的交付脚本从reset后开始录制，执行双臂分离和搬放，末段保持60个控制步，然后保存并调用 grading=True 重放；log step 128 检查保存的动作数组为557行，与评分器 n_actions=557 一致。此处只核对交付内容，未将agent工作时钟转换成视频时钟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪持续夹住铜色圆环边缘，把已脱离的圆环搬至绿色框内并保持；视频末帧仍夹持，任务允许持环验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双臂分别夹住铜环与马蹄，约在视频 10.0 s 完成脱离，再由右夹爪把圆环移入目标区并保持，三个节点终态均成立；评分器两次重放均成功且严格目标在交付轨迹内达成。余件系统侧关系从初态计入，未见可辨认的中途失去；没有状态日志，分隔面逐顶点余量、毫米级速度及共同保持窗口无法独立复算，终态依严格评分确认，入区节点用视频 13.9 s 作保守确认锚点，四项原生指标未报告数值。",
+ "conf": 8,
+ "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，三节点终态均成立；视频 9.7 s 铜环仍套在银环上，9.9–10.0 s 已退出，脱离时间 10.0 s 正确；12.6 s 铜环入绿框，评分器字段支持终态。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": "2026-10-31T00:05:08Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--vxpfp6z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "287969416c7045a07e818ff1f320544ae402a06ce883d053860bab7e2bbd62e7",
+   "video_sha256": "c43e1c380f958e5239fea1b6e7ff1c802cda9aeeb899ce57fd45f068e21fbdfd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--w84uzua.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--w84uzua.json
new file mode 100644
index 0000000000000000000000000000000000000000..c99b0aa026442296bb70656903c1a3d1794471b3
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--w84uzua.json
@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--w84uzua",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1078,
+   "submitted_actions": 1078,
+   "sim_steps": 1078,
+   "physics_steps": 10780,
+   "sim_time_s": 26.949999999999537,
+   "final_reward": 0.0,
+   "replay_wall_s": 200.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 111,
+   "agent_sim_steps": 0,
+   "agent_records": 7,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.829,
+   "peak_memory_gb": 1.33,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.996,
+   "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/roboarc-horseshoe-ring-03-i01-privileged--w84uzua/replay.mp4",
+  "duration_s": 27.0,
+  "fps": 15.0,
+  "frames": 405,
+  "sha256": "86faa18af45963dd7535051deae6a5552986f33ae8c7f8870211a71d5402eb86"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": 173,
+      "text_zh": "观察：视频 8.0–11.5 s，左夹爪夹持银色马蹄，右夹爪夹持铜环向左滑移并抬起；腕部近景中铜环仍与马蹄眼及链条交叠相套。视频 12.0–14.0 s 左爪松开后，右爪搬环时两只马蹄和链条随之一起移向目标。"
+     },
+     {
+      "t": 26.93,
+      "log_step": 173,
+      "text_zh": "推断：视频 16.0–23.0 s 左爪回扫银色余件时铜环也被带动，视频 24.0–26.93 s 链眼仍聚在铜环后侧并相套；未出现圆环可独立离开余件的状态。对照成功参考视频 39.0–42.0 s，脱离后的铜环与悬垂马蹄之间存在清楚间隔，本次始终没有该分开状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–4.5 s 右平行夹爪先夹住铜色圆环并滑移；视频 7.0–11.5 s 左平行夹爪夹住左侧银色马蹄，右爪继续持环，双臂共同抬升和改变相对位置，未完成分离。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      9.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只马蹄及两条链均在初始拼图位置。推断：按 DAG 对固定分隔面的初态定义，此节点从视频 0.0 s 成立。"
+     },
+     {
+      "t": 9.5,
+      "log_step": 173,
+      "text_zh": "推断：结合视频 8.0–11.75 s 的连续近景与初态银色马蹄靠目标一侧的外缘，右侧马蹄被相套圆环牵引、朝目标移动，约视频 9.5 s 失去系统侧关系；不可见平面距初态余件仅5毫米，此时刻估计误差约1秒。视频 12.0–14.0 s 整组余件继续向绿框移动，明确越过初态分隔位置。"
+     },
+     {
+      "t": 26.93,
+      "log_step": 173,
+      "text_zh": "观察：视频 16.0–23.0 s 左夹爪三次向系统侧回扫余件，未把整组送回初态一侧；视频 26.93 s 银色马蹄仍叠在绿框靠系统一侧的边缘附近，链条接在铜环后侧。推断：余件末态明显位于初态分隔面目标侧，节点未恢复；该判断依据初态与末态的大幅位移，而非仅依据是否进入绿框。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.0–11.5 s 左夹爪夹住银色马蹄，右夹爪持铜环，两臂操作相套拼图；左爪随后张开，银色余件被右爪持环的动作连带拖走。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 16.0–23.0 s 右爪继续夹住铜环，左爪以张开的手指及夹爪端部接触银色马蹄，三次向系统侧推扫；左爪此时未合拢抓住马蹄。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": 173,
+      "text_zh": "观察：视频 13.5–15.5 s 右爪把铜环带入绿框并降低，银色马蹄和链条同时被拖到框边及框内；视频 16.0–23.0 s 左爪回扫余件又带动铜环移动。推断：即使铜环一度在框内，本节点要求与全部余件留在系统侧共同保持0.5秒，该联合判据始终未成立。"
+     },
+     {
+      "t": 26.93,
+      "log_step": 173,
+      "text_zh": "观察：视频 24.0–26.93 s 右爪持环停在目标区，银色马蹄及链条仍在圆环后侧、明显偏离初态系统侧位置；评分器字段 strict_goal_reached=0、success=0。推断：末态没有满足本节点的共同确认条件；不从零分单独推定圆环未被搬入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.0–15.5 s 右夹爪夹住铜环，将其搬向绿色目标区并降低；视频 23.0–26.93 s 右爪继续持环调整后停住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 11.75,
+   "log_step": 173,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.0–11.75 s 双臂滑移、抬升铜环和马蹄后，右爪持环与银色余件仍相套；视频约11.75 s 左爪松开并撤走，右爪随后把圆环连同两只马蹄和链条搬向目标。视频 16.0–23.0 s 的回扫也未使圆环独立分开，直至视频 26.93 s 仍未修复脱离步骤。"
+  },
+  "unmet": {
+   "remnants_system_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 12.0,
+    "log_step": 173,
+    "evidence_zh": "观察：视频 11.75–14.0 s 左夹爪放开马蹄后，右夹爪牵引铜色圆环向绿框移动，两只银色马蹄和两条链随环整体迁移，未形成所需的环与余件分开运动；视频 16.0–23.0 s 左爪回扫余件时又连带拉动铜环。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 173 的交付脚本先让右爪沿负x方向平移铜环，左爪夹起马蹄，右爪再次平移和抬升后便令左爪松开，随后直接搬环入区；脚本之后以三次直线回扫余件补救。视频 9.0–14.0 s 显示该序列未解除相套关系便进入搬运，视频 16.0–23.0 s 的回扫仍同时牵动铜环。推断：分离拼图所需的相对退套路径未被规划出来，未清除互锁便撤掉固定并进入搬运，导致整个拼图跟随；这是脱离与搬运之间的路径和阶段衔接问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，固定分隔面不可见，余件首次越界的视频约9.5秒仅为视觉估计（误差约1秒），不能核实每个网格顶点的毫米级余量。评分器未报告 DAG 四项原生指标的数值，均留null；视频能确认未分离与余件大幅越界，但不能独立测量线速度、角速度及精确共同确认时长。"
+ },
+ "summary_zh": "机器人双臂夹持铜环和银色马蹄进行滑移、抬升，但圆环未脱离拼图；右爪搬环入绿框时把马蹄和链条一并拖走，左爪三次回扫也未修复。初态成立的“余件留在系统侧”随后失去，三个节点末态均未成立；主要失败是未规划出有效退套路径便转入搬运。无状态日志，分隔面越界时刻及毫米级终态指标只能近似或无法测量。",
+ "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 0/8/11.5/14/20/26.9 s：铜环始终与银色马蹄相套，余件随环被拖向绿框，三个节点末态未成立，断点 ring_detached 与带动本体/规划根因与画面一致；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": "2026-10-31T00:10:00Z",
+  "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/roboarc-horseshoe-ring-03-i01-privileged--w84uzua/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--w84uzua/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f36f91661ffccd1c08c0b5bee1b0be012db13c40204df3926f922897aabbf65d",
+   "video_sha256": "86faa18af45963dd7535051deae6a5552986f33ae8c7f8870211a71d5402eb86",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--2sxjiro.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--2sxjiro.json
new file mode 100644
index 0000000000000000000000000000000000000000..018a6721e0e03b9ffce4db4b52aa414ea4107e54
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--2sxjiro.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--2sxjiro",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 27247,
+   "live_rows": 27247,
+   "sim_steps": 27247,
+   "physics_steps": 272470,
+   "steps": 5916,
+   "elapsed_s": 7381.1,
+   "replay_wall_s": 3137.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.363,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.603,
+   "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/roboarc-horseshoe-ring-03-i01-standard--2sxjiro/replay.mp4",
+  "duration_s": 681.267,
+  "fps": 15.0,
+  "frames": 10219,
+  "sha256": "018325c8f7a1b8144b91c6c70b9fd78b24304855e31be1004054f5d88f40565e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": 38,
+      "text_zh": "观察：视频30.0 s，机器人左夹爪夹住左马蹄并提起，另一只马蹄及铜环一起悬垂，铜环仍与余件相套。"
+     },
+     {
+      "t": 102.0,
+      "log_step": 72,
+      "text_zh": "观察：视频96.0–106.0 s，机器人左夹爪持上方马蹄，右夹爪持铜环向悬垂马蹄下方移动；右下近景显示铜环内缘仍抵在银色马蹄上，没有越过整个马蹄。log step 72的下降调用后，服务安全监测输出压力51.7 N；该日志数值仅作接触受阻的辅助证据，不由agent工作时间换算视频时刻。"
+     },
+     {
+      "t": 681.2,
+      "log_step": 208,
+      "text_zh": "观察：视频680.0–681.2 s逐帧检查，机器人右夹爪提着水平铜环，链条仍穿过环内，下方马蹄仍悬垂；没有出现圆环与余件独立移动的脱离状态。log step 208中agent亦自述圆环仍被困。对照oracle视频36.0–38.0 s，成功时铜环完全退到悬垂马蹄底端以下并独立移走；该参考仅用于识别脱离外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频68.0–102.0 s及594.0–681.2 s，左二指夹爪夹住左马蹄的弯曲端，右二指夹爪夹住铜环的一段并转动、升降，双方同时操作脱环；视频220.0–240.0 s还分别夹持两只马蹄改变其相对姿态。每只夹爪均夹住各自零件，非两爪对挤。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s两只马蹄和两条链在初始桌面拼图位置；DAG及任务公开规则说明分隔面取初态余件最靠目标点再向目标偏移5毫米，因此初态本条件成立。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：视频220.0–330.0 s，机器人先后用左右夹爪夹持两只马蹄、释放其中一只并重新提取，余件的位置和朝向明显改变；视频680.0–681.2 s余件悬在左夹爪下方。所有视角均不绘制固定分隔面，评分字段也没有报告余件到该面的最小余量。"
+     },
+     {
+      "t": 681.2,
+      "log_step": null,
+      "text_zh": "推断：没有状态日志、全部碰撞网格顶点或独立的系统侧判定字段，无法把变化后的余件完整位置与初态固定平面可靠比较，故终值与完整区间留未知；初态成立已记录，但不把未知段记成失去，也不凭余件未进入绿框判定全程成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频220.0–240.0 s双臂分别夹住两只银色马蹄，协同调整并承载相连余件；此前及末段主要由左夹爪夹持一只马蹄，另一只马蹄与链条被动悬垂。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s铜环位于桌面上方的拼图处，主画面前方绿色虚线目标框为空。"
+     },
+     {
+      "t": 681.2,
+      "log_step": 208,
+      "text_zh": "观察：全片每10秒粗查及视频96.0–132.0 s、594.0–672.0 s加密检查均未见机器人把铜环搬向绿色目标区；视频680.0–681.2 s逐帧可见铜环仍在拼图处被右夹爪持住，目标框为空，完整入区条件不成立。log step 208中agent自述从未到达目标区，与这些画面一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 100.0,
+   "log_step": 72,
+   "where": "操作中",
+   "evidence_zh": "观察：视频96.0–106.0 s，机器人右夹爪把铜环转平并向下拉，铜环仍卡在悬垂马蹄外，未完成脱环；视频114.0–132.0 s仍反复保持、微调这一受阻构型。后续换握、双臂改变马蹄姿态以及末段再次下降均未修复该步骤，视频681.2 s铜环仍套在链条上；因此断点是正在操作且始终未完成的圆环脱离步骤，视频100.0 s为粗略导航锚点。"
+  },
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 102.0,
+    "log_step": 72,
+    "evidence_zh": "观察：视频96.0–106.0 s主画面与右下近景中，机器人右夹爪持铜环下降，铜环内侧与悬垂银色马蹄重叠抵接，始终不能通过；视频114.0–132.0 s仍停在马蹄外。log step 72的服务安全监测报告压力51.7 N；log step 76继续下推时压力从63.5 N升至73.5 N，而右末端实测高度仍高于其命令高度，支持接触阻断而非空夹。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "余件留在系统侧在初态按定义成立，但余件运动后，所有视角中的分隔面都不可见，也无状态日志或服务独立的系统侧判据；不能从绿框外的位置核定全部视觉及碰撞顶点是否越面，故该节点的完整区间与终值未知。四项原生指标未在reward中报告，值均留null。根因层留空：视频与服务压力读数足以确认脱环受阻，但无法可靠区分具体退出路径不适配、接触几何偏差或轨迹/反馈误差；agent在log step 208自述“圆环太小、碰撞形状可能较大”未经独立网格证据验证，不据此归因为任务或环境问题。"
+ },
+ "summary_zh": "机器人通过双臂夹持、转环、下拉及换握反复尝试脱环，但直到视频681.2 s圆环仍套在链条上，目标区始终为空，圆环脱离与入区两节点均未达到。断点为圆环脱离拼图的操作中，视频约100.0 s已出现铜环被悬垂马蹄挡住的状态，后来始终未完成脱离。余件初态位于系统侧，但运动后的固定分隔面关系无法可靠核定，终值未知；接触受阻的具体根因证据不足。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "脱环未完成、入区未达成、余件系统侧终值未知、断点在脱环操作中（约100 s）均与视频一致；被挡/碰撞有视频与服务压力读数支持；根因层留空并写明gap_zh，可接受。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": "2026-10-31T00:07:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--2sxjiro/03_label"
+   },
+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--2sxjiro/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--8kxlvph.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--8kxlvph.json
new file mode 100644
index 0000000000000000000000000000000000000000..157b459469aefc33d96bf5ae49b2b073fa37868d
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--8kxlvph.json
@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--8kxlvph",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
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+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
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+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 39540,
+   "live_rows": 39540,
+   "sim_steps": 39540,
+   "physics_steps": 395400,
+   "steps": 9760,
+   "elapsed_s": 9068.1,
+   "replay_wall_s": 4832.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
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+   "replay_tolerance_needed": 0,
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+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.256,
+   "peak_processes": 8,
+   "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/roboarc-horseshoe-ring-03-i01-standard--8kxlvph/replay.mp4",
+  "duration_s": 988.6,
+  "fps": 15.0,
+  "frames": 14829,
+  "sha256": "09e33cadb7dc4e2b4522dcf111f99a21da043119fc6f636742fa8701e868b670"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.5,
+      "log_step": 131,
+      "text_zh": "观察：视频35.2–48.0 s的左腕近景中，左夹爪夹住铜环靠近链眼的环段，铜环另一侧仍绕在右侧银色马蹄外缘，环与中间银色链条交错；夹爪拉动后没有出现完整退套。log step 131的脚本命令左爪沿−x拉动，服务返回的末端位置几乎不变。"
+     },
+     {
+      "t": 300,
+      "log_step": null,
+      "text_zh": "观察：视频180、240、300、355 s，机器人左夹爪改变铜环朝向，环体由偏右转到两马蹄前方，但上侧环段仍穿过银色链眼区域；视频355–565 s继续提拉时，铜环未与余件分开。"
+     },
+     {
+      "t": 988.53,
+      "log_step": null,
+      "text_zh": "观察：视频600–985 s按5 s取帧及视频987.6–988.53 s末段近景，机器人换抓、拉动和拨动后，铜环仍与两条银色链条相交套在拼图中央，未出现与所有余件分开移动的阶段。参考成功视频36–39 s能清楚看到铜环退出悬垂马蹄并被右爪单独移走；本次未出现这种脱离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频35–355 s先由左平行夹爪夹住铜环靠链眼的环段并提拉、转动；视频580 s后右夹爪加入换抓，视频880 s及末段两夹爪分别在铜环及银色链眼附近合拢配合拉动。双臂动作包含早先的左臂单独操作。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频620–795 s及末段，机器人夹爪还直接拨推铜环，使其在两马蹄前方小范围滑动、转向；另一夹爪留在拼图连接处配合。该拨推接触与夹住环段的抓握分开记录。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s两只银色马蹄和两条相连链条位于开局拼图位置；按本任务固定分隔面由初态余件最靠目标的点再向目标偏移5毫米的定义，开局成立。"
+     },
+     {
+      "t": 750,
+      "log_step": null,
+      "text_zh": "推断：以固定桌面和绿色框对齐比较视频0、300、750 s主视图，并检查视频736–774 s每2 s的局部图，银色马蹄朝目标方向的外沿仍在初态外沿附近或其后方，银色链条仍处于两马蹄之间；铜环向目标侧滑动时，余件没有相应向目标前移。结合初态外沿到分隔面还有5毫米，推断此关系保持，依据为余件相对初态的位置，而非只看余件是否进入绿框。"
+     },
+     {
+      "t": 988.53,
+      "log_step": null,
+      "text_zh": "推断：视频880 s、987.6–988.53 s，银色马蹄与链条仍集中于初态位置，马蹄朝目标的外沿较视频0 s更靠系统一侧，故判终态仍成立。不可见平面及碰撞网格的毫米级余量没有原生数值可复核，此项为视觉推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频750 s后及视频880 s，机器人右平行夹爪在右侧银色马蹄的链眼附近合拢并尝试提拉、转动余件；余件仍留在原拼图位置，未被搬向目标框。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 620,
+      "log_step": 242,
+      "text_zh": "观察：视频600–735 s机器人右夹爪在铜环前侧反复拨动、合拢和拉动，铜环只在银色马蹄与链条附近小范围移动，主画面前方绿色虚线框为空；log step 242的脚本明确尝试向目标方向推环，其后agent在log step 243承认环仍受牵制。"
+     },
+     {
+      "t": 988.53,
+      "log_step": null,
+      "text_zh": "观察：全程每5 s取帧以及视频987.6–988.53 s密集末帧中，铜环均未移入绿色框；终态仍在框后方的拼图中央，整个绿色目标区可见且为空。因此入区条件未达到，不由零分单独推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频620–735 s右夹爪直接推拨铜环朝绿色框方向移动，左夹爪仍位于铜环与链眼交叉处；铜环没有离开拼图区域。后续末段也以夹爪拨推尝试继续送环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 42.5,
+   "log_step": 131,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约42–46 s，机器人左爪夹住铜环靠链眼处尝试拉开，铜环仍与马蹄和链条套连；log step 131执行−x拉动，随后log step 132报告该方向受阻。之后视频300–565 s的扭转、提拉及视频600–988.53 s的双臂换抓、拨推均未修复完整脱离，故断点是圆环脱离拼图，而非后续空着的目标区。推断：log step 131的服务读数control_steps由1703增至1847，按40 Hz换算为视频1703/40＝42.575 s至1847/40＝46.175 s（约视频42.6–46.2 s）；40 Hz与log step 108服务限速读数0.04 rad/控制步＝1.6 rad/s一致，且最终39540控制步/40＝988.5 s与视频总时长988.6 s吻合。已在视频42–46 s左腕近景核对左爪夹住铜环、拉动后仅轻微偏移且仍相套的动作；此映射使用服务控制步计数，不使用agent时间。"
+  },
+  "unmet": {
+   "remnants_system_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 42.5,
+    "log_step": 131,
+    "evidence_zh": "观察：视频35.2–48.0 s左腕近景中，铜环在两只银色链眼与马蹄的交叉处受到套连阻挡，机器人左爪拉动后环体只轻微偏移；视频300–355 s旋转后仍套在链条区域，视频736–774 s及987.6–988.53 s仍可见银色链条穿过铜环内部。log step 131的拉动命令返回约2毫米持续末端误差，log step 138的各方向试探也大多只有不足1毫米实际位移，与可见的受阻相符。推断：log step 131的服务读数control_steps由1703增至1847，按40 Hz换算为视频1703/40＝42.575 s至1847/40＝46.175 s（约视频42.6–46.2 s）；40 Hz与log step 108服务限速读数0.04 rad/控制步＝1.6 rad/s一致，且最终39540控制步/40＝988.5 s与视频总时长988.6 s吻合。已在视频42–46 s左腕近景核对左爪夹住铜环、拉动后仅轻微偏移且仍相套的动作；此映射使用服务控制步计数，不使用agent时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "log_step": 208,
+    "evidence_zh": "推断：agent在log step 131把沿−x平移当作退出路线，log step 185、208又自述环已离开两马蹄，只剩其所称的“cord”穿过连接处，并据此持续直拉；log step 208、210的脚本反复上提，log step 266再次假设抬高即可让其所称的绳索滑出链眼。视频300–565 s与880–915 s却显示铜环一直与银色链眼/链条相套、马蹄基本平放，未形成退套所需的相对构型。因而问题是未建立正确的闭环解套路径，持续沿受阻方向平移和扭转；“cord”和“已经脱离”均仅为agent的模型及主张，不作为物理事实。"
+   }
+  ],
+  "gap_zh": "没有状态日志；余件分隔平面不可见，碰撞网格全部顶点及毫米级余量不能直接核实，“余件留在系统侧”的连续区间依据其相对初态轮廓与末段位置推断。夹爪在部分连接处遮挡瞬时接触，不能逐帧区分辅助抓取与纯摩擦抓握；原生速度、目标余量和共同确认时长均未报告。视频足以判定铜环未完整脱离、未入框；日志中的绳索解释及自述无违规不替代这些观察。"
+ },
+ "summary_zh": "机器人夹住铜环并反复拉动、旋转，随后双臂换抓及拨推，但始终未把铜环从银色马蹄与链条中完整脱出，绿色目标框全程为空；仅初态已有的余件留在系统侧关系推断保持，终态1/3。断在圆环脱离拼图，现象为套连阻挡；日志显示agent多次以直拉、扭转替代完整解套路径，支持推理/规划根因。无状态日志，余件不可见分隔面的毫米级余量及瞬时夹持细节仍有核实缺口。",
+ "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、断点、现象与根因经视频核对均成立：全程铜环始终与银色链眼/链条相套，未脱离，绿框为空，余件留在初态位置。仅有一处小问题：把log step 131对应到视频42–46 s所用的控制步映射（control_steps 1703→1847 ÷40 Hz = 42.6→46.2 s）在证据里没有写明，不符合N6的要求。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（环未脱离、余件留系统侧从0成立、环未入框）、断点（ring_detached，约视频42.6 s）与现象/根因经帧核对成立；上轮时钟映射已在证据中补全（控制步/40 Hz，39540/40=988.5 s≈988.6 s）。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": "2026-10-31T00:17:01Z",
+  "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/roboarc-horseshoe-ring-03-i01-standard--8kxlvph/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--8kxlvph/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--8kxlvph/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--8kxlvph/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2f53e5f4af44af5e9014b25edba096f2efa0fdcb15167ecd5b7834c449c0a1a6",
+   "video_sha256": "09e33cadb7dc4e2b4522dcf111f99a21da043119fc6f636742fa8701e868b670",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3738d0c932fc722670e633eaddffbc272a80ae
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf.json
@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--b4hm8rf",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 10383,
+   "live_rows": 10383,
+   "sim_steps": 10383,
+   "physics_steps": 103830,
+   "steps": 2593,
+   "elapsed_s": 10801.7,
+   "replay_wall_s": 1994.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf/replay.mp4",
+  "duration_s": 259.667,
+  "fps": 15.0,
+  "frames": 3895,
+  "sha256": "df8d9c66ff76c61672f64f057eaa6b5acd28f7b859e6d4f6e519b61658d20aff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0 s，机器人右夹爪夹住铜环一段向右拉，铜环仍绕在右侧银色马蹄周围，两条链连接两只马蹄；圆环未能单独离开拼图。"
+     },
+     {
+      "t": 49.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42–53.5 s 的连续近景中，机器人左夹爪夹住左马蹄，右夹爪拉动铜环；右马蹄随铜环转动、链条随之展开，铜环始终没有退过马蹄及链条。"
+     },
+     {
+      "t": 259.6,
+      "log_step": null,
+      "text_zh": "观察：已按视频 0–258 s 每隔约 2 s 查看主画面，并加密查看视频 7–24 s、42–54 s、168–180 s、245–259.6 s；铜环反复倾斜和移动，结尾视频 259.6 s 仍与右马蹄相套，未出现成功参考视频中圆环独立退到全部余件下方的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 42–50 s，左侧平行二指夹爪夹住左银色马蹄的弧段，右侧二指夹爪夹住铜色圆环的环段，协同拉动；前后还多次松开、重新夹取，并有右爪单独拉环的阶段。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      6.0
+     ]
+    ],
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0 s 可见两只银色马蹄与链条处于初始位置；DAG 的固定分隔面取初态余件最靠目标点再向目标偏移5毫米，因此系统侧条件初始成立，按 DECISIONS.md S4(a) 从视频 0 起计入。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：已按视频 0–11.5 s 每隔0.5秒查看三视角；视频 0–6.0 s，双爪接近拼图，银色马蹄和链条仍保持初态位置。区间 [[0,6.0]] 仅记录可确认的初始持续段；右端是确认范围的界限，不是已观测到的越界时刻，之后的区间尚不能完整判定。"
+     },
+     {
+      "t": 88.0,
+      "log_step": null,
+      "text_zh": "观察：加密查看视频 78–95 s，右夹爪带动铜环及仍相连的银色余件整体位移、转动；视频 88 s 的姿态已不同于初态。画面只显示绿色目标框，没有固定分隔面的可见标记。"
+     },
+     {
+      "t": 259.6,
+      "log_step": null,
+      "text_zh": "推断：已对照视频 0.0、17.0 和259.6 s 原尺寸帧；结尾银色余件仍在绿框外，但位置相对初态发生变化。DAG 明确禁止仅凭未进入绿框认定系统侧合格；没有分隔面坐标、各余件网格顶点余量或该条件的服务终值，不能确认运动后的完整成立区间及终值，故 final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 42–50 s 及后续多轮操作中，机器人左二指夹爪直接夹住左银色马蹄，试图固定或回拉余件；链条与另一马蹄由永久连接随动。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 88.0,
+      "log_step": null,
+      "text_zh": "观察：视频 86–90 s，机器人右夹爪把铜环朝绿色目标框方向带动，但铜环仍与银色马蹄相套，整体停在框的右上方，未完整进入目标体积。"
+     },
+     {
+      "t": 184.0,
+      "log_step": null,
+      "text_zh": "观察：视频 182–188 s，机器人右夹爪再次带动铜环转向、前移，铜环仍位于绿框外；左马蹄和链条也仍与其相连。"
+     },
+     {
+      "t": 259.6,
+      "log_step": null,
+      "text_zh": "观察：视频 258.6–259.6 s 的结尾帧中，绿色虚线目标框为空，铜环仍在右臂底座旁的拼图处。没有完整入区，因而无需凭视频猜测毫米级余量、速度及共同保持窗口是否达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 86–90 s、182–188 s，机器人右侧平行二指夹爪夹住铜环并向目标方向带动，尚未脱环就连带移动了银色余件，未把铜环送入绿框。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 17.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16–20 s，机器人右爪向右拉环时，铜环仍套住右马蹄，银色余件被连带拉动；视频 42–53.5 s 的双爪拉动也未形成脱离。此后反复换握及拉开，直到视频 259.6 s 仍未修复，因此断点是圆环脱离拼图，而不是后续目标区验收。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 17.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 17.0 s 的右腕近景中，铜环与银色马蹄弧段相抵、仍相套；视频 42–53.5 s，右爪拉环时银色马蹄及链条跟随转动和移动，圆环未穿过互锁部位，无法独立拉出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 在 log step 200 的脚本中，以固定的两爪朝向先把左马蹄移近、再把右爪向右上方平移；log step 398、710、1003、1010 又以固定朝向的左右拉开及抬高作为脱环路径。视频 16–20 s、42–53.5 s 及后续多轮拉动显示这些动作连带马蹄和链条移动，始终未形成圆环越过互锁件的相对位姿过程。归因为脱环路径规划未解决拼图互锁几何，而非仅由运行结束或零分反推。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志。按 DECISIONS.md S4(a)，余件留系统侧从初态计入；视频 0–6.0 s 的未移动初始区间可确认，已记录。视频 6.0 s 后的完整时间线及终值仍未知：固定分隔面没有可见标记，日志未报告其坐标、各余件网格顶点余量或该条件终值，不能仅凭余件未进绿框延长成立区间。所列区间右端表示证据确认范围，并非已确认失去；汇总计数由已列区间计算，后续计数仅为已确认进度的下界，final=0不表示已证实余件越界。日志脚本与视频支持脱环路径规划不足的推断，但没有逐接触对的力或辅助抓取状态，不能进一步确定各次抓取失效的精确机制。评分器未报告四项原生连续指标，均留空。",
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": false
+  }
+ },
+ "summary_zh": "机器人反复夹取、抬高和左右拉动拼图，铜环直到视频 259.6 s 仍未脱离马蹄与链条，也从未完整进入绿色目标区；断点是圆环脱离，固定朝向下反复拉开的脚本和视频支持脱环路径规划不足的归因。余件留系统侧按初态定义成立，视频 0–6.0 s 计入初始进度；其后完整区间及终值缺乏不可见分隔面的可靠证据，保持未知，所列初始区间的结束不表示已确认失去。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点、现象、根因与 ring_detached / ring_in_goal 的值与帧一致；唯一问题是 remnants_system_side 在初态成立却整体留为 unknown，未按 S4 从 0 起算。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点 ring_detached、ring_in_goal=false、remnants 初始区间与未知终值、被挡/碰撞与推理/规划均与视频一致：全程铜环仍套在马蹄上，绿框始终为空。",
+    "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": "2026-10-31T00:18:26Z",
+  "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/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--b4hm8rf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0178aee097b9ad261560b7f2c0bd90a2e1b724d8efb7206b2dbe7a823d2ae303",
+   "video_sha256": "df8d9c66ff76c61672f64f057eaa6b5acd28f7b859e6d4f6e519b61658d20aff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ecfd1ecdc8db16531980d7c2848e6ac5c3d16a
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y.json
@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--dvmyk3y",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 1938,
+   "live_rows": 1938,
+   "sim_steps": 1938,
+   "physics_steps": 19380,
+   "steps": 1782,
+   "elapsed_s": 10809.9,
+   "replay_wall_s": 227.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.609,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.435,
+   "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/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y/replay.mp4",
+  "duration_s": 48.533,
+  "fps": 15.0,
+  "frames": 728,
+  "sha256": "bc3a42c607309e2b4ad2a7bf8a6eae24784438a57c1a60e125a4a5ff79f5f90c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": 130,
+      "text_zh": "观察：视频 10.5–13.0 s，机器人右夹爪夹着铜环调整姿态并向银色右马蹄的圆弧端移动，铜环仍与马蹄相套，未出现环退过余件后独立移动的状态；log step 130 的脚本提交了滑脱、下摆动作。"
+     },
+     {
+      "t": 29.5,
+      "log_step": 225,
+      "text_zh": "观察：视频 29.0–31.0 s，机器人右夹爪继续下移、前拉时，银色右马蹄与铜环一起向绿色框方向移动，左右腕视角中的铜环与银色马蹄仍套在一起；随后机器人回退，视频 35.5–37.5 s、42.0–44.0 s 的拉动仍未将二者分开。"
+     },
+     {
+      "t": 48.467,
+      "log_step": null,
+      "text_zh": "观察：视频 47.5–48.467 s（含末帧）铜环仍围绕银色右马蹄，链条仍连着左侧马蹄。参考成功录像在其视频 36.0–43.5 s 可见铜环退过悬垂马蹄后独立移向目标框；本回合没有出现这一可见脱离状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 5.0 s 后，右侧二指夹爪夹住铜色圆环，左侧二指夹爪夹住银色右马蹄；左夹爪中途张开换握，随后继续固定、抬起右马蹄，右夹爪转动并拉环。两爪各自夹持自己的部件协同尝试分离；右夹爪内侧手指在抽环过程中还与马蹄孔缘发生阻挡接触。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 将固定分隔面定义为初态全部余件最靠目标的点再向目标偏移 5 毫米，所以视频 0.0 s 的初态满足本节点。视频中该分隔面没有可见标线，绿色目标框边缘不是该分隔面。"
+     },
+     {
+      "t": 36.5,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–31.0 s、35.5–37.5 s、42.0–44.0 s，机器人抽环时右马蹄连同相连链条被带向目标方向，随后又退回。视频 48.467 s 余件已回到拼图附近，但右马蹄悬空，不能由其未进入绿色框认定其全部顶点仍在固定分隔面的系统侧。"
+     },
+     {
+      "t": 48.467,
+      "log_step": 320,
+      "text_zh": "推断：无状态日志、无服务逐件侧向余量读数；log step 320 仅有 agent 从图像计算的末态右马蹄点云范围，未检查所有视觉与碰撞顶点。现有视角无法可靠区分回退后毫米级越界与合格，故移动后的完整成立区间及终值未知；intervals=null 不表示初态条件不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住银色右马蹄的一段并多次抬起、固定或回退它；另一只马蹄与两条链条由桌面、相连部件被动承托。视频 29–31 s、35.5–37.5 s、42–44 s，右夹爪抽环的接触还带动右马蹄向前移动。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–48.467 s 的全程抽帧及关键动作密集帧中，铜环一直位于拼图附近；视频 30.0 s、36.5 s、43.0 s 的前拉仍未把铜环送进绿色虚线框。绿色框的主画面区域可见，没有被机械臂完全遮挡。"
+     },
+     {
+      "t": 48.467,
+      "log_step": null,
+      "text_zh": "观察：视频 47.5–48.467 s，铜环仍在绿色框后方并与银色右马蹄相套，框内没有铜环；因此完整入区条件不成立，不需要用零分或不可见的速度阈值反推。机器人尚未开始脱离后的入区搬放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 11.5,
+   "log_step": 130,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 10.5–13.0 s，机器人已开始滑环、翻转以退出右马蹄，但铜环仍相套；视频 29.0–31.0 s、35.5–37.5 s、42.0–44.0 s 的后续抽拉又带着银色右马蹄一起前移，视频 48.467 s 仍未分离。log step 130 提交的是分离轨迹；后来的换握和退回均未完成该步骤，因此断点是圆环脱离拼图。"
+  },
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 29.5,
+    "log_step": 299,
+    "evidence_zh": "观察：视频 29.0–31.0 s，机器人右夹爪及铜环在银色右马蹄附近受阻，前拉时银色马蹄随之移动而铜环未退过；视频 35.5–37.5 s、42.0–44.0 s 重复出现。log step 299 读取机器人服务的夹爪本体状态：Stage 3I 右爪开口约 4.49 毫米、闭合驱动力约 5.07 牛，Stage 3J 开口增至 33.40 毫米、闭合驱动力约 33.76 牛，支持夹爪受到阻挡而被撑开的判断；这些读数只用于佐证接触，不将 agent 工作时间换算为视频时间。"
+   }
+  ],
+  "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 29.5 s、36.0 s、42.0 s 可见右夹爪内指进入银色马蹄围成的区域，环仍相套；拉动时夹爪与马蹄一起运动。log step 299 的实际开口和闭合驱动力增加支持手指被余件撑住；agent 在 log step 313 自述执行回退以“unhook the right gripper's inner finger from horseshoe_right's hole”。据此，当前夹环位置、夹爪朝向及抽环过程的接触布局没有给手指留下退出马蹄孔的空间，阻碍分离；具体重抓替代方案在本回合未获验证，不能仅以 IK 返回可行证明接触方案可行。"
+   }
+  ],
+  "gap_zh": "余件留在系统侧的条件开局成立，但固定分隔面不可见，且没有状态日志或全部余件网格顶点的侧向余量，无法给出移动后的完整区间及终值，不能把“未进绿框”替代该条件。原生速度、水平余量及共同保持时长均未在评分器字段中报告。接触根因结合视频、服务夹爪读数和 agent 的诊断推断；没有直接接触对日志，无法精确定位每一次手指碰撞的起止及证明特定替代抓法。"
+ },
+ "summary_zh": "余件的系统侧条件开局成立；机器人双爪抓住铜环和右马蹄，多次转环、抽拉和回退，直到视频 48.467 s 仍未完成圆环脱离，也未将其放入目标区。分离动作中夹爪在马蹄孔附近受阻并带动余件，证据支持抓取及接触布局不适配；换握与回退没有完成该步骤。余件移动后相对不可见分隔面的毫米级位置无法可靠判定，该节点终值未知，两个圆环节点终值为假。",
+ "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 11.5 s 与 48 s 帧，铜环始终与右马蹄相套、未入绿框，ring_detached/ring_in_goal 为假、断点与抓取接触设计根因均有证据支持；未发现需改的错误。",
+    "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": "2026-10-30T23:58:10Z",
+  "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/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--dvmyk3y/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f258a4eeba3e2bb4ea107d3fb7610f5fd2f9bdaf5616f7a3dc8517801471691",
+   "video_sha256": "bc3a42c607309e2b4ad2a7bf8a6eae24784438a57c1a60e125a4a5ff79f5f90c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--flmciab.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--flmciab.json
new file mode 100644
index 0000000000000000000000000000000000000000..51d39f72e147137dbdca40b33715559fe250f110
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--flmciab.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--flmciab",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 3881,
+   "live_rows": 3881,
+   "sim_steps": 3881,
+   "physics_steps": 38810,
+   "steps": 478,
+   "elapsed_s": 2850.2,
+   "replay_wall_s": 465.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-horseshoe-ring-03-i01-standard--flmciab/replay.mp4",
+  "duration_s": 97.133,
+  "fps": 15.0,
+  "frames": 1457,
+  "sha256": "399d315d6149e976a620106525cc5802b41f0faa0ec5c99e1428bcff74ba11b0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.8,
+      "log_step": 149,
+      "text_zh": "观察：视频 16.0–18.0 s，右夹爪夹住铜环提起并向绿框搬运，银色马蹄和链条随铜环一起移动；右下近景显示铜环仍环绕马蹄弧段，并未退出整套拼图。"
+     },
+     {
+      "t": 62.0,
+      "log_step": 267,
+      "text_zh": "观察：视频 48.0–76.0 s 的翻转、抬升和下降中，铜环与银色马蹄持续相套；视频 60.0–62.0 s 提环时余件也一起离桌。"
+     },
+     {
+      "t": 97.0,
+      "log_step": 305,
+      "text_zh": "推断：视频 79.0–81.0 s 右夹爪张开撤离后，铜环留在两只马蹄旁，视频 96.2–97.0 s 的俯视和腕部近景仍显示铜环绕过银色马蹄的一段、两者交错相套，没有完整退过马蹄端部及链条。log step 305 的 agent 自述“free on the table”没有相应的独立移环画面支持；成功参考视频 36.0–44.0 s 中铜环已与悬垂余件明确分开，本次未出现该状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.0–78.0 s 主要由右二指夹爪夹住铜环管段进行提起、平移和翻转；视频 55.0–76.0 s 左夹爪也参与固定余件，右爪仍持环。左爪没有夹持银色马蹄的闭合抓握。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 55.0–60.0 s 左侧张开的夹爪靠压银色马蹄，右夹爪同时持铜环转动、提拉；视频 76.0–79.0 s 又用左爪尝试压住余件。这里记录左爪的按压接触，与右爪抓环是两条接触链。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只马蹄和相连链条处于初始桌面位置；按本任务固定分隔面的定义，余件初态在系统侧。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 155,
+      "text_zh": "观察：视频 17.0–20.0 s 银色马蹄被右爪所持铜环拖向绿框，视频 33.0–34.0 s 又发生一次整套搬运，余件明显越过其初态最靠目标的位置。log step 155 的 agent 点云重建也报告余件最小 y 从 -0.0196 m 变为 -0.2381 m；此为 agent 的估计，不是评分器侧向余量。"
+     },
+     {
+      "t": 97.0,
+      "log_step": 304,
+      "text_zh": "推断：视频 78.0–97.0 s 余件收拢在桌面后方；对照视频 0.0 s 的初态最前沿，最终两只马蹄和链条整体更远离目标，侧视也确认它们已落回桌面，足以判断终态处于系统侧。log step 304 的 agent 点云重建 y 范围为 [0.029,0.268] m，仅作为画面判断的辅助。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本输入没有状态日志，视频也没有画出固定分隔平面。历次抬升、回拖和翻转时，无法逐段确定全部网格顶点何时重新越过毫米级边界，因此 intervals 保留 null；这不表示一直未越界，也不表示终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 55.0–60.0 s 左夹爪张开靠压银色马蹄，右夹爪持铜环进行相对运动；视频 76.0–79.0 s 左爪再次尝试按住余件。较早的视频 17.0–36.0 s 余件由右爪所持铜环间接拖动、回带，未见夹爪直接抓住马蹄或链条。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": 149,
+      "text_zh": "观察：视频 18.0–20.0 s 右夹爪把铜环搬至绿色目标框上方，但银色马蹄和链条也跟着搬向目标，未与留在系统侧的余件分开。"
+     },
+     {
+      "t": 34.0,
+      "log_step": 202,
+      "text_zh": "推断：视频 33.0–34.0 s 第二次搬环至绿框时，近景仍见马蹄穿在铜环内，余件同时越出系统侧；即使铜环自身的目标体积条件局部满足，也没有本节点要求的余件系统侧共同保持窗口。"
+     },
+     {
+      "t": 97.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78.0–97.0 s 铜环留在后方的银色拼图旁；视频 96.2–97.0 s 双爪撤起后绿框仍为空，铜环没有再次被抓起送入目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 17.0–20.0 s 及视频 31.0–34.0 s 右二指夹爪夹住铜环并将其搬向绿框；银色余件因仍与铜环相套而被带动。左爪在这两次入区搬运中未参与抓环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 16.8,
+   "log_step": 149,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.4–18.0 s 右夹爪提拉铜环时，两只马蹄和链条随之向目标移动，铜环仍套在马蹄上；后续翻转、回拖和双臂按压未完成退出，视频 97.0 s 仍相套。最早未修复的问题是分离步骤，余件后来回到系统侧并未修复此步骤。"
+  },
+  "unmet": {
+   "remnants_system_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 16.8,
+    "log_step": 149,
+    "evidence_zh": "观察：视频 16.8–20.0 s 右爪移动铜环时，银色马蹄及链条被一起拖走；视频 60.0–62.0 s 再次抬环仍将余件一起抬离桌面，所需的环与余件相对退出没有发生。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 16.8,
+    "log_step": 149,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 141 先执行单纯竖直抬环，log step 149 的脚本随后保持抓环朝向，直接沿世界坐标路径送向目标；脚本没有先完成使闭合圆环退过马蹄端部与链条的相对位姿序列。视频 16.8–20.0 s 实际结果是连余件一起拖走；agent 在 log step 170 已承认马蹄被拖向目标，log step 202 仍以抬高后平移的方式再搬整套拼图，视频 33.0–34.0 s 再现同一问题。这支持分离与搬运的顺序和拓扑解法规划不足，而非仅凭零分归因。"
+   }
+  ],
+  "gap_zh": "观察：没有状态日志或评分器逐帧侧向余量，固定分隔平面不可见；余件初态和终态可判，历次越界与恢复的完整区间无法可靠标定，remnants_system_side.intervals 保留 null。视频可见圆环未完整退出，但不能提供链接数、毫米级接触深度和速度；原生四项指标未在 reward 中报告，均填 null。log step 305 自述后期已脱离且重抓位置估计有误，前者与视频 79.0–97.0 s 所见相套状态不符，后者缺少独立定位真值，未据此追加感知根因。"
+ },
+ "summary_zh": "本次右爪抓住铜环，多次提起、翻转并搬向绿框，但始终带着相套的马蹄和链条；最终只有余件回到系统侧成立，节点终态为 1/3。断点是圆环脱离拼图，现象为带动本体，日志和画面支持先搬运而未解决拓扑分离的规划问题。不可见分隔面的完整越界时间线无法确定，agent 末尾“圆环已自由”的自述不用于记入脱离进度。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度终态、断点与根因总体可接受；唯一需改的是 ring_detached 的 contact_actual：第一条标为 双臂协作+抓握，但标签自己的 note 写明左爪没有闭合抓握，只有右爪夹环，应为 手指/夹爪+抓握，左爪按压另列。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮的接触修改已落实；视频 97 s 铜环仍与银色马蹄相套，绿框为空，ring_detached=false、断点、现象与根因均有证据支持，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": "2026-10-31T00:17:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--flmciab/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--flmciab/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--flmciab/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--flmciab/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dd98b8e77b74f7094f6612a7d009bedf309996aede81f817699d5b17c1a1424d",
+   "video_sha256": "399d315d6149e976a620106525cc5802b41f0faa0ec5c99e1428bcff74ba11b0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--skjaka4.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--skjaka4.json
new file mode 100644
index 0000000000000000000000000000000000000000..503e395dacf1cfa585931a2c325135bb35a21cf9
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--skjaka4.json
@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--skjaka4",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 18749,
+   "live_rows": 18749,
+   "sim_steps": 18749,
+   "physics_steps": 187490,
+   "steps": 3426,
+   "elapsed_s": 10821.0,
+   "replay_wall_s": 1201.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-horseshoe-ring-03-i01-standard--skjaka4/replay.mp4",
+  "duration_s": 468.8,
+  "fps": 15.0,
+  "frames": 7032,
+  "sha256": "a0755004d9a8f0e2ae516fc522f5ecbe0463a66007609080f645bfee72549336"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.0,
+      "log_step": 143,
+      "text_zh": "观察：视频43–48 s的右腕近景中，右夹爪两指夹住铜环的一段，随后铜环随夹爪抬起；银色马蹄与链条仍穿套在铜环内，并未出现完整退出。log step 143的机器人服务读数报告右爪开口约27.8毫米，但抓取成立的判断同时依据上述随动画面。"
+     },
+     {
+      "t": 49.5,
+      "log_step": 174,
+      "text_zh": "观察：视频48.25–53 s，机器人右爪向绿色目标方向平移，铜环与两只相连马蹄一起移动；视频55–62 s铜环仍套在链眼附近。log step 174、176、179、181的脚本依次执行carry_ring_waypoint，实际没有先完成脱离。"
+     },
+     {
+      "t": 468.7,
+      "log_step": 718,
+      "text_zh": "观察：视频60–460 s的分段画面中，机器人反复下探、闭爪和小幅试提，银色组件与铜环仍聚在目标框近边；视频467.8、468.0、468.3、468.7 s仍可见铜环穿套于银色链眼/马蹄组件，未出现独立圆环。成功参考视频36–40 s显示的圆环退出悬垂马蹄、随后独立搬移的形态，在本次视频中未出现。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频43–53 s右侧二指夹爪夹住铜环弧段并带着它移动，银色马蹄和链条经互锁被牵动；后续左右夹爪先后尝试换握，不能把空闭合算作再次抓稳。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      48.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s两只银色马蹄及相连链条平放在拼图初态位置；视频5、10、20、30、40、44 s余件仍在该区域。推断：按DAG给定的初态最靠目标点再偏移5毫米的固定分隔面，初态成立。"
+     },
+     {
+      "t": 48.5,
+      "log_step": 174,
+      "text_zh": "推断：对比视频0 s与视频47.5、48.0、48.25、48.5、49.0、49.5 s，机器人第一次向目标平移铜环时，银色马蹄及链条随之向目标移动，超出了仅比初态最近点多5毫米的系统侧范围，约视频48.5 s失去该状态（不可见平面，时刻约有1秒不确定性）。视频50–62 s余件继续被带到绿框近边，越界幅度已明显大于初态余量。"
+     },
+     {
+      "t": 438.0,
+      "log_step": 669,
+      "text_zh": "观察：视频424–438 s机器人左夹爪在左侧银色马蹄外弧反复下探、闭合，马蹄没有被夹起或送回初态区域；log step 666–669的闭爪输出均为开口0，未证明夹住马蹄。"
+     },
+     {
+      "t": 468.7,
+      "log_step": null,
+      "text_zh": "推断：视频60–460 s及视频467.8–468.7 s余件始终停留在拖移后的绿框近边，其中银色马蹄已到达或跨过绿框近边，明显超过位于该边之前的固定分隔面；没有恢复到系统侧。此判断依据初态与末态的位移和边界关系，并非仅凭余件是否进入绿框。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频424–438 s左夹爪确实尝试夹取银色马蹄外缘，右爪已抬高；未见马蹄被夹起，近景也不能确认双指是否真正碰到马蹄，故不将这些闭合标为实际抓握。此前余件被右爪所持铜环经互锁间接牵动，不能据此声称右爪直接抓住余件。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 52.0,
+      "log_step": 181,
+      "text_zh": "观察：视频49–56 s机器人右爪确实把铜环朝目标搬运，但银色马蹄和链条一同被拖来，铜环靠系统侧的弧段仍在绿框近边之外；视频60、70 s铜环仍跨着该边，并未整环入区。"
+     },
+     {
+      "t": 468.7,
+      "log_step": 718,
+      "text_zh": "观察：视频100、200、300、400、440、460 s及视频467.8–468.7 s，铜环靠系统侧的上弧仍在绿色方框近边外，并与银色余件相套；没有出现整环在目标体积内静止的共同验收状态。评分器live_success与replay_success均为0，与画面一致；未仅凭总分判定此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频48.25–53 s右夹爪夹着铜环向绿色目标移动；该搬运同时牵动尚未脱离的马蹄和链条。后续夹爪的反复闭合没有带来新的可见入区搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 48.5,
+   "log_step": 174,
+   "where": "操作中",
+   "evidence_zh": "观察：视频47–53 s机器人抬起并平移铜环时，银色马蹄和链条随环一起被带向目标，圆环没有退过余件；视频55–62 s及视频467.8–468.7 s仍相套。log step 174开始向目标搬运，随后多次换握也未完成这一步，因此断点为最早未修复的圆环脱离步骤。"
+  },
+  "unmet": {
+   "remnants_system_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 48.5,
+    "log_step": 174,
+    "evidence_zh": "观察：视频46–48 s右爪提铜环，银色马蹄开始被牵起、倾斜；视频48.25–53 s右爪向目标平移，原应留在系统侧的马蹄—链条组件整体跟着铜环移动。铜环与组件的相对拆开没有实现，反而把拼图余件一同带离初态位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent在log step 166自述继续抬起铜环以清开余件后搬运，脚本只增加抬升；log step 174、176、179、181随即在基本保持夹爪姿态的情况下连续向目标平移，log step 184还自述铜环已清开马蹄。视频47–56 s却显示铜环仍与马蹄、链条相套并带着它们移动；log step 198才承认银色组件更靠近目标。该跨阶段方案把抬高当成了拓扑脱离，在尚未完成退出运动时就开始入区搬运。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐节点评分字段；固定分隔平面不可见，因此余件越界的区间终点约视频48.5 s是基于初态及连续拖移画面的估计，约有1秒误差。视频424–438 s左夹爪对马蹄的闭合是否产生实际双指接触无法确认，contact_actual据此记未知；后续多次空夹的具体控制成因不进一步细分。评分器未报告DAG列出的四项连续原生指标，均保留null。"
+ },
+ "summary_zh": "机器人曾用右夹爪夹住铜环并抬移，但未使其脱离马蹄与链条；约视频48.5 s起还把银色余件一同拖向目标，使初态满足的系统侧节点失去，终态为0/3。断点是圆环脱离：尚未完成相对退出就开始搬运，表现为带动整个拼图组件，后续反复换握直到视频468.7 s仍未修复。无状态日志，分隔面越界时刻只能近似判断，后期左爪与马蹄的实际接触方式不确定。",
+ "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0/44/52/468 s与成功参考：铜环始终与银色马蹄链条相套，余件被拖到目标近边，断点、节点值与原因与画面一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-30T23:53:08Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--skjaka4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--skjaka4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69135072959d4a2df85b00ddbbd9ea014180d6086bf812831a8394018d6022f6",
+   "video_sha256": "a0755004d9a8f0e2ae516fc522f5ecbe0463a66007609080f645bfee72549336",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--tvqh68y.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--tvqh68y.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6af898c5729c32f27f3455922437255ebd69b7e
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--tvqh68y.json
@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--tvqh68y",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 31427,
+   "live_rows": 31427,
+   "sim_steps": 31427,
+   "physics_steps": 314270,
+   "steps": 7002,
+   "elapsed_s": 10826.9,
+   "replay_wall_s": 2863.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-horseshoe-ring-03-i01-standard--tvqh68y/replay.mp4",
+  "duration_s": 785.733,
+  "fps": 15.0,
+  "frames": 11786,
+  "sha256": "d9eed5109be2be81ccff2623943c3aceedfddd7a139410979080eb4c35d5ed2e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32–54 s，左夹爪夹住一只银色马蹄，右夹爪夹持铜环并将其移到链眼附近；悬垂的另一只马蹄仍从铜环中穿过，没有出现圆环独立离开余件的运动。"
+     },
+     {
+      "t": 104.0,
+      "log_step": null,
+      "text_zh": "观察：视频 100–108 s 的连续近景中，右夹爪转动、侧移铜环时，环的下侧仍抵住银色马蹄端部及链眼；视频 120–198 s 环虽转为近水平并抬高，链眼仍套在环内。"
+     },
+     {
+      "t": 418.0,
+      "log_step": null,
+      "text_zh": "观察：视频 304–418 s，机器人将马蹄叠起、试提铜环，随后把整组放回桌面；铜环仍与银色余件重叠相套，未出现分开搬动。视频 650–740 s 的翻转与升降也没有使环越过全部余件。"
+     },
+     {
+      "t": 785.67,
+      "log_step": 375,
+      "text_zh": "观察：视频 784.73–785.67 s 的逐帧末段中，铜环仍套在马蹄及链眼附近，双夹爪拥挤在同一组件旁；log step 375 中 agent 亦自述“环仍连接着”，但本节点依据上述视频判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人两只平行二指夹爪分别夹持铜环与一只银色马蹄并相对移动；中后段改为两爪各夹一只马蹄折叠、叠合和翻转，让铜环被动悬挂，随后换手夹环继续尝试。视频 50–198 s、216–310 s、530–740 s 均可见两臂配合；链条主要由马蹄间接牵动。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，两只银色马蹄与两条连接链均在初始拼图位置；按任务给出的分隔面定义，初态全部余件在系统侧，本节点从视频 0 s 成立。"
+     },
+     {
+      "t": 418.0,
+      "log_step": null,
+      "text_zh": "推断：以视频 0 s 余件最靠目标的外缘所在横向带为参照，结合主视角与右侧近景检查视频 32–198 s 的提起、视频 204–310 s 的折叠，以及视频 368–418 s 的落桌，余件集中在初始拼图带内或更远离目标的一侧；落桌后的银色组件也位于初始前缘后方，因此保留系统侧状态。此判断使用初始余件前缘及移动方向，不能只由绿色框空置推出。"
+     },
+     {
+      "t": 785.67,
+      "log_step": null,
+      "text_zh": "推断：视频 440–650 s 的换握和视频 650–785.67 s 的翻转、回落均在同一后方工作区进行，末帧银色余件聚集于初态位置后方，没有看到余件向目标侧越过初始前缘；据多视角位置关系判断末态仍在系统侧。不可见分隔面与网格顶点的毫米级余量没有直接读数，本节点属于视觉推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人先以左夹爪夹持一只银色马蹄，后来两爪分别抓住两只马蹄，在原拼图后方工作区折叠、叠放、翻转并重新落桌；两条银色链随马蹄被动移动，没有直接抓链。单爪持马蹄、另一爪操作铜环的阶段也发生于同一过程中。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 铜环位于右侧银色马蹄周围，绿色虚线目标区在其前方且为空。"
+     },
+     {
+      "t": 785.67,
+      "log_step": null,
+      "text_zh": "观察：已按视频 0–780 s 每 2 s 的三视角画面及视频 784.73–785.67 s 末段逐帧核对：机器人一直在拼图附近调整套连件，未将铜环搬进前方绿色虚线框；末帧整个目标区仍为空，铜环留在银色余件旁。该节点未达，且没有开始独立的入区搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 104.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 100–108 s，机器人左夹爪固定银色马蹄，右夹爪牵引和转动铜环，但铜环在银色端部与链眼处受阻，没有退过余件；以视频约 104 s 作为卡住的导航锚点。之后机器人持续换握、叠合与翻转，至视频 785.67 s 仍未完成同一个脱环步骤，未转入独立搬环入区。"
+  },
+  "unmet": {
+   "remnants_system_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 104.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 100–108 s 的两路近景可见铜环下弧抵住银色马蹄端部及相连链眼，右夹爪改变环的姿态后仍不能穿过去；视频 120–198 s 铜环抬高时套连件随动，视频 330–368 s 再次提环也带动上方马蹄，未形成自由分离。这里的阻挡来自拼图零件之间的可见接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 66 选择将两马蹄并拢后向上提环越过成对端部；log step 99 与 115 继续计划将环下弧抬过聚拢的链眼，log step 276 又改为双持马蹄并使开口向下。对应整个视频可见的结果是环反复在同一套连区域转动、牵紧并带动马蹄，叠合与倒置后仍未退出（视频 100–198 s、304–368 s、650–740 s）；这些动作改变了局部姿态，却未形成能解除套连的相对运动顺序。归因为拼图脱离路径与操作顺序的规划未解决，而非从零评分或停止本身反推原因。"
+   }
+  ],
+  "gap_zh": "无状态日志，也没有固定分隔平面坐标、全网格顶点余量或逐件侧向判定；余件留在系统侧依据初态前缘及后续三视角位置关系作视觉推断，无法逐顶点核验毫米级越界。局部链眼会被夹爪遮挡，已用前后帧、换握后的近景及最终仍相套的运动关系检查脱离状态；未记录精确的接触对与完整三维脱离路径，规划根因为结合动作记录和视频的推断。评分字段没有报告 DAG 的四个连续指标，均填 null；forcing_events=3 不单独证明约束违规，未手工添加约束标签。"
+ },
+ "summary_zh": "观察：机器人反复以双夹爪抓持铜环和银色马蹄，经历提起、折叠、叠合、落桌和倒置，至视频 785.67 s 铜环仍未脱离，绿色目标区始终为空。推断：余件继续留在系统侧，最终进度为 1/3；断点为圆环脱离拼图，所选脱离路径在马蹄端部与链眼处受阻，支持推理/规划归因。无状态日志，不可见分隔面及网格顶点余量只能结合初态位置与多视角作判断，不能作毫米级核验。",
+ "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（ring_detached 未达、remnants 全程保持、ring_in_goal 未达）、断点（ring_detached，操作中）与现象/根因与视频一致；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": "2026-10-31T00:10:26Z",
+  "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/roboarc-horseshoe-ring-03-i01-standard--tvqh68y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--tvqh68y/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a74511eb9af9d048ac2524da5edbfa8815f1edd0b61e358418c89f649606062",
+   "video_sha256": "d9eed5109be2be81ccff2623943c3aceedfddd7a139410979080eb4c35d5ed2e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--wc79pve.json b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--wc79pve.json
new file mode 100644
index 0000000000000000000000000000000000000000..483ec2fc99c09ec622948f29d5930fdae0003e9b
--- /dev/null
+++ b/phase2/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--wc79pve.json
@@ -0,0 +1,294 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--wc79pve",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 13,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 21425,
+   "live_rows": 21425,
+   "sim_steps": 21425,
+   "physics_steps": 214250,
+   "steps": 5335,
+   "elapsed_s": 8180.4,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-horseshoe-ring-03-i01-standard--wc79pve/replay.mp4",
+  "duration_s": 535.733,
+  "fps": 15.0,
+  "frames": 8036,
+  "sha256": "2f5e0a34a67db0c0d13aa14a08c4b0b9b28e78833f14607255612037d73b2176"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主视角中铜色圆环与右侧银色马蹄及中间链条重叠相套，尚未分离。"
+     },
+     {
+      "t": 85.0,
+      "log_step": null,
+      "text_zh": "观察：视频80.0–105.0 s逐秒片段中，机器人右夹爪反复下降、闭合再抬升，铜环留在右侧马蹄附近，未随夹爪离开；视频240.0–260.0 s逐秒复查也未见圆环退过余件。"
+     },
+     {
+      "t": 354.0,
+      "log_step": 85,
+      "text_zh": "观察：视频316.0–354.0 s机器人改用左夹爪夹压中部链条并抬升，圆环仍平放在右马蹄周围；log step 85中agent的点云检测只报告局部链段抬高约5毫米，不是圆环脱离的服务判定。"
+     },
+     {
+      "t": 535.6,
+      "log_step": 105,
+      "text_zh": "观察：视频534.8、535.0、535.2、535.4、535.6 s三视角中，两夹爪已张开撤离，铜环仍套在右马蹄及链条附近；log step 105中agent也自述圆环从未分离。推断：全段粗查与抓取、抬升片段复查均未见成功参考视频中圆环退过悬垂马蹄、独立搬走的变化，本事件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频80.0–105.0 s、240.0–260.0 s右侧二指夹爪在铜环东弧、后在西弧两侧闭合夹捏并尝试抬升；视频316.0–354.0 s左侧夹爪随后夹捏银色链条。夹捏未形成能把圆环带离桌面的稳定持环，不将日志中的capture等同于已拿起。两臂在这些操作中先后作用，另一臂未同时固定拼图。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频366.0–404.0 s左夹爪在银色链条与左马蹄附近接触、拨推整理余件，铜环仍留在原拼图附近；这是脱环尝试的准备动作。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：依据DAG给定的初态定义，固定分隔面位于初态全部余件最靠目标的点之外5毫米，故本节点从视频0.0 s起成立；按DECISIONS.md S4(a)计入初始进度，起点为1/3，失去时刻未知。观察：视频0.0 s余件尚未被机器人移动，三视角中该平面均无可见标线。完整区间与终值不能由初态成立推出。"
+     },
+     {
+      "t": 400.0,
+      "log_step": 98,
+      "text_zh": "观察：视频366.0–404.0 s夹爪拨推链条，余件形状及位置有小幅改变；log step 98中agent按自身视觉估计声称右马蹄和部分链条越过其估计分隔面。推断：画面不能直接显示这些点相对不可见平面的毫米级距离，不能把agent的像素估计当成原生越界判据或精确失去时刻。"
+     },
+     {
+      "t": 535.6,
+      "log_step": 101,
+      "text_zh": "观察：视频480.0 s及534.8–535.6 s余件仍在拼图区，未整体搬入目标；log step 101中agent承认先前银色掩码混入了机械臂像素，并声称最终最小y为−0.0183米。推断：未提供原生各网格顶点侧向余量或该节点评分结果；仅凭未进入绿框及此自算数值不足以核实最终全部余件在系统侧，完整区间和final保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频366.0–404.0 s以及后续整理阶段左夹爪接触、拨推链条及邻近马蹄；视频420.0–470.0 s还有向目标方向伸出的空手动作，不能由这些动作反推余件已成功回到分隔面内。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频490.0–530.0 s左夹爪反复在右马蹄下侧链段附近张开、合拢、抬起，作夹捏整理；未看到链段随夹爪完成一次离桌后搬回的拿放。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 270.0,
+      "log_step": 81,
+      "text_zh": "观察：视频270.0–300.0 s右夹爪到达绿框上方，但铜环始终留在后方右马蹄处；log step 81记录这是agent在空桌面上测试闭爪的诊断动作。推断：不能将空夹爪到目标上方记为持环运输或放入。"
+     },
+     {
+      "t": 535.6,
+      "log_step": 104,
+      "text_zh": "观察：视频534.8–535.6 s绿色虚线目标区为空，整个铜环仍在后方拼图区；log step 104的实时服务状态为control_steps=21425、done=false，评分器live_success=0。推断：圆环整体入区及共同静止条件未达到；此判断来自可见圆环位置，而非单凭零分。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_time",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": 85.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频80.0–105.0 s右夹爪对铜环反复闭合、抬起，圆环未随夹爪离开右马蹄；视频240.0–260.0 s重复出现夹爪抬起而圆环留桌的结果。后续链条整理也未使圆环脱离，视频535.6 s仍相套。推断：最早未被修复的失败步骤是圆环脱离拼图，视频85.0 s仅作为早期失败抓取片段的导航锚点。"
+  },
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "观察：视频83.0–86.0 s、98.0–103.0 s及253.0–259.0 s右夹爪闭合、抬升后，铜环仍留在右马蹄附近，未随夹爪离开；指垫与铜线、链条的局部接触被遮挡。log step 75中agent自写检测程序输出“after 28mm lift: copper dz 0.1mm”“local chain dz 91.4mm”，并据此判断链条牵制圆环；log step 105又自述夹爪开度停在约4.4毫米线径、圆环被链条机械卡住。这些尺寸、位移估计与卡链解释属于agent的检测或自述，不是服务的原生持物或卡链判定。推断：反复闭爪、抬升始终未实现持环脱离，保留控制层面的粗粒度归因；视频无法区分夹持未建立与圆环受链条牵制，不据agent自述确认其中任何一种，也不细分根因。"
+   }
+  ],
+  "gap_zh": "没有状态日志。余件留在系统侧从视频0.0 s起按DAG初态成立，依S4(a)计入初始进度1/3；后续是否失去、何时失去及是否恢复均未知。不可见固定分隔面、网格全部顶点余量以及后续接触下的毫米级位置变化无法从三视角可靠恢复；agent的视觉检测混入机械臂像素（log step 101），不能据其最小y自算结果补造越界和恢复区间，故本节点完整区间与终值未知。intervals保留null，不写[[0.0,null]]，因为03 Step 2及SCHEMA.md §2规定null结束代表持续至视频末尾，而非结束时刻未知。视频83.0–86.0 s、98.0–103.0 s及253.0–259.0 s仅能确认抬升后圆环未离开原支承处，不能分清夹持未建立与圆环受链条牵制；log step 75的位移数值来自agent自写检测程序，log step 105的夹持开度和机械卡住结论是agent自述，均不能代替原生接触或受力证据。按03 Step 3.2及TAXONOMY_v2.md §3，不能确认所需接触从未建立，也未见稳定提起后滑落，故现象层留空；根因只保留控制。原生速度、余量和联合确认时长未在评分字段报告，四项native_metrics均为null。"
+ },
+ "summary_zh": "机器人反复夹捏圆环、抬升并改为拨推和夹捏链条，始终未完成圆环脱离；视频535.6 s圆环仍在右马蹄周围，绿色目标区为空，断点为圆环脱离拼图。保留控制层面归因，但画面无法区分夹持未建立与圆环受链条牵制，agent的夹持和位移自算结果不足以消除该歧义，故现象层留空、置信度降为6。余件从视频0.0 s起按DAG初态成立、计入起点1/3，但失去时刻、完整区间及终值未知，另两节点最终为false。",
+ "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（圆环未脱离、未入区、余件未知）与断点基本成立；主要问题是根因只标“控制”而证据未区分“夹持未建立”与“圆环被链条卡住”（log step 75、105），以及余件节点0 s起点未体现。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（圆环未脱离、未入区、余件未知）、断点（ring_detached）与保守的控制根因均与视频和log相符；上轮意见已落实，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": "2026-10-31T00:21:42Z",
+  "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/roboarc-horseshoe-ring-03-i01-standard--wc79pve/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--wc79pve/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--wc79pve/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--wc79pve/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f0f3183335e7c47c9fb733df04279a46b124b6517123d05eebb16f1367930083",
+   "video_sha256": "2f5e0a34a67db0c0d13aa14a08c4b0b9b28e78833f14607255612037d73b2176",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--cqx8pzc.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--cqx8pzc.json
new file mode 100644
index 0000000000000000000000000000000000000000..828f4637f3d6ee90216e6f21a35fe9c61d54dab2
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--cqx8pzc.json
@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--cqx8pzc",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.005,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 900,
+   "sim_steps": 3600,
+   "sim_time_s": 2.250000000000088,
+   "replays": 2,
+   "replay_wall_s": 2.7,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.603,
+   "peak_processes": 14,
+   "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/roboarc-ikea-gladom-i00-privileged--cqx8pzc/replay.mp4",
+  "duration_s": 26.08,
+  "fps": 25.0,
+  "frames": 652,
+  "sha256": "5b119813f6a874511dd06c51e1d169684deb89f805d952a11b2e39d83f0c1aa7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00、0.24、0.48 s，此后每隔约2秒至视频 24.00 s，以及视频 25.00–26.04 s 的密集末段，机器人双臂均停在框架上方，两副橙色框架保持初始斜交，未转成装配朝向。log step 176 的交付生成代码只执行 w.step(900) 保持初始命令；log step 225 对同一交付文件的重放报告 geometry:frame_b 和 missing_required_model_joint:frame_b。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00–26.04 s 的所查帧中，机器人未到零件盒取长螺钉，也未持驱动杆到上部中央连接处旋拧；零件盒和工具仍在原处。log step 225 的交付重放报告 geometry:screw_long、missing_required_model_joint:screw_long，未达到旋入并锁定条件。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00–26.04 s 的所查帧中，机器人没有伸向下部横杆连接处，双臂一直空置于初始位置。log step 225 的交付重放报告 geometry:screw_bottom、missing_required_model_joint:screw_bottom，底螺钉未装入锁定。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00、8.00、16.00、24.00 s 及视频 25.00–26.04 s，橙色圆环一直偏在框架右侧，机器人没有夹取或移动圆环；成功参考视频末帧中圆环与桌架同心并支承托盘，本次没有该变化。log step 225 的交付重放报告 geometry:ring。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00–26.04 s 的所查帧中，圆环保持偏置，机器人没有从零件盒取螺钉或向圆环连接孔操作。log step 225 的交付重放同时报告 geometry:screw_ring_l、geometry:screw_ring_r 以及两颗环钉的 missing_required_model_joint，连第1颗旋入锁定也未完成。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00–26.04 s 的所查帧中，机器人未进行任何环钉安装动作，圆环也没有移到桌架支承位置。log step 225 的交付重放报告两颗环钉均不在装配位姿且缺少保持连接，因此没有第2颗环钉完成。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.04,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.00、8.00、16.00、24.00 s 以及视频 25.00–26.04 s，大橙色托盘始终平放在工作台前端，机器人没有搬动它；成功参考视频末帧的托盘位于桌架顶端，本次末帧仍在工作台。log step 225 的交付重放报告 geometry:tray、unforced_gravity_support:tray。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 5e-06
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": 0.0,
+   "log_step": 176,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–26.04 s 的全程抽帧及视频 25.00–26.04 s 密集末段均显示机器人双臂保持初始姿态，框架B没有被抓取、旋转或对合。log step 176、187 的交付脚本仅保持初始命令900行，log step 225、234 的重放仍为 goal=False；交付未启动任务首先要求的框架交叉装配。"
+  },
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 176,
+    "evidence_zh": "观察：视频 0.00、0.24、0.48 s 至视频 26.04 s，机器人没有向任何家具零件实施抓取或装配；log step 176 的 build() 明确只执行保持初始姿态的 w.step(900)，log step 235 也承认交付保留了未装配场景。会话中的抓取测试没有录入本次交付。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 168,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的会话测试尚未形成满足精度的框架装配控制序列：log step 168 中机器人执行抓取、抬起、旋转、落下后，脚本测得框架B横向误差0.03425 m、轴向间隙−0.00305 m，均超过任务阈值；log step 174、179 的后续抓取测试记录掌部与框架横杆接触，仍在排查进给与接触问题。log step 176、187 随后实际保存的序列只保持初始姿态，log step 235 明言未完成整条装配链而保留该文件。这些会话证据支持装配控制尚未解决，不能细分为某个唯一控制子项；测试中的接触和转动不计为交付轨迹的现象或节点进度。"
+   }
+  ],
+  "gap_zh": "没有状态日志，512×288视频也不能量化螺钉深度、锁定状态或亚毫米误差；各节点未达由保持初态的画面、实际交付代码及该文件重放的逐零件失败报告共同支持。根因依据会话测试作控制层面的推断，尚无证据区分抓取设计、轨迹求解与执行跟踪各自的决定性贡献；不能据此断言任务不可解。native_metrics 中除评分器 max_part_depth_mm=0.005 换算为最大穿透0.000005 m外，其余具体数值未在评分字段报告。未将交付的仿真时长或agent工作时钟换算为视频时间。"
+ },
+ "summary_zh": "交付视频中双臂始终保持初始姿态，框架斜交、圆环偏置、托盘留在工作台，七个装配节点均未达到（终态0/7）。断点为框架交叉装配的首步前，现象是没尝试；会话测试中的框架位姿残差和掌部干涉支持控制层面尚未解决，但这些测试没有进入交付。缺少状态日志和足够清晰的螺钉视图，细部判定由同一交付文件的逐零件重放报告补充，具体控制子因无法唯一确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "交付视频中双臂全程保持初始姿态，七节点均未达，断点首步前/没尝试，根因控制以会话测试为依据并标为推断，符合 FAIL-22 的处理；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": "2026-10-31T00:04:41Z",
+  "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/roboarc-ikea-gladom-i00-privileged--cqx8pzc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--cqx8pzc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ea73ca2cc1fd3d7706627e203b9a72b7c3a5be278e179394e254c9a7d09289cf",
+   "video_sha256": "5b119813f6a874511dd06c51e1d169684deb89f805d952a11b2e39d83f0c1aa7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gy3pfmd.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gy3pfmd.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebfbf2a37de74aa5ad6bd19e61bb0f1c6fa18357
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gy3pfmd.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--gy3pfmd",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.029,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 20605,
+   "sim_steps": 82420,
+   "sim_time_s": 51.512499999962216,
+   "replays": 2,
+   "replay_wall_s": 26.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.405,
+   "peak_processes": 11,
+   "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/roboarc-ikea-gladom-i00-privileged--gy3pfmd/replay.mp4",
+  "duration_s": 29.04,
+  "fps": 25.0,
+  "frames": 726,
+  "sha256": "6690d1c6e17ac6aaeb98cc9ad8cafb4277526c82c361943266a02a5765d183ff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两副橙色框架已空间交错，但上部横杆朝向不同，B尚未转到交叉对合目标；圆环仍偏在桌面侧旁。"
+     },
+     {
+      "t": 19.6,
+      "log_step": 107,
+      "text_zh": "观察：视频 12.0–19.6 s 机器人两侧二指夹爪各夹住框架B一侧上部杆件并带其转动，视频 19.6–20.8 s 保持，约视频 21.0–21.6 s 松手上撤。最终提交生成检查（log step 107）报告 frame_b 横向误差 0.013600765 m、间隙 0.000123839 m、角误差 0.533441°，passed=False；独立回放（log step 109）复现相同终态哈希与这些指标。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "推断：视频 21.6–29.0 s 框架保持松手后的位姿，机器人未再次校正；结合旋转时的可见运动及已交付文件的回放检查，B虽接近所需朝向，横向偏差仍为约13.6毫米，超过1毫米阈值，未达到完整装配条件。没有逐帧状态日志，微小偏差不由画面单独量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.0–20.8 s 左右二指夹爪分别夹住框架B两侧的上部杆件，协同绕竖轴转动B；约视频 21.0 s 开始松开并向上撤离。两夹爪各自夹住杆件，非仅把物体挤在两手之间。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0–29.0 s 机器人只在框架顶部接近、夹持、转动并撤离，未取螺钉或驱动杆，也未在中央连接处执行旋拧。log step 106 将最终脚本限定为仅 frameb；log step 107 保存该轨迹，log step 109 对该文件回放报告 screw_long 几何不通过且保持连接未锁定。因此本次长螺钉拧入未完成；早先取工具测试不属于交付轨迹。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0–29.0 s 机器人没有将手或驱动杆伸到框架下部中央螺钉接收位置，没有取钉、插入或旋拧动作。最终交付仅含 frameb（log step 106–107）；该文件的回放检查（log step 109）报告 screw_bottom 几何不通过、保持连接未锁定。本节点未完成。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0 s、旋转中的视频 16.0–20.8 s 及末尾视频 28.0–29.0 s，圆环一直水平偏置在桌架侧旁的低处，未被机器人搬到桌架顶部；成功参考视频 16.0–18.0 s 可见圆环搬至顶部的明显变化，本次无此变化。交付文件回放（log step 109）也报告 ring 几何不通过。本节点未完成。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0–29.0 s 圆环未离开侧旁低处，机器人未取环钉或工具、未在圆环接收孔进行旋拧；末尾视频 28.0–29.0 s 仍是该状态。log step 109 对最终文件回放报告 screw_ring_l 与 screw_ring_r 两个保持连接均为 false，几何均不通过，因此没有第1颗已拧入并锁定的环钉。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0–29.0 s 机器人仅操作框架B，未对两个圆环接收孔执行装钉动作；末尾视频 28.0–29.0 s 圆环仍未装上。log step 109 对已提交文件的回放检查报告两颗环钉均未锁定且几何不通过，故第2颗环钉拧入未完成。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.0 s 至视频 29.0 s，大橙色托盘始终平放在工作台前部，没有被机器人拿起或移到圆环上；成功参考视频 29.8 s 托盘在桌架顶部，本次末帧的该处为空。log step 109 对最终文件回放报告 tray 几何不通过、tray_ring_contact_N=0、support=false。本节点未完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": 19.6,
+   "log_step": 107,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.0–19.6 s 机器人双臂夹住框架B上部杆件旋转，视频 19.6–20.8 s 到达旋转终点后保持，约视频 21.0–21.6 s 松开撤离，此后至视频 29.0 s 未重新校正。最终文件的生成检查（log step 107）和独立回放检查（log step 109）均报告框架B横向误差约13.6毫米，大于1毫米阈值，passed=False；这是本次唯一实际操作且始终未修复的装配步骤。"
+  },
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.6,
+    "log_step": 107,
+    "evidence_zh": "观察：视频 19.6–20.8 s 双夹爪完成框架B转向并保持，随后松开，至视频 29.0 s 未再作平移纠偏。log step 107 对最终提交的检查给出框架B间隙约0.124毫米、角误差约0.533°、横向误差约13.6毫米；log step 109 对同一文件回放复现。推断：转向基本正确但相对框架A的平移对中不合格，非已完成装配后的掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 19.6,
+    "log_step": 96,
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "推断：双侧夹爪夹持直杆的接触布局在转向过程中未充分约束框架B沿杆方向的滑移，导致转角接近目标时平移对中仍失败。依据是最终控制函数（log step 96）采用两侧上部杆件的轻预载夹持和绕固定中心旋转；同函数测试（log step 97）及最终生成、回放（log step 107、109）显示横向偏差约13.6毫米，而角误差仅约0.53°。视频 12.0–20.8 s 支持双臂夹杆转向、未另行平移纠偏的过程；agent 最终自述把偏差归于沿杆爬移（log step 110），该机理判断是推断。是否有已验证的替代握法未知。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；512×288单斜视视频不能独立量测亚毫米装配误差或定位横向滑移首次出现的时刻，断点以视频 19.6 s 旋转终点附近作粗导航锚点。最终几何与锁定结果由明确对应已提交文件、哈希复现的回放检查（log step 107、109）补充；沿杆滑移的具体接触机理仍是结合控制代码、测量结果与agent自述的推断。早期取工具及不同握力试验属于会话测试，不计为本次节点进度或现象。"
+ },
+ "summary_zh": "本次交付只操作框架B：双臂夹住其上部杆件转动后松手撤离，七个节点最终均未完成，圆环、四颗螺钉及托盘均未装配。断点为框架交叉装配：转向接近目标，但已提交文件的回放检查报告横向偏差约13.6毫米，超过1毫米阈值；接触布局对沿杆滑移约束不足是有日志支持的控制归因。缺少逐帧状态日志，精密误差依靠最终文件的回放检查，滑移机理及首次发生时刻不能由低分辨率视频独立确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "框架B节点未达成、七节点均 false、断点 frame_b_crossed、位姿不准加抓取和接触设计（推断，alt_feasible 未知）均与视频帧、log step 96/107/109/110 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": "2026-10-31T00:02:17Z",
+  "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/roboarc-ikea-gladom-i00-privileged--gy3pfmd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--gy3pfmd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9688eccf54b240396c16d21cd06efb06d93610348848940eeb0d3ab0c0710936",
+   "video_sha256": "6690d1c6e17ac6aaeb98cc9ad8cafb4277526c82c361943266a02a5765d183ff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--mcsh8xx.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--mcsh8xx.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce80773ec4226bcaba0386c0e4a910d57646da56
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--mcsh8xx.json
@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--mcsh8xx",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.481,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 62684,
+   "sim_steps": 250736,
+   "sim_time_s": 156.71000000051933,
+   "replays": 2,
+   "replay_wall_s": 118.1,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.606,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.991,
+   "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/roboarc-ikea-gladom-i00-privileged--mcsh8xx/replay.mp4",
+  "duration_s": 29.76,
+  "fps": 25.0,
+  "frames": 744,
+  "sha256": "0c9f6e321045b14936af83f18c4635a28431ef6d1806e79c6991398f98dcce00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两框架空间交错，但B框架横杆仍斜偏；视频 1.4–3.4 s 两夹爪夹住B框架上部杆件并共同转动、下放，约视频 3.4 s 后形成稳定的交叉桌腿结构，首次到位时间有约0.5秒误差。"
+     },
+     {
+      "t": 29.64,
+      "log_step": 554,
+      "text_zh": "观察：视频 3.4–29.64 s 框架保持交叉位置，末秒未见脱离；log step 554 的交付轨迹保存输出为 SAVED 62684，frame_b 几何检查 passed=True，横向误差约0.942毫米、倾角约0.877°。"
+     },
+     {
+      "t": 29.64,
+      "log_step": 637,
+      "text_zh": "推断：结合视频中的稳定对合和交付文件的终态几何检查，本步成立；框架B保持连接未锁定属于DAG注明的联合验收条件，不据此取消本步几何进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.4–3.4 s 两侧二指夹爪分别夹持框架B上部杆件两处，协同提起、转动并放下；随后依次撤开。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.4,
+      "log_step": 325,
+      "text_zh": "观察：视频 10.8–12.4 s 左夹爪进入蓝色零件盒，视频 12.8–16.0 s 细长螺钉随闭合夹爪离开盒子并被抬到框架上方；视频 19.0–23.6 s 另一夹爪靠近同一螺钉进行交接，之后螺钉出现在上部横杆接收位置附近。"
+     },
+     {
+      "t": 22.8,
+      "log_step": 325,
+      "text_zh": "推断：视频约 22.8–23.6 s 双爪交接未形成持续承载；log step 325 的已保存交接段记载双侧夹爪均接触 screw_long，左爪打开后 contacts=[]，螺钉根部高度从约0.870米降到约0.787米。此段被保存为后续交付的前缀，未完成旋入。"
+     },
+     {
+      "t": 29.64,
+      "log_step": 554,
+      "text_zh": "观察：视频 24.0–29.64 s 机器人撤离，没有重新夹取并旋拧该螺钉；log step 554 保存的62684行交付轨迹终态 screw_long 检查 passed=False，轴向间隙约4.309毫米、横向误差约6.064毫米、轴倾角约17.759°；log step 637 也明确报告长螺钉未锁定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.8–19.0 s 左二指夹爪先单独夹持并搬运长螺钉，视频 19.0–23.6 s 右夹爪靠近螺钉头部交接；log step 325 确认交接瞬间两夹爪各有对向手指接触，左爪松开后夹持丢失。未见手持驱动杆旋拧。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 328,
+      "text_zh": "推断：视频 0.0–29.64 s 只有长螺钉被从零件盒搬到上部连接处，未见机器人取另一颗螺钉送到底部横杆；交付前缀的 log step 328 明列 screw_bottom 几何不合格、保持连接为False，其后视频只见双臂撤离，因此本步未达到。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 631,
+      "text_zh": "观察：视频 0.0、8.0、16.0、24.0及28.68–29.64 s，橙色圆环始终偏在框架一侧的低处，未到顶部；成功参考视频约16.0–18.0 s 可见圆环升至顶部的区别。本次视频没有该动作；agent 在 log step 631 说明后续圆环测试未替换较早交付文件。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 328,
+      "text_zh": "推断：视频全程至29.64 s 圆环未就位，也没有机器人从零件盒另取环钉并在圆环孔处旋拧的过程；交付前缀 log step 328 中两颗环钉的保持连接均为False，之后评分视频只见交接长螺钉及撤手，完成环钉数为0。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 328,
+      "text_zh": "推断：视频全程至29.64 s 未发生环钉安装，圆环仍在侧旁低处；交付前缀 log step 328 的两颗环钉均未锁定，其后未操作它们，因此未达到两颗安装完成的数量条件。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.64 s 大橙色托盘始终平放在前方工作台原位，双臂没有触碰或搬起托盘；成功参考视频约29.3–29.9 s 的托盘升起并覆盖顶部圆环状态，在本次视频中始终未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 0.002481
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "long_screw_driven",
+   "t": 22.8,
+   "log_step": 325,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 22.8–23.6 s，机器人在上部接收位置上方交接长螺钉时失去夹持，之后仅撤手，未修复。log step 325 记载左夹爪打开后螺钉失去全部机器人接触并下落，保存交接段47944行；log step 554 的后续清场轨迹保存为62684行，长螺钉仍偏斜未到位，log step 630 确认最后交付文件与该保留档案相同。"
+  },
+  "unmet": {
+   "frame_b_crossed": true,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 22.8,
+    "log_step": 325,
+    "evidence_zh": "推断：视频 12.8–19.0 s 长螺钉随左夹爪抬离零件盒，视频约 22.8–23.6 s 交接后落在上部横杆附近，未随接收夹爪继续运动；log step 325 先报告两夹爪对向手指均接触 screw_long，随后左爪打开时 contacts=[]、螺钉根部高度降至约0.787米，说明已建立的夹持在交接时丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 314 的交接脚本以检测到任一右侧接触作为打开左夹爪的条件；log step 323 加强右爪闭合后，log step 325 仍记录左爪打开即失去全部螺钉接触，接收夹持未能承载。视频 19.0–23.6 s 的双爪接近及随后螺钉下落与此一致，失败由交接控制未保持物体引起；缺少完整接触与力的时间序列，不能进一步确定控制子类。",
+    "source_zh": "日志",
+    "log_step": 325
+   }
+  ],
+  "gap_zh": "本次没有状态日志；512×288单视角无法量化亚毫米装配误差及持续锁定状态，框架到位时间约有0.5秒误差，细螺钉交接一度被夹爪遮挡，结合交付前缀和保存终态的服务输出推断夹持丢失。无连续接触力、夹持相对运动或跟踪误差记录，根因只标控制，未细分为抓取和接触设计、反馈控制或参数调试。log step 333 之后多轮重新抓钉试验和 log step 616–629 的圆环搬运试验均非本次交付视频内容，未计入进度或失败现象。"
+ },
+ "summary_zh": "交付轨迹完成框架交叉对合，终态为1/7；机器人夹起并搬运长螺钉，但在视频约22.8–23.6 s的双爪交接中丢失夹持，螺钉落在接收位置附近，最终偏斜且未锁定，其余螺钉、圆环与托盘未装配。评分器确认交付回放确定、离手静止且无仿真崩溃，失败在装配目标；后续会话测试未交付，无状态日志和细部接触序列使精确到位时间及控制子类仍有缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频帧与交付轨迹的标注一致：框架交叉成立（约3.4 s起）、长螺钉未锁定且此后仅撤手、圆环/托盘未动；断点在长螺钉交接，现象与根因有日志依据，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": "2026-10-30T23:56:30Z",
+  "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/roboarc-ikea-gladom-i00-privileged--mcsh8xx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--mcsh8xx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd46c7a53e8e76c197a757e19c67ac65ef5eb420519e3f68377b8675df92b8fe",
+   "video_sha256": "0c9f6e321045b14936af83f18c4635a28431ef6d1806e79c6991398f98dcce00",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pcsufs8.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pcsufs8.json
new file mode 100644
index 0000000000000000000000000000000000000000..df77a13abb157a4c1af7d0639312317b27041507
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pcsufs8.json
@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--pcsufs8",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.429,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 46996,
+   "sim_steps": 187984,
+   "sim_time_s": 117.48999999990221,
+   "replays": 2,
+   "replay_wall_s": 90.9,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.876,
+   "peak_processes": 16,
+   "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/roboarc-ikea-gladom-i00-privileged--pcsufs8/replay.mp4",
+  "duration_s": 29.68,
+  "fps": 25.0,
+  "frames": 742,
+  "sha256": "855c9911bf576d27ef6e6daeeb93f7f460fce13f69ae3b17683eff7262ec8d95"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      11.6
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两副框架已空间交错，但 B 的横杆朝向仍偏斜，尚非对合后的交叉桌腿结构。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 364,
+      "text_zh": "推断：视频约 4.0 s，右夹爪已将 B 框架提起、转动并降回，两框架形成稳定交叉结构；视频 4.0–11.5 s 保持该结构。log step 364 的最终保存运行在 phase1 结束时记录 B 相对位置约为（−0.1、0.4、0）毫米、相对偏航约为 0°，撤手后没有机器人接触，与画面相符，支持本步曾达到；首达视频时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 11.68,
+      "log_step": null,
+      "text_zh": "观察：视频 11.52–11.68 s，空手右夹爪朝蓝色螺钉盒下降，经过 B 框架顶部横杆后，B 开始偏转；视频 12.08–12.24 s 已倒向左臂，交叉结构消失。视频 12.4–29.64 s 未见机器人扶回，末帧 B 仍斜倒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住 B 框架的一根竖杆，提起、旋转并放回交叉位置，随后张爪撤离；左夹爪未参与固定或搬运。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.6,
+      "log_step": 364,
+      "text_zh": "推断：视频 13.6–15.6 s，右夹爪在蓝色零件盒处合拢，随后提起，夹缝下可见细小杆件随手离开盒面；视频 16.0–29.64 s 右手携该件抬高并翻转，没有把它送入中央套筒或旋拧。log step 364 的同一保存运行记录双指与 screw_long 接触，并在翻转后因 B 框架移位而返回，支持这是长螺钉的直接拾取，而非拧入完成。"
+     },
+     {
+      "t": 29.64,
+      "log_step": 364,
+      "text_zh": "观察：视频 29.64 s 右手仍在桌架侧后方，长螺钉未装入连接处；log step 364 的 final_check 记录 screw_long 保持连接为 False、对应操作 engaged=False。该运行的 46,996 行与评分器 n_actions 一致，log step 365 也核对了保存文件行数；评分器 deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪直接夹住长螺钉杆部，将其从蓝色零件盒提起并翻转；没有进入持六角驱动杆向螺钉传扭的阶段。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 364,
+      "text_zh": "观察：视频 0.0–29.64 s 没有机器人向框架下部连接孔送入或旋拧螺钉的动作，右手只操作了框架 B 和随后拾起的长螺钉。log step 364 的最终保存运行记录 screw_bottom 保持连接为 False、底钉操作 engaged=False；底螺钉未完成。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.64 s 橙色圆环始终平放在框架侧后的工作台上，没有被夹持、抬起或移到桌架顶部；视频 29.64 s 仍可见它与倒斜的桌架分开。参考成功视频 22.0 s 的圆环已位于直立桌架顶部，此处相应可见结果未出现。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 364,
+      "text_zh": "观察：视频 0.0–29.64 s 圆环未上架，两臂未向圆环接收孔搬运或旋拧螺钉；log step 364 的最终保存运行记录 screw_ring_l 和 screw_ring_r 保持连接均为 False，两项环钉操作均 engaged=False，没有第 1 颗环钉完成。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": 364,
+      "text_zh": "观察：视频 0.0–29.64 s 没有环钉装入动作，圆环始终留在工作台；log step 364 的最终保存运行记录两颗环钉保持连接均为 False，两个环钉操作均 engaged=False，没有第 2 颗环钉完成。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.64 s 大橙色托盘一直放在工作台前部，机器人未接触或移动它，末帧没有托盘覆盖圆环的桌面。参考成功视频 30.0 s 可见托盘已升到桌架顶部；本次该结果始终未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 0.0014290000000000001
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": 11.6,
+   "log_step": 364,
+   "where": "转场",
+   "evidence_zh": "观察：视频约 4.0–11.5 s，B 框架已交叉对合；视频 11.52–11.68 s，机器人空手右夹爪从框架装配转去取长螺钉，下降经过 B 顶部横杆时碰动框架，视频 12.08–12.24 s B 倒向左臂。视频 29.64 s 仍未恢复；log step 364 同一保存运行记录 phase1 撤手后 B 正常、取钉后 B 移位并触及 left_link1，随后输出“FB KNOCKED - abort phase2”并保存 46,996 行。推断：最早达到后又失去且未修复的是框架交叉装配，断点取此节点，位置为空手转去取下一件的转场。"
+  },
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 11.6,
+    "log_step": 364,
+    "evidence_zh": "观察：视频 11.52–11.68 s，下降中的右手与框架 B 顶部横杆在同一位置相遇，随即横杆偏转；视频 12.08–12.24 s B 明显倒向左臂，破坏了刚形成的交叉关系，之后直到视频 29.64 s 没有扶回。log step 364 的对应运行也记录取钉后 B 位移并接触 left_link1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 11.6,
+    "log_step": 364,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 11.52–12.24 s 显示右手去螺钉盒的下降路径穿过已对合的框架，导致碰倒；后续视频 15.6–29.64 s 仍能拾起并翻转长螺钉，说明目标拾取动作本身可以执行。log step 364 记录 phase1 撤手后 B 无接触且位置正常，post-pick 已移位，随后翻转完成并触发 B 位移保护退出；问题定位于后续取钉运动的避碰轨迹，未证明任务顺序或抓取目标本身不可行。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；视频只有 512×288，无法直接量出亚毫米装配误差、螺纹深度或完整接触力。框架首次对合约在视频 4.0 s，存在约 0.5 s 的视觉定位误差；结合与最终交付行数吻合的 log step 364 支持其短暂成立。长螺钉细节局部被手指遮挡，接触判断结合提起前后画面及该保存运行的终态接触记录。评分器未报告其余原生指标的数值，保留 null；max_part_penetration 由 reward.max_part_depth_mm=1.429 换算为 0.001429 m。"
+ },
+ "summary_zh": "机器人约在视频 4.0 s 将 B 框架交叉对合，历史最高达到 1/7；视频约 11.6 s 空手转去取长螺钉时，右手下降路径碰倒 B，交叉关系失去且未恢复，最终为 0/7。随后机器人只提起并翻转长螺钉，脚本在检测到框架移位后退出并保存，四颗螺钉均未拧入，圆环和托盘未装配；评分器确认失败且回放确定。无逐帧状态日志，短暂对合的精确时刻和亚毫米误差依靠画面与同一保存运行日志共同判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log step 364 一致：B 框架约视频 4.0 s 交叉对合，约 11.6 s 右手下降碰倒 B 并未恢复，其余节点未达成；断点、被挡/碰撞与轨迹或逆解根因均有证据支持。",
+    "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": "2026-10-31T00:09:06Z",
+  "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/roboarc-ikea-gladom-i00-privileged--pcsufs8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--pcsufs8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "040bf57674b7591cf4cac0375e55a506c5ff40ee52bfd5a3aed1b59e3a66aa69",
+   "video_sha256": "855c9911bf576d27ef6e6daeeb93f7f460fce13f69ae3b17683eff7262ec8d95",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pty2n5o.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pty2n5o.json
new file mode 100644
index 0000000000000000000000000000000000000000..370d04e7b4d872590dd9f2fbdae17c2ac1f86a37
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--pty2n5o.json
@@ -0,0 +1,332 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--pty2n5o",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 0,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.005,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1,
+   "sim_steps": 4,
+   "sim_time_s": 0.0025,
+   "replays": 2,
+   "replay_wall_s": 1.6,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.41,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.252,
+   "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/roboarc-ikea-gladom-i00-privileged--pty2n5o/replay.mp4",
+  "duration_s": 16.12,
+  "fps": 25.0,
+  "frames": 403,
+  "sha256": "cef5d2c05c6f4fbe3879784d39b3e12764825264d82b2d7e237016180e043e00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s两副橙色框架虽已空间交错，但横杆方向仍偏斜，尚未形成对合后的桌腿结构。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 21,
+      "text_zh": "观察：视频0.00–16.08 s机器人双爪始终停在框架上方，未见夹住、提起或转动框架；视频15.00–16.08 s逐帧仍为同一偏斜布局。log step 21保存的脚本仅执行一次hold_action，与静止回放相符。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 4,
+      "text_zh": "观察：log step 4的初始场景读取显示长螺钉在零件盒位置，保持连接为False；这是会话初态记录，不能将后续独立测试的结果当作交付进度。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 21,
+      "text_zh": "推断：视频0.00–16.08 s机器人未到零件盒取件，也未向上部中央孔送钉或旋拧；结合log step 21仅保存一次原位保持动作、评分器n_actions=1，长螺钉仍未装入。细螺钉的螺纹深度在画面中不能直接量测，此处依据未发生搬运和装配动作判未达成。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 4,
+      "text_zh": "观察：log step 4的会话初态读取显示底螺钉保持连接为False，底螺钉仍在零件盒位置。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 21,
+      "text_zh": "推断：视频0.00–16.08 s两爪均未下降到下横杆连接处，未取底螺钉，也未实施旋拧；log step 21仅保存原位保持动作，与回放一致，底螺钉未装入。该判定不来自总成功分数。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s橙色圆环偏在框架一侧，未位于桌架顶部的同心支承位置。"
+     },
+     {
+      "t": 16.08,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–16.08 s圆环未被搬动，视频15.00–16.08 s密集帧仍在原偏侧位置；与参考视频约16.00 s圆环已位于桌架顶端的布局不同，未达成圆环就位。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 4,
+      "text_zh": "观察：log step 4的会话初态读取显示两颗圆环螺钉保持连接均为False，均在零件盒位置。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 21,
+      "text_zh": "推断：视频0.00–16.08 s机器人没有取环钉或向圆环接收孔送钉、旋拧；圆环也始终留在原处。结合log step 21的单步原位保持交付，没有第1颗环钉装入不同于初态的接收孔；不是仅因前置圆环未就位而判假。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 4,
+      "text_zh": "观察：log step 4的会话初态读取显示两颗圆环螺钉均未锁定。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 21,
+      "text_zh": "推断：视频0.00–16.08 s无取钉、送钉及旋拧动作，log step 21仅交付单次原位保持；因此不同接收孔中完成的环钉数量仍为0，不满足至少2颗。视频15.00–16.08 s逐帧未见末尾补做动作。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s大橙色圆托盘平放在前方工作台面上，与桌架分离。"
+     },
+     {
+      "t": 16.08,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–16.08 s托盘始终留在前方桌面，末尾逐帧也未升起；未出现参考视频29.50–29.75 s托盘覆盖桌架顶部圆环的状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_lateral_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_tilt",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_yaw_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "value": null,
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_penetration",
+   "value": 5e-06,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 92,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 21只保存了单次hold_action的初始占位轨迹；视频0.00–16.08 s没有任何装配操作。log step 91仍在独立测试取长螺钉，log step 92出现Gemini提供方过滤阻断通知，之后无更新交付或验证记录；不能把会话测试中的碰撞、掉钉或框架对合计入本次回放的断点。"
+  },
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs中有本次及参考视频，但无本次状态日志；512×288画面不能直接辨认细螺纹深度及保持连接。log step 21留下的是未验证的单步占位文件，后续只有独立调试，log step 92被模型提供方过滤中断；没有保存并验证最终解之后才遭中断的证据。推断：依外因中断规则及D37，本记录保留目录success=0与占位回放的0/7进度，待重测，不作为机器人能力失败归因；现象和根因均留空，不标“没尝试”，也不把缺少更新文件推成“交付操作出错”。未操作任何节点，故不添加实际接触标签。"
+ },
+ "summary_zh": "本次评分视频0.00–16.08 s仅显示原位保持：框架未对合、圆环未就位、托盘仍在桌面，四颗螺钉均未发生取放或旋拧，节点终态0/7。log step 21仅保存初始占位文件，会话随后继续独立调试，至log step 92遭Gemini提供方过滤中断，未见最终解保存及验证；按外因中断处理，断点unknown／首步前，现象和根因留空，目录success=0照录并待重测。无状态日志，细螺钉状态由初始布局、回放无动作及占位脚本共同推断，未将会话调试的进度或事故移入本次视频。",
+ "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0–16 s全程静止（机器人未动、托盘/圆环/框架不变），7节点均为false正确；log step 21仅保存hold_action占位轨迹，step 92被Gemini过滤中断，未保存并验证最终解，按外因中断处理（现象/根因留空并有gap_zh）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": "2026-10-30T23:57:08Z",
+  "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/roboarc-ikea-gladom-i00-privileged--pty2n5o/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--pty2n5o/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6914deb6ce6f724b9eb4739f22706d0548a3f9b920261f5795319fe879d9feec",
+   "video_sha256": "cef5d2c05c6f4fbe3879784d39b3e12764825264d82b2d7e237016180e043e00",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--vjsrjab.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--vjsrjab.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e28d71f8837eeca2b4c16c3c908fd97be1ac71
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--vjsrjab.json
@@ -0,0 +1,390 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--vjsrjab",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.804,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 129552,
+   "sim_steps": 518208,
+   "sim_time_s": 323.88000000416827,
+   "replays": 2,
+   "replay_wall_s": 1334.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.923,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.701,
+   "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/roboarc-ikea-gladom-i00-privileged--vjsrjab/replay.mp4",
+  "duration_s": 29.92,
+  "fps": 25.0,
+  "frames": 748,
+  "sha256": "78c05167c52a1111fd86683a81f68db1277a0ae4f7ce8d61b362204999de2b0c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两副橙色框架已交错但横杆方向仍偏斜；视频 26.6–27.4 s 机器人两爪夹住框架B两侧并转动、微调，随后桌腿交叉结构保持到视频 29.88 s。"
+     },
+     {
+      "t": 27.4,
+      "log_step": 178,
+      "text_zh": "推断：框架交叉对合约在视频 27.4 s 成立，时间误差约0.3秒；交付链B阶段的 log step 178 输出对合后相对平移约[0.006,-0.023,0.003]毫米、偏角约0.082°并报告 frame_b-connection=True。log step 198 明确交付继承该阶段的R2保存点，视频中的转动、后续搬环与该链一致；画面不能独立量化亚毫米误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 26.6–27.6 s 左右二指夹爪分别夹住框架B上横杆的两侧，一起转动并对正，随后松爪撤离。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": 127,
+      "text_zh": "观察：视频 0.4–2.8 s 机器人把细小长螺钉从零件盒搬到上部中央孔位并换爪，视频 3.2–6.0 s 夹爪在该处转腕粗拧；视频 22.8–24.6 s 持六角驱动杆的夹爪再次在上部中央连接处旋转，框架B仍偏斜。"
+     },
+     {
+      "t": 24.2,
+      "log_step": 168,
+      "text_zh": "推断：长螺钉只部分旋入，未达到拧入并锁定的节点；视频 23.2–24.2 s 旋拧时未见继续下沉，随后机器人收回驱动杆。交付链A6阶段的 log step 168、169 记录剩余轴向间隙约2.05毫米且反复驱动后几乎不变，log step 178 报告 s1-123451=False；log step 198 从R2保存交付并报告 geometry:screw_long、missing_required_model_joint:screw_long。视频直到 29.88 s 没有再拧长螺钉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 22.8–24.6 s 机器人夹爪持六角驱动杆，杆尖在长螺钉头部孔内旋转传扭；候选：嵌合传扭，现有how条目没有准确覆盖工具与螺钉的键合驱动。此前视频 0.4–2.8 s 两爪先后抓握、交接长螺钉，视频 3.2–6.0 s 单爪直接夹螺钉粗拧，这些是先后接触。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.4,
+      "log_step": 163,
+      "text_zh": "观察：视频 7.2–11.2 s 机器人把底螺钉送入框架下部中央孔位，视频 12.8–15.2 s 单爪在下部连接处旋拧；视频 19.0–20.8 s 一爪夹住上部框架A，另一爪持杆在下部螺钉处继续旋拧，随后撤出。"
+     },
+     {
+      "t": 27.4,
+      "log_step": 178,
+      "text_zh": "推断：底螺钉达到深度后，锁定条件在框架对合时约视频 27.4 s 满足；不能仅凭视频 20.8 s 工具撤离提前计为锁定。交付链 log step 165 记录底钉最终相对高度约-175.30毫米，log step 178 在B对合后明确输出 s2-122202=True；log step 198 保存继承该状态的R2，其失败项列长钉、两颗环钉和托盘。视频 27.4–29.88 s 框架未再分离，底部也无再操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 19.0–20.8 s 一只二指夹爪夹住框架A作反力支承，另一夹爪握六角驱动杆在底螺钉头孔内旋转；交付链 log step 163 标明右臂夹框架A、左臂持杆。候选：夹持固定与嵌合传扭，how的单一抓握或压擦不能涵盖工具传扭；此前单爪搬运和直接夹螺钉粗拧为先后阶段。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": 181,
+      "text_zh": "观察：视频 28.0–28.4 s 两爪夹住原在框架侧旁的圆环两侧，视频 28.6 s 圆环被抬到桌架上方，视频 29.0–29.8 s 圆环逐渐降低并水平落到框架顶部；视频 29.88 s 圆环保持在桌架上，原侧旁位置已空出。"
+     },
+     {
+      "t": 29.6,
+      "log_step": 198,
+      "text_zh": "推断：圆环就位约在视频 29.6 s 成立，精确接触时刻受分辨率限制。交付的R2保存点来自 log step 181，其场景检查报告 ring.geometry.passed=True、轴向间隙约0、横向误差0.032毫米、倾角0.0049°；log step 198 加载同一R2并保存最终交付。按DAG本步只计几何就位，圆环保持连接尚未锁定不推迟本步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–29.8 s 左右二指夹爪分别夹住圆环两侧边缘，共同抬高、平移并降低到框架顶部，末段松爪。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.88,
+      "log_step": 198,
+      "text_zh": "观察：评分视频 0.0–29.88 s 机器人只操作两颗中央螺钉、框架B和圆环；视频 29.0–29.88 s 仍在落环，没有从零件盒取环钉送入圆环接收孔并旋拧的动作。log step 198 明确从R2保存最终交付，失败项包括两颗环钉的geometry及环钉保持连接；log step 190–196 的取环钉测试属于另开的会话分支，没有交付。"
+     },
+     {
+      "t": 29.88,
+      "log_step": null,
+      "text_zh": "推断：两颗环钉均未安装，因此“至少1颗环钉拧入”未成立；参考成功视频约 17–27 s 有落环后的多轮取钉、孔位旋拧，本次视频落环后直接结束，不是由总分0反推未完成。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.88,
+      "log_step": 198,
+      "text_zh": "观察：视频截至 29.88 s 未出现落环后取钉、旋入第二个接收孔的动作；最终交付R2在 log step 198 报告 geometry:screw_ring_l 和 geometry:screw_ring_r。"
+     },
+     {
+      "t": 29.88,
+      "log_step": null,
+      "text_zh": "推断：评分轨迹中没有环钉装入，两孔中已拧入数量为0，故“至少2颗环钉拧入”不成立。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 大橙色托盘平放在工作台前端。"
+     },
+     {
+      "t": 29.88,
+      "log_step": 198,
+      "text_zh": "观察：视频 0.0–29.88 s 托盘始终留在工作台前端，机器人没有抓取或搬运它；视频 29.88 s 桌架顶部只有圆环，托盘原位置仍有完整橙色盘面。log step 198 的最终R2交付报告 geometry:tray；参考成功视频约 29 s 托盘已移至桌架顶部，区别清楚。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 0.001804
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "long_screw_driven",
+   "t": 23.6,
+   "log_step": 168,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 23.2–24.6 s 机器人持杆在尚未对合的框架上部持续旋拧长螺钉，但未完成深度后便撤走工具，是最早未在交付中修复的步骤。交付链 log step 168、169 的剩余轴向间隙约2.05毫米形成平台；视频 26.8–27.6 s 后续对合框架修复了框架步骤，却没有补拧长螺钉，log step 178 仍报长钉锁定=False，log step 198 的最终交付仍报长钉几何及锁定失败。"
+  },
+  "unmet": {
+   "frame_b_crossed": true,
+   "long_screw_driven": false,
+   "bottom_screw_driven": true,
+   "ring_seated": true,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 23.6,
+    "log_step": 168,
+    "evidence_zh": "推断：视频 23.2–24.6 s 持杆夹爪反复转腕，杆尖保持压在上部中央螺钉头，但螺钉几乎不再下沉，随后机器人撤出。交付链A6日志（log step 165、168、169）表明脚本持续压入旋转，驱动指令由约3.06圈增到7.64圈时，剩余间隙仅从2.062毫米变为2.051毫米，螺钉自身转数约6.67–6.70圈，未到装配深度；这是旋拧受阻，未见搬运脱手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付脚本把长钉最后的驱动安排在框架B对合之前，受阻后又没有在对合后返回补拧，跨阶段顺序缺少收尾。log step 165 的A6先驱动长钉，log step 168、169 已显示间隙停在约2.05毫米；log step 198 写出的交付链随后才执行B对合、R1/R2落环，并明确注明long-screw final turns未完成。视频 23.2–24.6 s 驱动、26.8–27.6 s 对合、28.0–29.88 s 落环的顺序与此一致；agent在 log step 199 自述长钉头被未对正的框架B上毂阻住，但对正后未再拧。"
+   }
+  ],
+  "gap_zh": "无状态日志；512×288单视角无法直接分辨螺纹、锁定开关或亚毫米间隙，节点精细状态结合明确属于R2交付链的日志和视频动作推断，首次完成时间约有0.3–0.5秒误差。长钉具体阻挡接触对在评分视频中不可分辨，因此现象仅标旋拧受阻的接触力异常；日志中其他分支的碰落圆环未当作本次评分现象。除评分器max_part_depth_mm外，DAG其余原生指标没有对应最终评分数值。"
+ },
+ "summary_zh": "观察：评分视频显示机器人完成框架交叉、底螺钉驱动并在框架对合后锁定、圆环就位，末态完成3/7个节点；长螺钉未到深度，两颗环钉和托盘未安装，评分器success=0且终态已释放、静止。推断：最早未修复的失败是长螺钉在视频约23.6 s 旋拧受阻，脚本在框架对合后未返回补拧；log step 198 交付的是R2，之后测试分支中碰落圆环的情况不属于评分轨迹。精细锁定和亚毫米几何需结合交付链日志推断，缺少逐帧状态日志。",
+ "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（长螺钉）、3/7进度与交付链R2日志（step 165/168/169/178/198）及视频一致；现象与根因有日志依据，未发现需改内容的错误。视频画面分辨率低，只能抽查，精细锁定依赖日志推断，标签已如实标为推断。",
+    "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": "2026-10-31T00:00:18Z",
+  "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/roboarc-ikea-gladom-i00-privileged--vjsrjab/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--vjsrjab/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d4719f4151decf4d89b426b568cef8b4d8b2224d78ad6a930d21b021e39a1755",
+   "video_sha256": "78c05167c52a1111fd86683a81f68db1277a0ae4f7ce8d61b362204999de2b0c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--umhjpcw.json b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--umhjpcw.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54653bcee116effe31d933d83e845199d973f20
--- /dev/null
+++ b/phase2/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--umhjpcw.json
@@ -0,0 +1,395 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--umhjpcw",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "live_rows": 107229,
+   "sim_steps": 428916,
+   "control_steps": 107229,
+   "sim_time_s": 268.0725000029501,
+   "elapsed_s": 10800.5,
+   "service_time_s": 300.3,
+   "calls": 1218,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "video_rendered": 1,
+   "replay_success": 0,
+   "replays": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "rows_match": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "bad_trajectory": 0,
+   "sim_breakdown": 0,
+   "replay_crash": 0,
+   "replay_wall_s": 0.0,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "live_replay_mismatch": 0,
+   "replays_skipped": 1,
+   "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": 0.334,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.976,
+   "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/roboarc-ikea-gladom-i00-standard--umhjpcw/replay.mp4",
+  "duration_s": 268.1,
+  "fps": 10.0,
+  "frames": 2681,
+  "sha256": "28feebe27b408d30b39c1b99fcff5d6dc2845e4a7f31471a1b005dfc28540225"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两副橙色框架虽空间交错，杆件仍斜交，尚未形成对合的十字桌架；视频 17.6–19.8 s 旋拧尝试中框架倾倒、摊开。"
+     },
+     {
+      "t": 58.5,
+      "log_step": 359,
+      "text_zh": "观察：视频 51.0–64.0 s 双臂多次夹取、抬动杆件，两副框架仍一副斜偏、一副横置，未形成对合结构。agent 在 log step 359 自述两框架已立起且顶杆等高，但该自述不能替代视频中的装配结果。"
+     },
+     {
+      "t": 220.0,
+      "log_step": null,
+      "text_zh": "观察：视频 216.0–220.0 s 双臂再次转动框架，前侧框架转落至托盘边；视频 267.1–268.0 s 两框架仍分离斜置在工作台上，交叉装配未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 34.0–58.5 s、196.0–218.0 s 左右二指夹爪分别夹持橙色框架杆件，尝试抬升与转动对合；期间也有单爪抓杆试举。夹爪实际夹住杆件，非两手无包围地挤压。"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.8,
+      "log_step": 141,
+      "text_zh": "观察：视频 6.0–10.0 s 左夹爪把红头长杆件从前侧灰色座处举至框架上部；视频 15.4–18.8 s 左腕转动，框架被带倒，杆件随夹爪保留在外，没有留在上部连接处形成已装入的螺钉。log step 141 的动作标为长螺钉顺时针一整圈。"
+     },
+     {
+      "t": 104.0,
+      "log_step": 548,
+      "text_zh": "观察：视频 100.0–105.0 s 红头杆件仍随左夹爪离开连接处并被举起；视频 106.0–125.0 s 又反复靠近框架，未见螺钉完成安装。agent 在 log step 536 自述旋转使杆件离开接收处，log step 548 自述接收处未咬合并转而暂放。"
+     },
+     {
+      "t": 232.5,
+      "log_step": null,
+      "text_zh": "观察：视频 224.0–232.5 s 右夹爪在托盘附近再次操作，末段撤开；视频 267.1–268.0 s 框架仍散开，未见长螺钉装入上部连接处。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–18.8 s、100.0–105.0 s 左二指夹爪夹持红头长杆件（agent 将其称为长螺钉）并移向框架连接处、转腕，杆件随手移动；视频末段改用右夹爪操作。此处记录可见的杆件夹持，细小螺纹或工具端是否嵌合不可见，不能据此声称完成嵌合传扭。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–268.0 s 的操作集中于红头长杆件、两副框架及圆环；后侧散放的小紧固件未见被取走并送入框架下部。视频 178.0 s 圆环已回到后侧工作台，框架下部仍散开。"
+     },
+     {
+      "t": 268.0,
+      "log_step": null,
+      "text_zh": "推断：结合全段未见底钉拾取或下部旋拧、视频 267.1–268.0 s 下部连接未成形，底螺钉拧入未达成；并非仅依据评分为零判断。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.5,
+      "log_step": null,
+      "text_zh": "观察：视频 160.0–174.5 s 右夹爪抓取后侧圆环边缘，圆环离开原位并在搬动中倾斜，尚未落到框架顶部。"
+     },
+     {
+      "t": 176.0,
+      "log_step": null,
+      "text_zh": "观察：视频 175.0–176.5 s 右夹爪把圆环移至散开的框架上方，圆环倾斜且仍随夹爪运动；视频 177.0–179.0 s 又被移回后侧工作台，未形成水平落座于桌架顶部的结果。"
+     },
+     {
+      "t": 268.0,
+      "log_step": null,
+      "text_zh": "观察：视频 267.1–268.0 s 圆环独立平放在工作台后部，框架在前侧，二者未装配。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 174.0–179.0 s 右二指夹爪夹住橙色圆环的一段边缘，将整环抬起、搬到框架附近又搬回工作台；左手未同时握环。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 179.0,
+      "log_step": null,
+      "text_zh": "观察：视频 175.0–179.0 s 右手搬运的是圆环，随后圆环放回后侧台面；未见夹爪取环钉或驱动工具在圆环接收孔处旋拧，后侧小紧固件仍散放。"
+     },
+     {
+      "t": 268.0,
+      "log_step": null,
+      "text_zh": "推断：视频 267.1–268.0 s 圆环与框架仍分离，结合全段没有环钉搬运、旋入的可见过程，第1颗环钉未拧入并锁定于装配目标。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 268.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–268.0 s 未见两颗环钉被拾取、送入不同孔并旋拧；视频 267.1–268.0 s 圆环仍与框架分离、紧固件仍在后侧台面。完成两颗环钉的条件未成立。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 大橙色托盘平放在工作台前端。"
+     },
+     {
+      "t": 220.0,
+      "log_step": null,
+      "text_zh": "观察：视频 218.0–220.0 s 松散框架转落到托盘附近，机器人没有把托盘举向圆环；圆环仍在后侧。"
+     },
+     {
+      "t": 268.0,
+      "log_step": null,
+      "text_zh": "观察：视频 267.1–268.0 s 托盘仍在工作台前端，圆环在后部且与托盘分开。对照成功参考视频 29.92 s 托盘已架在桌腿顶部，本次没有出现该支承关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_lateral_error",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_yaw_error",
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "assembly_relative_speed",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_part_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_penetration",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "long_screw_driven",
+   "t": 17.8,
+   "log_step": 141,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.4–18.8 s 左夹爪夹持红头杆件在框架上部转动，视频约 17.8 s 框架开始明显倾倒，随后摊到工作台；log step 141 的命令是尝试把长螺钉顺时针转一圈。此后虽反复重新夹取框架、尝试对准接收处，视频 100.0–125.0 s 杆件仍随夹爪在外移动，末段也未完成长螺钉安装，因此这是最早尝试失败且始终未修复的步骤。"
+  },
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 17.8,
+    "log_step": 141,
+    "evidence_zh": "观察：视频 17.6–19.8 s 左腕持杆在上部连接附近转动时，原先立起的橙色框架被带着倾转，向前侧倒开；右夹爪此时停在右侧，没有扶持框架。推断：旋拧尝试带动了应稳定的框架本体，未得到所需的螺钉相对旋入。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 17.8,
+    "log_step": 131,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 125 的脚本固定左TCP位置，仅改变腕部朝向来试转；log step 131 中 agent 自述第一次转腕因夹爪中心与杆轴偏置而使杆轴横移，随后 log step 141 改用指定转轴再试。视频 15.4–19.8 s 显示旋转没有维持接收处的稳定关系，反而带倒框架，视频 100.0–125.0 s 的再次对准也未见装入。推断：旋拧的接触与执行控制未能保持有效对合；仅据现有记录不能可靠细分为抓取设计、逆解或跟踪中的某一项。"
+   }
+  ],
+  "gap_zh": "无状态日志；单一俯视视频的夹爪遮挡使螺纹、工具端嵌合和保持关节锁定不能直接测量，评分器也未报告各部件装配误差或锁定计数，故原生指标均为null。红头长杆件的精确身份与端部接触只能部分辨认，contact_actual只记录可见夹持，不把agent所谓“就位”“已交叉”当成进度证据；未能进一步判定具体控制子类。运行为一次实时episode（reward中sim_startups=1、resumes=0），live_success=0；replays_skipped=1，不能把deterministic=0、live_matches_replay=0当作已证实的回放分歧或交付错误。所有视频时间取自已查看帧，未用agent工作时钟换算。"
+ },
+ "summary_zh": "机器人尝试了长螺钉操作、双臂框架对合及单爪搬运圆环，七个装配节点均未达成，终态为0/7。最早未修复的断点是长螺钉拧入：视频约17.8 s旋拧动作带倒框架，后续反复对准仍未装入，证据支持接触与执行控制失配。缺少状态日志及螺纹近景，无法核实亚毫米误差、端部嵌合与具体控制子类；末秒仍能明确看见框架、圆环和托盘没有形成装配关系。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "七个节点终态均未达成，与视频一致（对照 0、17、20、60、125、180、267 s 帧及成功参考视频）；断点在长螺钉旋拧、约 17–20 s 框架被带倒，现象与根因证据可跟随。无状态日志，仅凭视频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": "2026-10-31T00:03:42Z",
+  "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/roboarc-ikea-gladom-i00-standard--umhjpcw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--umhjpcw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ceeba7b499c54c1a06a7396f681a2d1cfc246ef8c6cc1bf421800e7bb27c5a6",
+   "video_sha256": "28feebe27b408d30b39c1b99fcff5d6dc2845e4a7f31471a1b005dfc28540225",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3qhyf3u.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3qhyf3u.json
new file mode 100644
index 0000000000000000000000000000000000000000..24cec7891390d278bf5f53071a74066bfc48026e
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--3qhyf3u.json
@@ -0,0 +1,288 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--3qhyf3u",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.772,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 78816,
+   "sim_steps": 315264,
+   "sim_time_s": 197.04000000139965,
+   "replays": 2,
+   "replay_wall_s": 384.4,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.687,
+   "peak_processes": 19,
+   "peak_disk_gb": 1.029,
+   "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/roboarc-ikea-ikea365-i00-privileged--3qhyf3u/replay.mp4",
+  "duration_s": 29.96,
+  "fps": 25.0,
+  "frames": 749,
+  "sha256": "0c8a3dd4e6e93acabae80625bcc72595730a361d6c8be57da2e1b915eecde997"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s 右臂夹爪从桌面拿起红柄螺丝刀并转成刀尖朝下；视频 2.0–24.4 s 右臂持刀在构件 A 中央持续旋转，螺钉没有随刀离开连接位置。"
+     },
+     {
+      "t": 29.92,
+      "log_step": null,
+      "text_zh": "观察：视频 24.8–29.92 s 右臂移开工具后，构件 A 与 B 仍分置桌面，未出现被取出、暂持或搬走的螺钉。"
+     },
+     {
+      "t": null,
+      "log_step": 183,
+      "text_zh": "观察：交付轨迹的生成输出（log step 159）在仿真 161.33 s 的旋拧结束处记录 gap=-0.011 毫米、turns=0.001、ops=[]，随后保存 78816 行；同一文件的独立回放报告（log step 183）仍为 operations_accepted=[]、next_operation=remove_same_screw。这些仿真时刻不换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 2.0–24.4 s 右臂二指夹爪握红柄螺丝刀，刀尖抵住构件 A 中央螺钉头并旋转。推断：结合交付生成日志几乎为零的螺钉转数（log step 159）及会话接触试验（log step 142、150），实际作用为刀头抵压、旋擦，未证实建立持续的嵌合传扭；握工具这段接触链不另重复标抓握。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.92,
+      "log_step": 183,
+      "text_zh": "观察：视频 2.0–24.4 s 右臂始终以螺丝刀操作 A 中央，视频 24.8–29.92 s 移走的是红柄工具，左臂未去夹取螺钉；没有螺钉从连接位置移到一旁的过程。log step 183 的交付文件回放报告接受阶段为空，仍等待 remove_same_screw。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.92,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、8.0 s、16.0 s、24.8 s 与 29.92 s 两根棕色构件一直分别位于桌面后方与中央，右臂操作螺钉时也未搬起 B；末端没有十字交叉叠合。成功参考视频 8.0–14.0 s 可见的十字形在本视频中没有出现。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.92,
+      "log_step": 183,
+      "text_zh": "观察：视频 0.0–29.92 s 两杆始终分开，右臂仅在原 A 螺钉位置旋拧，之后撤开，没有把螺钉带回两杆交叉中心并坐实的过程；log step 183 回放报告的七阶段接受列表为空，不能把初始螺钉仍在 A 内当作重装完成。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.92,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.92 s 两根棕色构件一直分别躺在桌面，机器人没有夹起任何构件或翻转组装支架；视频 24.8–28.8 s 转动的是右臂所握螺丝刀。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.92,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 至 29.92 s 蓝碗一直单独留在桌面前部，机器人未抓取或移动它，末端与两根分开的棕色构件均有间距；成功参考视频 29.96 s 的碗由十字支架支承，本轨迹末端不具备这一关系。评分器 goal_at_end=0、goal_after_settle=0，但 released 与 at_rest 在两次终态检查均为 1。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.772
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screw_unscrewed",
+   "t": 3.0,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.0–24.4 s 右臂持螺丝刀在 A 中央旋拧，视频约 3.0 s 起已进入持续旋拧而螺钉不退出的阶段，随后撤刀也未补救。交付生成记录（log step 159）旋拧结束时 turns=0.001、ops=[]，独立回放（log step 183）下一阶段仍是 remove_same_screw；首个失败且未修复的步骤为拧出螺钉。"
+  },
+  "unmet": {
+   "screw_unscrewed": false,
+   "screw_parked": false,
+   "members_crossed": false,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 3.0,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 2.0–24.4 s 右臂夹住工具抵在 A 的螺钉位置不断旋转，螺钉没有被旋出并带走；log step 154 的交付生成脚本执行 14 圈旋拧并按刀头与螺钉接触力调节压入，实际输出（log step 159）旋拧结束仅 turns=0.001、gap=-0.011 毫米且 ops=[]。推断：接触未有效传递使螺纹退出所需的扭矩，属于接触操作未奏效。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人到达螺钉位置并持刀旋转（视频 2.0–24.4 s），但交付生成脚本 14 圈旋拧命令只产生约 0.001 圈螺钉转动（log step 154、159），说明旋拧控制没有建立有效的传扭。会话内独立试验也记录刀头与螺钉约 1.5–4.5 牛接触力下，数圈命令仅带动约 0.01 圈（log step 142、150）；这些试验仅辅助归因，不计入本轨迹进度。没有足够证据区分夹持几何、刀头嵌合与跟踪控制各自的贡献，根因停留在控制。"
+   }
+  ],
+  "gap_zh": "无状态日志，512×288 单视角中螺钉及刀头接触区域很小且受夹爪遮挡，不能直接分辨十字刀头的嵌入深度、夹爪与刀柄之间的滑转或逐帧扭矩；控制子类无法可靠细分。已检查前后帧、末秒及交付文件的生成和独立回放日志以确定未拧出。agent 最终自述约 0.3 毫米上升（log step 225）与会话试验 log step 192、222 相符，交付文件生成 log step 159 却为 gap=-0.011 毫米，故不把前者作为本轨迹事实；仿真 197.04 s 与视频 29.96 s 也不直接互换。评分器 reward 未报告终态轴向、横向、轴线误差及线角速度原生指标，按缺报保留 null。"
+ },
+ "summary_zh": "交付轨迹中右臂拿起螺丝刀并持续操作构件 A 中央螺钉，但未将其拧出，六个节点均未达到，后续暂放、交叉、重装、翻转与放碗均未开始。断点为拧出螺钉：旋拧接触未有效传扭，根因归控制；末端虽离手静止，仍是两杆分开、蓝碗单独在桌面，工具释放后落到桌外。缺少状态日志且刀头细节被遮挡，无法进一步细分控制原因；会话内其他试验的微小拧出量未计入交付轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达到与视频一致（构件 A/B 始终分置、螺钉未被取出、蓝碗未动），评分器 goal=0、回放 ops=[]、next=remove_same_screw 支持。断点 screw_unscrewed、接触力异常、根因停在控制均有证据，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": "2026-10-31T00:02:41Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--3qhyf3u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--3qhyf3u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e40c9fb10f0410ba8ccf673e537ba008983b1a1c28a187e1b3d58567a9e3bdab",
+   "video_sha256": "0c8a3dd4e6e93acabae80625bcc72595730a361d6c8be57da2e1b915eecde997",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--jqtqq96.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--jqtqq96.json
new file mode 100644
index 0000000000000000000000000000000000000000..8140ddbcdc77eaa92481dddd176ee459d72ad732
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--jqtqq96.json
@@ -0,0 +1,369 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--jqtqq96",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "goal_at_end": 1,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 1,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.024,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 203211,
+   "sim_steps": 812844,
+   "sim_time_s": 508.0275000081878,
+   "replays": 2,
+   "replay_wall_s": 663.6,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.885,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.344,
+   "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/roboarc-ikea-ikea365-i00-privileged--jqtqq96/replay.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "4b6f112b784317f56602553c60e6362825df410b1f215f711cf6b8dadc593d1f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.48,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–4.48 s，机器人左夹爪所持红柄螺丝刀竖直作用于构件 A 的中央，手腕持续旋转；视频 4.64–4.80 s 工具抬离。"
+     },
+     {
+      "t": 5.52,
+      "log_step": 20,
+      "text_zh": "观察：视频 5.04–5.76 s，机器人右夹爪在 A 中央合拢后抬起，A 仍留在桌面；log step 20 的该阶段输出记录右夹爪夹住 same_screw 后抬升，并列出 remove_same_screw、park_same_screw 已接受。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 58,
+      "text_zh": "推断：结合视频 5.44–5.76 s 的夹取抬离、随后交叉组装及评分 success=1，螺钉已从 A 退出，取出时刻记为视频约 5.5 s（误差约 0.3 s）；螺纹和小螺钉部分被夹爪遮挡。log step 58 确认交付控制序列与已验证回放的序列逐项一致，因此只用该序列相符的记录辅助判断，未把会话试错计入本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机器人左夹爪持螺丝刀，刀头对准螺钉头旋拧。候选接触名“嵌合旋拧”，现有抓握、压/擦等值不能表达刀头与螺钉嵌合传扭。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：旋拧工具退开后，机器人右二指夹爪在螺钉头两侧合拢并向上提取；与前一条工具接触依次发生，视频 5.04–5.76 s，log step 20。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频 5.44–5.92 s，机器人右夹爪从 A 中央抬起并在连接位置上方外侧暂持；之后左夹爪离开螺丝刀并搬运构件 B，右夹爪继续保持暂持姿态。"
+     },
+     {
+      "t": 5.7,
+      "log_step": 28,
+      "text_zh": "推断：log step 20 已接受 park_same_screw，log step 28 记录右两指仍接触 same_screw 且螺钉离开 A 的连接中心；结合视频后续左夹爪将 B 铺到 A 中央，暂放成立记在视频约 5.7 s（误差约 0.3 s），不要求把螺钉放到桌面松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住取出的螺钉并抬离连接位置，暂持让出交叉铺杆空间；小螺钉多被夹爪遮挡，由前后动作和 log step 20、28 的接触记录辅助确认。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.52,
+      "log_step": null,
+      "text_zh": "观察：视频 6.72–7.52 s，机器人左夹爪从原先分开的 B 所在位置将棕色构件搬到 A 中央；视频 7.52–7.84 s 左夹爪抬开后可见完整十字形，B 的原位置已空。此后至视频 29.96 s 两构件始终保持交叉关系。"
+     },
+     {
+      "t": 7.5,
+      "log_step": 30,
+      "text_zh": "推断：log step 30 记录 cross_members 已接受，log step 31 松开 B 后报告其相对 A 的平移误差约为 [-0.074,0.110,0] 毫米；结合视频铺合与抬手，节点起点取视频约 7.5 s（误差约 0.3 s）。评分 goal_at_end=1、goal_after_settle=1 支持微小终态对齐合格，画面本身不能量测亚毫米误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住构件 B，将其搬到构件 A 上方、放低交叉对合并松开，视频 6.72–7.84 s；log step 29、30 记录左两指与 B 接触。右夹爪此时暂持螺钉，没有夹住 A 或 B。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–9.6 s，机器人右夹爪回到十字架连接中心操作，随后抬开；视频 17.6–20.28 s 右夹爪持红柄螺丝刀竖直对准十字中心旋拧，视频 20.40–20.88 s 工具抬离，十字架仍留在桌面。"
+     },
+     {
+      "t": 20.3,
+      "log_step": 42,
+      "text_zh": "推断：log step 31、32 记录螺钉返回并入孔；log step 42 记录 reinstall_same_screw 被接受、两个保留连接均为 True，log step 45 工具退开后两连接仍为 True。结合视频 20.28–20.40 s 由旋拧转为撤刀，坐实锁定起点记为视频约 20.3 s（误差约 0.4 s）。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 的已交付序列新进程回放报告中，螺钉相对 A、相对 B 的 passed 均为 true，retention_screw、retention_members 均为 true；视频 26.88–27.60 s 整架翻转时没有可见散开，视频 29.96 s 架上蓝碗保持稳定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪先夹持同一螺钉送回十字中心并松开，视频 8.0–9.6 s，log step 31、32。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：随后机器人右夹爪持螺丝刀作用于中心螺钉旋拧坐实，视频 17.6–20.28 s。候选接触名“嵌合旋拧”，抓握、压/擦均不能准确表达刀头与螺钉头嵌合传扭；与前一条直接夹钉接触依次发生。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.36,
+      "log_step": null,
+      "text_zh": "观察：视频 26.80–27.36 s，机器人右夹爪握住棕色十字架的一端抬起并整体翻面；视频 27.44–27.76 s 松手后支架落回桌面，朝上的支脚形状与翻前不同，两构件保持交叉，没有翻回。"
+     },
+     {
+      "t": 27.3,
+      "log_step": 46,
+      "text_zh": "推断：log step 46 记录右两指夹住 member_b、整体抬升后翻转，turn_stand 已接受，A 正 z 轴的世界 z 分量约为 -0.99984；结合视频翻面动作，将本状态起点记为视频约 27.3 s（误差约 0.2 s）。log step 47 松手放稳后的 A 正 z 轴仍朝下，评分末端及保持后目标均通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪从侧面夹住构件 B 的端部，抬升并带着整套已连接的 A、B 和螺钉翻面，再松开；视频 26.4–27.76 s，log step 46、47。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "观察：视频 28.80–29.20 s，机器人右夹爪从桌面夹起蓝碗，蓝碗离开原位置并到达翻转支架上方；视频 29.40–29.60 s 放低并松开，视频 29.64–29.96 s 夹爪退开，蓝碗稳留棕色十字支架上，螺丝刀在旁边桌面。"
+     },
+     {
+      "t": 29.6,
+      "log_step": 48,
+      "text_zh": "推断：结合视频 29.60 s 的松手及 log step 48 中放碗后 place_bowl 已接受、随后静止且 robot_contacts=[]，支架支承蓝碗的起点取视频约 29.6 s（误差约 0.1 s）。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 56,
+      "text_zh": "观察：评分 reward 的 goal_at_end、released_at_end、at_rest_at_end、goal_after_settle、released_after_settle、at_rest_after_settle 全为 1，sim_breakdown=0。log step 49 的 final_check 全部通过；log step 56 的新进程回放报告 strict_support.verified=true，包含自重和向下 2 N 加载检查，且 robot_touch=false。承重探针由评分器在副本施加，不是视频中机器人执行的动作。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 的交付序列新进程回放 terminal 字段报告 max_part_speed_m_s=2.3236033468728104e-7、max_part_angular_rad_s=1.035145641575294e-6；native_metrics 的这两项取此评分器输出，max_part_depth_mm=1.024 取 reward。评分字段未直接报告 terminal_axial_error、terminal_lateral_error、terminal_axis_error 三个汇总指标，故其值留 null，不用画面或多个零件的误差自行合成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住蓝碗的一侧碗壁/碗沿，抬起搬到已翻面支架上、放低并松开；视频 28.80–29.64 s，log step 48 的 right_left_finger、right_right_finger 同时接触 bowl。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 2.3236033468728104e-07
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 1.035145641575294e-06
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 1.024
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依序完成拧出螺钉、暂放螺钉、两杆交叉、装回拧紧、翻转支架及放碗，六个节点终态均成立；视频 29.96 s 蓝碗稳留支架上，双夹爪退开，评分确认末端及保持后目标、离手、静置均通过。交付序列的新进程回放还通过自重和额外向下 2 N 承重检查，因此无失败断点。无逐帧状态日志，微小螺钉常被夹爪遮挡，取钉、暂放和坐实的时间约有 0.3–0.4 秒不确定性；微小对齐、保留连接和承重依据已验证交付序列的回放报告与评分字段，未把会话中的失败试验作为本轨迹失败。",
+ "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，六个节点依序成立，帧所见与标注一致（螺丝刀旋拧、夹取、十字叠合、翻转、放碗），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": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:11:25Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--jqtqq96/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--jqtqq96/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ed2903cd32938848bb9decd6994608decf09829b7ae0eb941c0031da82f8553c",
+   "video_sha256": "4b6f112b784317f56602553c60e6362825df410b1f215f711cf6b8dadc593d1f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--nt69mrc.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--nt69mrc.json
new file mode 100644
index 0000000000000000000000000000000000000000..f599a203ee8ab2bb040219d1f9bf91cb1a022b00
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--nt69mrc.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--nt69mrc",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 0,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.764,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 5809,
+   "sim_steps": 23236,
+   "sim_time_s": 14.522499999995853,
+   "replays": 2,
+   "replay_wall_s": 25.2,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.597,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.269,
+   "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/roboarc-ikea-ikea365-i00-privileged--nt69mrc/replay.mp4",
+  "duration_s": 27.64,
+  "fps": 25.0,
+  "frames": 691,
+  "sha256": "637282429454a6895ba985c67494d8a06270e4390ee4ac219bad86b92593b729"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–27.6 s 中右机械臂拾起红柄螺丝刀、抬升并调整为竖直，再移到构件 A 中央下降；视频 23–27.6 s 未见螺钉被抬出或随工具移走，两根棕色构件一直分开。"
+     },
+     {
+      "t": 27.6,
+      "log_step": 201,
+      "text_zh": "推断：log step 191 的脚本在旋拧循环前保存 st5_engaged，log step 201 明确将此检查点的 5809 行重新导出；与视频末段仅持刀下降后停止一致，因此本次交付未完成旋拧退出。log step 204 中 agent 亦自述螺钉未移除、operations_accepted 为空；这不是把后续会话测试算入视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 10–27.6 s 可见右二指夹爪夹持红柄螺丝刀并移到构件 A 的螺钉处；但刀尖和螺钉头区域过小且受夹爪遮挡，没有状态接触日志，不能确认刀尖实际触碰螺钉及其接触方式。此项未知指工具与螺钉的目标接触，不把持工具的抓握重复记为目标接触。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": 201,
+      "text_zh": "观察：视频 0–27.6 s 中机器人搬动的是红柄螺丝刀；末段持刀停在构件 A 中央，未见夹爪取出小螺钉或将其移到连接中心之外。log step 191、201 显示交付在取出和暂放动作前的检查点截止。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、14 s、23 s 及 27.6 s 两根棕色构件均分别留在桌面原处，未叠成十字；右夹爪只搬动螺丝刀，左臂未参与。成功参考视频 6–14 s 可见的十字叠合形态在本次视频中始终未出现。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": 201,
+      "text_zh": "观察：视频 0–27.6 s 两构件始终分开，机器人未将构件 B 放到 A 上，也未执行把螺钉带回并穿过两构件的过程；log step 191、201 的最终检查点位于首次旋拧前。"
+     },
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "推断：初始螺钉仍留在 A 的孔内不等于重新装回并连接 A、B；本次不存在两构件被同一螺钉坐实锁定的状态。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–27.6 s 两根棕色构件都留在桌面，未组成十字，机器人未夹起或翻动它们；抬起并转向的是红柄螺丝刀，没有整套支架翻面的动作。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 至 27.6 s 蓝碗始终位于桌面前部，与两根棕色构件分离，机器人未接触或搬运碗；末帧与成功参考视频 29.96 s 的碗由十字支架承托形态明显不同。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.764
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screw_unscrewed",
+   "t": 25.5,
+   "log_step": 201,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 23–27.6 s 右机械臂持竖直螺丝刀下降到构件 A 中央后停止，没有出现螺钉退出或暂移；log step 191 把 st5_engaged 保存于旋拧循环前，log step 201 最终选择并导出这个 5809 行检查点。拧出螺钉是机器人正在准备执行、此后始终未完成的第一步；视频 25.5 s 为末段下降的粗略导航锚点。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 198,
+    "evidence_zh": "推断：控制实现未能产生足够的旋拧运动，故 agent 最后只交付旋拧前检查点。会话诊断 log step 190 输出螺丝刀偏航仅从 22.56° 到 26.76°，螺钉偏航基本不变；log step 198 从最终选用的 st5_engaged 检查点另行运行旋转测试，刀偏航从 22.56° 到 23.54°、螺钉仍未升起；log step 201 随后恢复该检查点交付。这些是会话测试对未完成旋拧控制的证据，不是本次视频中的旋拧现象；具体是伺服、控制目标更新还是接触传扭造成，现有证据不足以再分子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；末段刀尖与细小螺钉头受遮挡，不能确定实际目标接触。最终交付在旋拧循环前的下降检查点结束，未展示可归类为滑脱、碰撞、接触力异常或位姿不准的失败动作，因此现象层留空（CASES.md FAIL-23）；会话旋拧诊断只用于控制根因，不能移植成视频现象。评分器的仿真时长为 14.5225 s，视频时长为 27.64 s，未建立精确映射，所有视频锚点均直接取自视频帧，未将日志工作时间或仿真秒换算为视频秒。",
+  "unmet": {
+   "screw_unscrewed": false,
+   "screw_parked": false,
+   "members_crossed": false,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  }
+ },
+ "summary_zh": "观察：本次视频中右夹爪完成螺丝刀拾取、抬升、竖直调整和向构件 A 中央下降，最终两构件仍分开、蓝碗仍在桌面，六个语义节点均未达到，断点为拧出螺钉。推断：会话旋转诊断表明旋拧控制未奏效，最终交付选择了旋拧前检查点；因刀尖接触被遮挡且交付没有包含后续旋拧测试，现象层留空，不把会话中的失败动作当成本次轨迹的现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成、断点 screw_unscrewed（操作中）、现象层留空并附 gap（交付检查点止于旋拧前，符合 FAIL-23）、根因停在“控制”均与视频和日志一致；时钟全部取自视频，未换算 agent 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": "2026-10-31T00:12:26Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--nt69mrc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--nt69mrc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b908634b4f61a8f20dd799ee5c9119471856de5a4629d39fe011a1707457021e",
+   "video_sha256": "637282429454a6895ba985c67494d8a06270e4390ee4ac219bad86b92593b729",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--qddknri.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--qddknri.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25a9ccdcad3111457def8921d878a84d74ff583
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--qddknri.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--qddknri",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "goal_at_end": 1,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 1,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.841,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 46898,
+   "sim_steps": 187592,
+   "sim_time_s": 117.24499999990243,
+   "replays": 2,
+   "replay_wall_s": 192.7,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.835,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.293,
+   "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/roboarc-ikea-ikea365-i00-privileged--qddknri/replay.mp4",
+  "duration_s": 29.64,
+  "fps": 25.0,
+  "frames": 741,
+  "sha256": "6f7b1322a3622c2a50b3e53c8951ca59fa67e23158ed39c45bf489ea0b5a1f0f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–9.6 s，机器人左夹爪持红柄螺丝刀在构件 A 中央反复旋转；视频 10.0–11.6 s 工具退出并被放回桌面，随后右夹爪靠近原螺钉头。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 196,
+      "text_zh": "推断：视频 11.8–12.4 s，右夹爪闭合后向上、向右移开，构件 A 留在桌面，随后左夹爪能把 B 铺到 A 中央；结合评分器 goal_at_end=1 和 log step 196 的完整操作账本，判断原螺钉已退出并被夹走。首次完全脱离取视频约 12.0 s，误差约 0.3 s；小螺钉受夹爪遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 2.4–9.6 s，左夹爪持螺丝刀对 A 中央螺钉旋拧。候选接触名“嵌合旋拧”：刀头嵌合传递力矩，现有抓握、压/擦不能准确表达工具与螺钉的接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.8–12.4 s，右二指夹爪夹住螺钉头并提离 A，完成旋松后的取出。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频 12.2–12.4 s，机器人右夹爪从 A 中央移到画面右侧并停留；视频 12.8–14.0 s，左夹爪搬动 B 时，右夹爪保持在旁边，中央位置已留空。"
+     },
+     {
+      "t": 14.2,
+      "log_step": 196,
+      "text_zh": "推断：结合视频 14.2–15.0 s 右夹爪再把小件带回交叉中心，以及 log step 196 记录 park_same_screw 已被接受，暂移螺钉在视频约 12.4 s 完成；这里是夹持在旁暂存，没有要求桌面松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.2–14.2 s，右二指夹爪夹着小螺钉移到 A 中央的右侧暂持，为左夹爪铺放 B 留出空间。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2 s，机器人左夹爪携 B 从后侧靠近 A；视频 13.52–13.92 s，B 横跨 A 中央并下降叠合；视频 14.08–14.2 s 左夹爪退开后，两构件保持十字交叉。"
+     },
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "推断：视频 14.2–29.6 s，十字关系在装钉、整体翻转和放碗过程中保持，没有看到散开；评分器 goal_at_end=1、goal_after_settle=1 确认终态精细对齐通过。过程微小误差不能由画面量测，首次达成取视频约 13.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.8–14.0 s，左二指夹爪夹住构件 B，将其抬离原位置并横放到 A 中央，然后张开退走；右夹爪在旁暂持螺钉。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.4–16.2 s，机器人右夹爪把先前暂持的小螺钉送回两构件交叉中心并松开；视频 17.6–23.8 s，左夹爪再次持红柄螺丝刀在该中心旋拧。"
+     },
+     {
+      "t": 24.12,
+      "log_step": 196,
+      "text_zh": "推断：视频 23.28–24.12 s，旋拧结束并撤离工具；视频 25.4–27.6 s，两构件作为整体被抬起翻转且未分离，结合评分器两次终态 goal=1 及 log step 196 的 reinstall_same_screw 接受记录，判断螺钉已坐实并建立保留连接。首次达成估计视频约 23.3 s，误差约 0.5 s；坐实微小间隙无法直接量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.4–16.2 s，右二指夹爪夹住同一螺钉，将其带回十字中心并释放。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 17.6–23.8 s，左夹爪持螺丝刀在交叉中心旋拧螺钉。候选接触名“嵌合旋拧”：刀头嵌合传扭，现有抓握、压/擦均不准确；这是继右夹爪直接送钉后的工具接触。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.2,
+      "log_step": null,
+      "text_zh": "观察：视频 25.2–25.6 s，机器人左夹爪夹住支架并抬离桌面、转成侧立；视频 25.8–26.8 s，右夹爪接握，左夹爪松开退走；视频 27.2–27.6 s，右夹爪携已翻面的十字支架下降回桌面，两杆始终一起运动。"
+     },
+     {
+      "t": 29.6,
+      "log_step": 196,
+      "text_zh": "推断：视频 27.6–29.6 s，支架维持翻面后的姿态并承托蓝碗；结合评分器 goal_at_end=1、goal_after_settle=1 和 log step 196 的 turn_stand 接受记录，翻转节点达成并保持。完成时刻取可见翻面姿态的视频约 27.2 s，误差约 0.4 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 25.2–27.6 s，左二指夹爪先握住支架抬升并翻到侧立，右二指夹爪接握另一侧；两爪在交接时共同夹持，随后左爪松开、右爪完成剩余翻转并放回桌面。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频 27.8 s 蓝碗仍在原桌面位置；视频 28.0–28.4 s，机器人右夹爪夹住碗沿，将碗抬离原位置并搬到十字支架上方；视频 28.6–28.8 s 碗下降到支架上，视频 29.0 s 夹爪已退开。"
+     },
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–29.6 s，蓝碗稳留在棕色支架上，双臂均与物件分离，红柄螺丝刀留在桌面；inputs/run.json 的评分器字段 success=1、goal_at_end=1、released_at_end=1、at_rest_at_end=1，保持检查后三项也均为 1。"
+     },
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "推断：上述终态评分确认联合验收通过，包括视频无法量测的精细对齐、静置速度与承重条件；碗首次落在支架上取视频约 28.8 s，误差约 0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–28.8 s，右二指夹爪夹住蓝碗碗沿，将其从原桌面位置抬起、搬到翻面后的支架上并松开；视频 29.0 s 夹爪已退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.841
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分轨迹完成拧出螺钉、暂放、两杆交叉、装回拧紧、翻转支架及放碗，最终六个节点均成立；视频 29.0–29.6 s 可见蓝碗稳留支架、夹爪退开，评分器确认末端及保持后的目标、离手与静置均通过。无失败断点；已与参考成功视频比较动作及终态外观，本次节点时刻取自本次视频，未把 agent 工作时间或调试仿真时间换成视频时间。没有状态日志，小螺钉局部受夹爪遮挡，微小对齐误差、保留连接和承重条件由成功评分辅助确认，过程时刻约有 0.2–0.5 s 的视觉估计误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频 9.6–29.5 s 的关键帧，六个节点的时刻、接触和成功终态与标注一致；无失败断点，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": "2026-10-31T00:10:19Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--qddknri/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--qddknri/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cfee028709f62f14a51597fee867588ed8130bf9eb7b1520cc3fc62c97e01d50",
+   "video_sha256": "6f7b1322a3622c2a50b3e53c8951ca59fa67e23158ed39c45bf489ea0b5a1f0f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--xwbisp3.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--xwbisp3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa29f7ed9709965d08c885360086dc456487115
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--xwbisp3.json
@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--xwbisp3",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 0,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 0,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.934,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 23782,
+   "sim_steps": 95128,
+   "sim_time_s": 59.45499999995499,
+   "replays": 2,
+   "replay_wall_s": 149.3,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.935,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.345,
+   "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/roboarc-ikea-ikea365-i00-privileged--xwbisp3/replay.mp4",
+  "duration_s": 29.36,
+  "fps": 25.0,
+  "frames": 734,
+  "sha256": "c5b3c7c224f66f891608f819f55a6d093626cbc52869f214593622a763ebf1ee"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–26 s 右臂持红柄螺丝刀在构件 A 中央旋转，左臂退在旁边；视频 26.4–27.2 s 右臂抬起工具，构件 A 随之倾动后与刀头分开。"
+     },
+     {
+      "t": 26.6,
+      "log_step": 1359,
+      "text_zh": "观察：log step 1359 是保存最终 23782 行交付轨迹的操作，输出 remove_same_screw 已接受，事件记录为仿真 53.7875 s，退出间隙 11.76 毫米；随后仅撤臂、松爪、保存。"
+     },
+     {
+      "t": 26.6,
+      "log_step": 1359,
+      "text_zh": "推断：结合交付记录与视频 26.4–27.2 s 的抬刀、分离过程，拧出事件约在视频 26.6 s 达成，时刻约有 0.5 s 不确定性；未把仿真秒或 agent 工作时间直接当成视频秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：右二指夹爪夹持螺丝刀，以刀头接触构件 A 中央螺钉并旋拧。候选接触名“嵌合旋拧”；既非夹爪直接抓螺钉，也非单纯压擦，现有 how 无准确项。前面的双手传递螺丝刀属于工具准备。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.8,
+      "log_step": 1359,
+      "text_zh": "观察：log step 1359 在同一保存交付的操作中输出 park_same_screw 已接受，事件记录为仿真 54.005 s，螺钉离连接处 47.8 毫米；代码在抬刀后撤回右臂并保存，没有夹爪直接捏取螺钉的动作。"
+     },
+     {
+      "t": 27.2,
+      "log_step": null,
+      "text_zh": "观察：视频 26.6–27.6 s 工具逐渐离开构件 A，构件 A 倾动并落回桌面；视频 28.36–29.32 s 工具已留在桌上，两杆分开，机器人退开。"
+     },
+     {
+      "t": 26.8,
+      "log_step": 1359,
+      "text_zh": "推断：依据交付轨迹的暂放接受记录及视频中的工具离开过程，暂移事件约在视频 26.8 s 达成，约有 0.5 s 不确定性；细小螺钉不能逐帧单独分辨，本事件不额外要求夹爪夹持或桌面松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频 26.6–27.6 s 右爪仍夹螺丝刀抬离螺钉孔，log step 1359 的抬刀动作接受暂放；实际链路为刀头作用螺钉，没有直接夹螺钉。候选接触名“嵌合牵引”，现有抓握、托舀或压擦均不能准确表达；螺钉局部被工具遮挡。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.8,
+      "log_step": 1359,
+      "text_zh": "观察：全段视频中两棕色构件未交叉；视频 27.8–29.32 s 构件 B 仍在桌面后侧原位，构件 A 已移至其右下侧，两者分开，右臂放下工具后退回，没有抓取 B 向 A 对合。log step 1359 保存的交付只包含移除、暂放后撤臂。"
+     },
+     {
+      "t": 29.32,
+      "log_step": null,
+      "text_zh": "观察：本次视频末帧仍是两杆分离；对照成功参考视频 8–10 s 可见的中央十字叠合，本次未出现该关系。参考视频仅用于辨认交叉形态。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.32,
+      "log_step": 1359,
+      "text_zh": "观察：视频 27.8–29.32 s 两构件分开，工具留在桌面、双爪撤开，未发生将螺钉送回交叉中心并旋紧的过程；log step 1359 的交付动作在拧出、暂放之后就撤臂保存。初始螺钉在 A 内不构成重装连接 B。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.32,
+      "log_step": null,
+      "text_zh": "观察：视频 26.4–28 s 只有散开的构件 A 倾动和落回，构件 B 留在另一位置；至视频 29.32 s 从未形成并翻转组装好的十字支架，散件倾动不满足本节点。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–29.32 s 蓝碗一直在桌面前侧原位，机器人未拿碗或将其放到棕色构件上；末帧无十字支架承碗关系。评分器字段 goal_at_end=0、goal_after_settle=0 与画面一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.934
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "members_crossed",
+   "t": 27.8,
+   "log_step": 1359,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 27.8 s 起右臂放下螺丝刀并撤回，直到视频 29.32 s 两杆仍分离、构件 B 未被搬动；log step 1359 保存的是完成拧出和暂放后直接撤臂的部分轨迹，没有交叉铺杆动作。断点为两杆交叉，视频 27.8 s 是结束前序操作而未转入该步的导航锚点。"
+  },
+  "unmet": {
+   "screw_unscrewed": true,
+   "screw_parked": true,
+   "members_crossed": false,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 27.8,
+    "log_step": 1359,
+    "evidence_zh": "观察：全段视频未见机器人接近并抓取构件 B 对合；视频 27.8–29.32 s 双臂撤离，B 仍留原处，log step 1359 的已保存轨迹只完成前两阶段后撤臂。两杆交叉这一步没有启动，后续重装、整体翻转、放碗也未开始。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；视频分辨率下螺钉及刀头局部被遮挡，前两事件借助 log step 1359 的实际交付记录与前后帧推断，视频达成时刻约有 0.5 s 不确定性。日志包含大量会话测试及恢复快照，它们不作为本次节点进展；log step 424–425 的直接改状态交叉测试尤其不是交付动作。未找到足以解释交叉步骤为何没有启动的具体控制或错误规划证据，因此根因留空；保存部分结果和停止本身不足以确定根因。评分器只报告穿透指标，其他原生精确终态指标未报告。"
+ },
+ "summary_zh": "交付轨迹完成拧出与暂放螺钉两个事件，最终进度 2/6；两杆一直分开，螺钉重装、组装支架翻转和放碗均未完成。断点为尚未启动的两杆交叉：机器人操作螺钉后放下工具撤回，现象为没尝试；没有充分证据确定其根因。无状态日志，微小螺钉的前两事件依交付记录及视频前后帧联合判断，视频时刻为近似值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "拧出与暂放两个节点时间与画面一致（视频约 26.4–27.6 s 抬刀、构件 A 倾动落回），其余节点未达成，断点为 members_crossed（首步前、没尝试），根因留空且有 gap_zh，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": "2026-10-31T00:09:06Z",
+  "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/roboarc-ikea-ikea365-i00-privileged--xwbisp3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--xwbisp3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "190365f49ebf3f5a36247c462b41b72011f64b24d5280a0a33f9df76711d8fa0",
+   "video_sha256": "c5b3c7c224f66f891608f819f55a6d093626cbc52869f214593622a763ebf1ee",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--cevjemp.json b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--cevjemp.json
new file mode 100644
index 0000000000000000000000000000000000000000..176706f8d3d96e01be11412df20929038c4585b9
--- /dev/null
+++ b/phase2/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--cevjemp.json
@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--cevjemp",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 262917,
+   "sim_steps": 1051668,
+   "control_steps": 262917,
+   "sim_time_s": 657.2925000114459,
+   "elapsed_s": 10726.3,
+   "service_time_s": 1709.2,
+   "calls": 1188,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 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": 0.374,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.067,
+   "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/roboarc-ikea-ikea365-i00-standard--cevjemp/replay.mp4",
+  "duration_s": 657.3,
+  "fps": 10.0,
+  "frames": 6573,
+  "sha256": "187319ea5b066052cc0a8f9e0c211f869301302a912b4ad2024ae4b2d2e524aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，构件 A 沿画面纵向位于桌面中央，中央有浅色螺钉；另一构件 B 横向位于桌面后侧，两者分开。"
+     },
+     {
+      "t": 33,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–34.5 s，双臂在 A 上方拥挤运动，A 从中央移至桌面右边缘；视频 40.0 s 后右臂反复在该边缘尝试接近和闭爪，未见螺钉被单独取走。"
+     },
+     {
+      "t": 500,
+      "log_step": null,
+      "text_zh": "观察：视频 438.0–610.0 s，右夹爪持红柄螺丝刀在后侧横向杆件 B 中央反复下探、转动和抬起；右沿原 A 仍留在另一处。"
+     },
+     {
+      "t": 657.2,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、34.5 s、620.0 s 和 657.2 s 的杆件位置，原 A 被移至右沿后没有恢复；视频 657.2 s 仍可见其中央浅色螺钉，未见任何一次退出孔口并移离 A 的过程，故拧出未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人右夹爪持红柄螺丝刀下探、转动；早期作用于原 A 附近，后期刀头顶压后侧构件 B，并使 B 改变姿态。细小刀头被手部遮挡，未确认嵌入螺钉头传扭。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为恢复右沿杆件后继续拧螺钉，机器人右夹爪多次在杆件端部、边缘下探顶压并闭合；未见形成可带走杆件的稳定夹持。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.2,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–657.2 s 未见机器人把原螺钉从 A 单独取出并移到一旁；视频 657.2 s 原 A 在桌右沿，螺钉仍在其中央。视频 618.0 s 放在后侧杆件旁的是红柄螺丝刀，不能作为螺钉暂放。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 630,
+      "log_step": 989,
+      "text_zh": "观察：视频 626.0–638.0 s，机器人右夹爪在桌右边缘杆件处下探、闭合和撤回，未把它送到后侧横向杆件中央；log step 989 的控制脚本确有抓杆计划。"
+     },
+     {
+      "t": 657.2,
+      "log_step": null,
+      "text_zh": "观察：视频 657.2 s，一根杆件横放在桌后侧，另一根沿桌右边缘，两者仍分开；全片粗查及操作段细查未见中心交叉叠合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右夹爪在桌右沿杆件端部接近、顶压并尝试闭合，杆件没有被夹起搬到交叉中心；此时 agent 把右沿原 A 当成待抓的 B（log step 979、989）。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.2,
+      "log_step": null,
+      "text_zh": "观察：视频 620.0 s 和 657.2 s，两构件分别留在后侧和右沿，原螺钉仍在右沿 A 中；未出现螺钉穿过两构件并锁住交叉中心的组装状态。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 614,
+      "log_step": null,
+      "text_zh": "观察：视频 598.0–614.0 s，后侧横杆的可见朝向随螺丝刀操作改变，但右沿另一杆件没有与它连接或一同翻转；视频 657.2 s 仍是两个散件，没有组装支架的整体翻面。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 648,
+      "log_step": null,
+      "text_zh": "观察：视频 640.0–650.0 s，机器人左夹爪在蓝碗附近下降和闭合，碗被碰动、短暂弹起并改变位置，仍位于桌面前部，未向杆件交叉中心搬运。"
+     },
+     {
+      "t": 657.2,
+      "log_step": null,
+      "text_zh": "观察：视频 656.2–657.2 s 的末秒细查中，左手停在桌面前部蓝碗附近；两杆仍在后侧和右沿，没有碗由十字支架承托的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪接近蓝碗并尝试闭合，手指与碗碰触使其移动、弹起；未见碗沿被稳定包夹并搬运到支架上。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_lateral_error",
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "terminal_axis_error",
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screw_unscrewed",
+   "t": 30.0,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 27.0–34.5 s，机器人双臂在首次螺钉操作及刀柄交接时相互挤占空间，原 A 被移至桌右沿；log step 123 记录两臂近乎停住且存在关节跟踪误差。此后右沿杆件恢复和后侧杆件上的旋拧均未使原螺钉退出，视频 657.2 s 它仍在右沿 A 中；因此最早未修复的步骤是拧出螺钉。"
+  },
+  "unmet": {
+   "screw_unscrewed": false,
+   "screw_parked": false,
+   "members_crossed": false,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 30.0,
+    "log_step": 123,
+    "evidence_zh": "推断：视频 27.0–34.5 s，A 原本露在两臂下方中央，随后在右臂低位运动期间向右沿滑移，视频 36.0–40.0 s 已清楚留在右沿；结合 log step 108 的左臂接近刀柄、log step 123 的双臂停滞及跟踪误差，这是操作时机械臂干涉并碰移目标杆件，原螺钉操作位置因此丢失。"
+   },
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 480.0,
+    "log_step": 827,
+    "evidence_zh": "观察：视频 438.0–610.0 s，右手持刀围绕后侧横向杆件 B 中央反复旋转、下探和抬起，而带原螺钉的 A 始终在桌右沿。log step 827、900 的脚本还反复修改该后侧位置的 SCREW_CENTER，旋拧目标没有落到原螺钉上。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 18.0–34.5 s 的双臂交接中，左手伸入右手持刀区域，两臂低位交叠，原 A 随之移向桌右沿；log step 108 的本体反馈显示左手仍开着，log step 123 显示两臂存在跟踪误差而速度接近零，agent 在 log step 136 自述多次相互干涉后放弃交接。该双臂执行未维持净空和工具对位，并留下始终未恢复的杆件位移；现有证据不足以进一步区分控制子类。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：视频 0.0 s 可区分中央纵向 A 与后侧横向 B，视频 27.0–34.5 s 可追踪 A 被移至右沿，视频 657.2 s 其中央仍有螺钉。但 agent 在 log step 711 改称螺钉所在杆件在桌面中央，log step 717 把后侧横杆像素映射为约 [0.4715,0.2452,-0.0348]，log step 827、900 随后以这个区域更新螺钉目标；视频 438.0–610.0 s 确实显示刀头围绕后侧 B 工作。这是物体身份及螺钉位置估计错误，导致后续旋拧持续作用于错误杆件。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐阶段接受账本；刀头及细小螺钉在早期操作中常被夹爪遮挡，无法确定是否曾短暂嵌合、实际转数及退出深度。杆件移位的具体接触连杆也受遮挡；碰移由前后帧连续位置变化和双臂反馈推断。原生微米级对齐、保留连接及承重指标未报告，native_metrics 均留 null。"
+ },
+ "summary_zh": "本次在线评分回合的六个节点均未完成：原 A 在早期双臂操作中被碰移到桌右沿，原螺钉最终仍留在 A 中，两杆始终未交叉组装，碗未放上支架。断点为拧出螺钉，双臂执行干涉后又出现杆件身份及螺钉位置误判，后半段反复对着另一杆件旋拧。无状态日志和阶段账本，刀头嵌合及移位时具体碰撞连杆受遮挡，相关接触细节保留不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均为 false、断点为 screw_unscrewed（约 30 s）与帧一致：视频 0 s 中央纵向 A，28 s 起 A 已在右沿，657 s 两杆仍分开；log step 711/717/827/900 的错位目标与视频后段刀具围绕后侧 B 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": "2026-10-31T00:13:49Z",
+  "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/roboarc-ikea-ikea365-i00-standard--cevjemp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--cevjemp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9170e4904d71ed868ef8749dc335df697887ec83c7c3ccb90f4071dc3d06683a",
+   "video_sha256": "187319ea5b066052cc0a8f9e0c211f869301302a912b4ad2024ae4b2d2e524aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--2shmntt.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--2shmntt.json
new file mode 100644
index 0000000000000000000000000000000000000000..2969d27505a97444e7daedb2ecfedf52753ef139
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--2shmntt.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--2shmntt",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 20,
+   "submitted_actions": 20,
+   "sim_steps": 100,
+   "physics_steps": 500,
+   "sim_time_s": 2.499999999999995,
+   "final_reward": 0.0,
+   "replay_wall_s": 105.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 48,
+   "agent_resets": 2,
+   "agent_sim_steps": 12952,
+   "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": 0,
+   "peak_memory_gb": 2.233,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.064,
+   "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/roboarc-knot-untying-06-i01-privileged--2shmntt/replay.mp4",
+  "duration_s": 2.6,
+  "fps": 15.0,
+  "frames": 39,
+  "sha256": "c07203196007cefb7512cedf3fffc0d10aabd34868f741ae941eb8ad68347216"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视图中，橙色绳子左端位于灰色固定夹下，中央保留多个相互重叠的线圈；左右夹爪均停在绳子两侧，未夹住绳体。"
+     },
+     {
+      "t": 2.533,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–2.533 s 的全部39帧，包含视频 1.6–2.533 s 的末段；双臂未伸向绳子，中央重叠线圈及自由端位置基本不变，从未出现解开铺平的形态。成功参考视频 60.8 s 在同一主视图中呈现各段分离的长弯曲线，说明本次未展开的线圈清晰可辨。"
+     },
+     {
+      "t": null,
+      "log_step": 104,
+      "text_zh": "观察：log step 57、79 的保存代码只录制 hold(20) 静止持姿；log step 83 执行该脚本，log step 104 的基线重放结果为 rows=20、strict_success=false、all_success=false。评分器最终同样报告 submitted_actions=20、strict_goal_reached=0、deterministic=1，与视频中的静止基线一致；会话后续抓取和牵拉实验不属于这段交付视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 0.0,
+   "log_step": 104,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–2.533 s 中机器人双臂始终停在橙色绳子两侧，没有靠近、夹持或牵拉，中央重叠线圈一直存在；log step 104 验证的交付基线只有20行持姿动作，解结铺平步骤尚未启动。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 104,
+    "evidence_zh": "观察：视频 0.0–2.533 s 全部39帧均未见机器人对绳子开展操作，夹爪与绳子保持分离，线圈未展开；log step 57、79 编写的是仅 hold(20) 后保存的基线，log step 104 重放该20行基线且未成功。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 未提供状态日志，评分器未报告DAG所列六项原生几何、速度和漂移实测值，故指标记为null；可见重叠线圈已经足以判定节点未达成。推断：保存代码及20行重放支持最终交付为静止基线，但后续会话包含多种独立解结实验，末条 agent 自述仍在等待换手牵拉实验完成（log step 499）；没有足够证据把基线未被替换进一步归因于某个具体控制、规划或交付操作错误，因此根因留空。"
+ },
+ "summary_zh": "观察：评分轨迹只执行静止持姿，视频 0.0–2.533 s 内双臂未接触或牵拉绳子，中央重叠线圈始终保留，绳子解开铺平节点最终为0/1。推断：交付与 log step 57、79 所写、log step 104 所重放的20行基线一致，断点为该节点的首步前，现象为没尝试；后续会话实验不能计入本次进度。观察：无状态日志及六项原生指标实测值，现有记录也不足以确定基线最终保留的具体根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频仅为20行静止持姿，双臂未动，绳子中央重叠线圈始终存在，节点未达成；断点首步前/没尝试，根因留空并写 gap_zh，符合 FAIL-22，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": "2026-10-30T23:46:30Z",
+  "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/roboarc-knot-untying-06-i01-privileged--2shmntt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--2shmntt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e354120fc92b1e0805dd194d4f370f5314dbff8b2f028b62a906029d4997edcf",
+   "video_sha256": "c07203196007cefb7512cedf3fffc0d10aabd34868f741ae941eb8ad68347216",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--a4e4b3c.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--a4e4b3c.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e83eb78fd8bdb2a52e3d26048b897fc9e8a465
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--a4e4b3c.json
@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--a4e4b3c",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 10,
+   "submitted_actions": 10,
+   "sim_steps": 90,
+   "physics_steps": 450,
+   "sim_time_s": 2.249999999999996,
+   "final_reward": 0.0,
+   "replay_wall_s": 96.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
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+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 1,
+   "agent_sim_steps": 10,
+   "agent_records": 1,
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+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
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+   "peak_memory_gb": 2.049,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.071,
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+   "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/roboarc-knot-untying-06-i01-privileged--a4e4b3c/replay.mp4",
+  "duration_s": 2.333,
+  "fps": 15.0,
+  "frames": 35,
+  "sha256": "e2e9ed2752809f4c511e23e3f69c1cb0ec06730f7176e53671c883ef716d7f27"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视图中橙色绳子左端仍由灰色桌面夹具固定，中央有多个相互交叉的重叠绳圈；机器人左右夹爪均停在绳子两侧，与绳子分离，尚未形成解开铺平状态。"
+     },
+     {
+      "t": 2.267,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.00–2.27 s 的全部35帧，包括视频 1.33–2.27 s 的末段；机器人双臂未接近或操作绳子，中央重叠绳圈始终保留，终帧也未展开。成功参考视频 60.8 s 的对应主视图可见绳段已分离成宽弯；本次未出现该形态。"
+     },
+     {
+      "t": null,
+      "log_step": 35,
+      "text_zh": "观察：log step 35 的脚本只录制 hold(10)，随后停止录制并保存轨迹；评分器字段 submitted_actions=10、replay_hold_steps=80、strict_goal_reached=0，与本次短暂静止回放一致。log step 45 另建调试会话，之后的抓取、牵拉与恢复检查点不属于视频中的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 318,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–2.27 s 仅显示初态持姿，解绳操作未启动；log step 35 保存的是用于计时的10步持姿基线，后续日志无替换该交付文件或验证最终回放的记录，评分器 agent_replays=0。log step 318 明确报告模型提供方过滤中断；中断时 agent 仍在调试，未形成经过保存并验证的最终解法，无法定位评分尝试中的物理失败动作。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 318 为模型提供方过滤中断，log step 314 仍在恢复检查点并测试抓取；完整日志中只有 log step 35 将10步持姿基线保存为交付轨迹，评分器 agent_replays=0，未见最终解法另存及验证。推断：依外部中断规则及 DECISIONS.md D37，不能把该未完成交付前的过滤中断归为机器人“没尝试”、控制或交付根因，故断点未知、现象及根因留空；基线回放中可直接判断的未完成节点仍照实标注。观察：inputs/ 无状态日志，评分器也未报告DAG所列六项原生几何、速度和漂移指标；毫米级条件不可核实，但全片可见的绳圈交叉已足以判定节点为假。"
+ },
+ "summary_zh": "评分回放仅包含静止基线，视频 0.00–2.27 s 双爪始终远离绳子，中央交叉绳圈未展开，绳子解开铺平节点最终为0/1。log step 35 保存10步持姿轨迹，后续调试未见重新保存或最终回放验证，log step 318 被模型提供方过滤中断；按外部中断规则保留未知断点，不归因于机器人失败。无状态日志及原生毫米级测量，相关指标留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点为假、视频只有静止持姿均与帧一致；日志中仅 step 35 保存了 10 步持姿基线，之后无重新保存或回放验证，step 318 为提供方过滤中断，按外部中断规则留空断点与根因合理。",
+    "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": "2026-10-30T23:47:27Z",
+  "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/roboarc-knot-untying-06-i01-privileged--a4e4b3c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--a4e4b3c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e0d35a27c512fe967548df15c50825ef6079727e67b793cd5bd820f1bb549263",
+   "video_sha256": "e2e9ed2752809f4c511e23e3f69c1cb0ec06730f7176e53671c883ef716d7f27",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--b5lkyyb.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--b5lkyyb.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd43f3e13ac3345e8f7d596f1df6c8a3ec490d80
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--b5lkyyb.json
@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--b5lkyyb",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
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+   "forcing_events": 0,
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+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 157,
+   "submitted_actions": 157,
+   "sim_steps": 237,
+   "physics_steps": 1185,
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+   "replay_wall_s": 196.8,
+   "replays": 2,
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+   "replay_tolerance_needed": 0,
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+   "strict_goal_row": 0,
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+   "agent_sessions": 9,
+   "agent_resets": 9,
+   "agent_sim_steps": 10078,
+   "agent_records": 13,
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+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.045,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.247,
+   "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/roboarc-knot-untying-06-i01-privileged--b5lkyyb/replay.mp4",
+  "duration_s": 6.0,
+  "fps": 15.0,
+  "frames": 90,
+  "sha256": "4625114146ea960b0ff0f7431823f24c24b0f4b758f0216c8959a0560a0e5baf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频0.00 s显示橙色绳子左端由灰色夹具固定，中央有多个重叠绳圈，右侧自由绳段弯向桌面前方；初态不满足无交叉铺平条件。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查本次视频0.00–5.93 s，右臂向右前方移动，右爪在视频约0.53–1.00 s于绳段右侧空处闭合，随后继续移向画面右缘；左臂未操作绳子，未见任一夹爪夹住、抬起或牵动绳段。"
+     },
+     {
+      "t": 5.93,
+      "log_step": null,
+      "text_zh": "观察：本次视频5.00–5.93 s的主视图及侧视图仍显示初始中央重叠绳圈，绳子未被展开。成功示例视频60.80–61.33 s则显示绳段铺成分离的长曲线且中央线圈消失；本次所缺宏观形态在相同视图中可以辨认。评分器strict_goal_reached=0，与本次视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：本次视频0.00–5.93 s中，右侧二指夹爪执行移动和空闭合，但与橙色绳子保持分离，左爪未操作绳子；未建立对绳子的抓握、推压或拖动接触。桌上固定夹具不是机器人效应器。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 0.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：本次视频约0.53–1.00 s，右爪在橙色绳段右侧空处闭合并移开，没有把绳子夹入指间；此后直到视频5.93 s结束，中央绳圈始终未展开，解结铺平步骤未得到修复。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 0.8,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频0.40–1.00 s中右爪靠近自由绳段的右侧后在空处闭合，绳段留在原处，爪内没有绳子；视频1.00–5.93 s中右爪继续移向右侧，绳子的中央线圈及自由端均未被牵动。整个评分尝试没有建立解结所需的夹持接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 87,
+    "evidence_zh": "推断：agent在log step 87编写的save函数把record_stop返回的当前片段覆盖保存到同一个trajectory.npz，随后record_start重新录制，未累计先前动作；log step 95、96、98、99的保存行数分别对应各段，最后log step 99报告save eg9为157行。评分器n_actions=submitted_actions=157、agent_replays=0、deterministic=1；log step 69所读回放实现从reset开始执行。因而交付的是依赖会话中已移动绳子状态的末段动作，缺少把初态变到该状态的前序动作；这解释本次视频0.00–5.93 s右爪在原绳子外空抓而非日志会话中的拉绳。log step 100仍只见eg9保存，未见final保存成功记录。",
+    "source_zh": "日志 / 评分器字段 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告DAG列出的六项原生几何、速度、漂移或净距指标，无法量化毫米级条件；但全程可见的中央绳圈足以判定节点从未完成。末段eg9与实际交付的对应由保存代码、157行动作数及视频行为共同推断，未提供交付动作数组供逐行核对。日志中的多轮拉绳与交叉数属于会话试验，不能当作本次评分视频的节点进度或原生指标。"
+ },
+ "summary_zh": "观察：本次评分视频中右爪在绳段右侧空闭合后移开，中央重叠绳圈在视频0.00–5.93 s始终保留，解结铺平节点完成0/1。推断：保存函数反复重启录制并覆盖轨迹，最终157行片段缺少前序动作，从初态回放时未建立抓绳接触，根因为交付操作出错。无状态日志及原生毫米级测量，但宏观未解结可直接判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点未达成、无接触、断点与根因（保存函数覆盖轨迹，只交付末段eg9共157行，与n_actions=157吻合）均有视频和日志支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:50:04Z",
+  "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/roboarc-knot-untying-06-i01-privileged--b5lkyyb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--b5lkyyb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "4625114146ea960b0ff0f7431823f24c24b0f4b758f0216c8959a0560a0e5baf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--be8xtlk.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--be8xtlk.json
new file mode 100644
index 0000000000000000000000000000000000000000..283bcf8c8c3238c9a3917593fc470e9ae317412f
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--be8xtlk.json
@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--be8xtlk",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 3698,
+   "submitted_actions": 3698,
+   "sim_steps": 3778,
+   "physics_steps": 18890,
+   "sim_time_s": 94.45000000000435,
+   "final_reward": 0.0,
+   "replay_wall_s": 5617.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 5,
+   "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": 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/roboarc-knot-untying-06-i01-privileged--be8xtlk/replay.mp4",
+  "duration_s": 94.533,
+  "fps": 15.0,
+  "frames": 1418,
+  "sha256": "9d68a9542507b37c3dda03654e18a47a57edcdeb6e14169f7f512148d05be7de"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙绳一端在灰色桌面夹具下固定，中央已有多个交叠绳环，初态不满足无投影交叉。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–8.0 s，右侧二指夹爪合拢夹住中央绳段、抬起并向右搬移后松开，绳环有所松散但仍交叠；视频 12.0–19.0 s 左侧夹爪接着夹持和搬移固定端附近绳段。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–67.5 s，机器人主要用右爪反复夹起、搬移和释放绳段，固定端至操作区的绳段逐渐拉长，但操作区一直保留交叉小环；视频 40.5–46.5 s 可见右爪向右下铺绳时环与回折仍集中在爪旁。"
+     },
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "观察：视频 68.0–82.0 s 左爪继续搬移绳段，随后视频 84.0–90.0 s 右爪处理末端；这些操作结束后绳子仍有大环和中央小环交叉，没有展开成各段分离的平面曲线。"
+     },
+     {
+      "t": 94.2,
+      "log_step": null,
+      "text_zh": "观察：视频 91.0–94.4 s 双爪已张开撤离，固定端仍在夹具下；主视图及右上侧视图均可见绳子呈左右大环与下方小环相互交叠，末秒逐帧检查仍未消除。对照仅用于辨认目标形态的成功参考视频 61.2 s，其绳段已展开成分离的长曲线；本次未出现该无交叉形态。"
+     },
+     {
+      "t": null,
+      "log_step": 82,
+      "text_zh": "观察：log step 82 保存 3698 行原录制轨迹，服务状态 success=False、progress=0.0；log step 85 明确修复后缀未保存。评分器字段 n_actions=3698、deterministic=1、strict_goal_reached=0，与本次视频始终保留交叉的观察一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–8.0 s 右侧平行二指夹爪夹住中央橙绳段，视频 12.0–19.0 s 左爪夹住固定端附近绳段；之后两爪轮流单爪夹持、抬起、搬移、降低并释放绳段（右爪主要在视频 20.0–67.5 s，左爪在视频 68.0–82.0 s），另一爪停放。未见两爪同时夹持绳子的协同操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 41.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 40.5–46.5 s，机器人右爪将绳段向右下方铺放，但爪旁仍聚集交叉和回折的绳环；后续换爪继续铺绳也未修复，视频 91.0–94.4 s 两爪撤离后多个交叉仍清晰存在。断点为绳子解开铺平这一步，视频 41.0 s 是铺绳未能消除交叉的操作锚点。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 41.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 40.5–46.5 s 机器人右爪搬移绳段后，绳子仍局部回绕、交叠；视频 63.0–68.0 s 已铺段与剩余绳环聚成多个相交环，视频 82.0–94.4 s 最终仍呈左右大环加中央小环的交叉形态。机器人未把整绳布置成所需的无投影交叉曲线。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 59,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 55 的最终脚本按材料序号从固定端向末端逐段搬至预设曲线，每段释放后继续下一段；log step 59 只稀疏化站点和缩短动作，仍保留该顺序，log step 63、70 将此脚本用于交付录制。该策略只以实时绳位瞄准抓点，没有在后续牵拉时固定已铺段或按回缩重排目标；视频 40.5–68.0 s 可见绳环随搬移聚集而未保持预设展开形态。agent 在 log step 84、89 自述已铺段回缩并认为升序铺放策略有误，与视频结果一致，支持铺绳顺序及对绳段耦合的规划不足。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器 reward 未报告 DAG 所列六项原生几何、速度、漂移与净距数值，因此 native_metrics 均留 null。log step 80 的自编 check 输出属于录制会话诊断，不当作评分器重放的精确测量。视频足以确认未消除宏观交叉，但不能独立验证毫米级贴桌、净距或静置阈值，也不能量化回缩的张力和摩擦机制；规划根因是结合脚本、视频及 agent 事后自述的推断。"
+ },
+ "summary_zh": "机器人先用右爪抬移中央绳环，再由左右夹爪轮流将绳段铺向预设曲线，但整绳始终未达到无投影交叉的形态，最终完成 0/1 节点。断点在解开铺平绳子的操作中：顺序铺绳未保住已铺段的展开布局，末秒双爪撤离后仍有多个交叠绳环；脚本与视频支持铺放顺序及绳段耦合的规划不足。无状态日志且评分器未给出六项精确指标，毫米级验收与回缩力学机制无法独立核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点与单爪抓握接触标注均与视频一致；末帧仍有交叉环，log 82/84/85/89 与引用相符。",
+    "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": "2026-10-30T23:47:45Z",
+  "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/roboarc-knot-untying-06-i01-privileged--be8xtlk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--be8xtlk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e211e6002bb17a66aa4998a5b09367c28fe35cfecc45fdf7f470784fecd09a26",
+   "video_sha256": "9d68a9542507b37c3dda03654e18a47a57edcdeb6e14169f7f512148d05be7de",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--ftf63tw.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--ftf63tw.json
new file mode 100644
index 0000000000000000000000000000000000000000..30bd95e421932086723ce449c04ed05419815ad0
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--ftf63tw.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--ftf63tw",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 729,
+   "submitted_actions": 729,
+   "sim_steps": 809,
+   "physics_steps": 4045,
+   "sim_time_s": 20.22499999999992,
+   "final_reward": 0.0,
+   "replay_wall_s": 737.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 41,
+   "agent_resets": 35,
+   "agent_sim_steps": 7063,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.849,
+   "peak_memory_gb": 2.229,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.072,
+   "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/roboarc-knot-untying-06-i01-privileged--ftf63tw/replay.mp4",
+  "duration_s": 20.333,
+  "fps": 15.0,
+  "frames": 305,
+  "sha256": "98cc6f202e57df6822ee886c30268293c3b666e9ef063b33c672e7a155f57977"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主俯视图显示橙色绳子的固定端位于灰色夹具下，中央有多条相互交叉、重叠的绳圈，初态未解开。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–8.0 s，机器人右侧二指夹爪夹住靠近自由端的绳段并向画面右下方牵引；右腕画面显示绳段被夹在两指之间，绳尾随夹爪移动，中央交叉绳圈仍留在原处。左爪未接触绳子。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 8.5 s 右爪张开释放，视频 9.0 s 已空爪撤回；视频 9.0–20.27 s 中央重叠绳圈始终可见。已检查视频 19.33、19.80、20.27 s 的末段帧，交叉未消除，节点从未达到。"
+     },
+     {
+      "t": 20.27,
+      "log_step": 213,
+      "text_zh": "观察：log step 207 保存最终 729 行轨迹，log step 213 对同一文件重放，服务返回 success=False、strict_success=False、success_in_hold=False；评分器字段 strict_goal_reached=0、deterministic=1，与视频末态仍有中央交叉一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.0–8.0 s 机器人右侧二指平行夹爪夹持靠近自由端的一段橙色绳子并外拉，随后约视频 8.5 s 松开。左爪未参与接触，固定端由桌面灰色夹具约束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 8.5,
+   "log_step": 194,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.0–8.0 s 机器人右爪牵拉自由端附近绳段，只改变外围绳尾的形状；约视频 8.5 s 开爪释放时中央交叉绳圈仍在，视频 9.0 s 两爪撤离后至视频 20.27 s 也没有补救。log step 194 的最终生成脚本安排抓取、外拉、抬起、释放和归位，没有解开中央交叉的后续动作。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "绳圈交叉残留",
+    "t": 8.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.0 s 右爪仍夹持绳段时，中央多重绳圈仍互相交叉；视频 9.0 s 释放撤手后及视频 19.33–20.27 s 末段，中央形态仍为重叠线圈，外围绳尾被拉长但线圈没有展开。",
+    "note_zh": "候选现象“绳圈交叉残留”：可见问题是柔性绳体的交叉拓扑和重叠形态保留，现有条目没有材料解结结果类；视频不能证明接触力异常或碰撞阻断，单一物体的位姿偏差也不能准确表达这一结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 194 的最终脚本只夹住自由端附近绳段，向两个外围目标点外拉，再抬起、释放、归位和等待，没有安排穿回自由端、分离中央绳环等改变交叉关系的动作序列；视频 5.0–9.0 s 核对到的实际动作与该脚本一致，中央交叉保留。agent 在 log step 216 自述未能找到所需的穿环解结顺序，并明确承认所交轨迹未满足目标。因此本次失败归于解结动作序列未规划出来；log step 111 的先前独立牵拉实验也已报告交叉未减少，仅作为会话层面的策略证据。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "未提供状态日志；评分器未报告 DAG 中六项原生几何、净距、速度及漂移指标，native_metrics 均置 null。日志里的 DIAG 数值属于独立会话实验，不能当作最终评分重放的测量；视频也不能精确核实毫米级阈值，但清楚可见的中央交叉足以判定节点未达成。"
+ },
+ "summary_zh": "机器人右爪成功夹住并外拉自由端附近绳段，随后松开撤回，但中央重叠绳圈从初态一直保留到视频 20.27 s，绳子解开铺平节点最终为 0/1。断点为约视频 8.5 s 仍未解开交叉便释放；最终脚本缺少改变交叉关系的动作序列，结合 agent 在 log step 216 的解结顺序自述，根因为推理/规划。无状态日志及最终原生毫米级测量，但视频中的交叉残留与最终重放失败一致。",
+ "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（0/1）、右爪抓握外拉后释放、中央交叉保留至末帧均与视频一致；断点、现象与根因（推理/规划，已标为推断）有日志与视频支持，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": "2026-10-30T23:54:15Z",
+  "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/roboarc-knot-untying-06-i01-privileged--ftf63tw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--ftf63tw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6394e2cc99877864290da853d56617c4f9a781e0b319fc24979e6eb6e89efe35",
+   "video_sha256": "98cc6f202e57df6822ee886c30268293c3b666e9ef063b33c672e7a155f57977",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--msdv25d.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--msdv25d.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80997c1255562715e06068ac534063a528dac54
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--msdv25d.json
@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--msdv25d",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1045,
+   "submitted_actions": 1045,
+   "sim_steps": 1125,
+   "physics_steps": 5625,
+   "sim_time_s": 28.12499999999947,
+   "final_reward": 0.0,
+   "replay_wall_s": 2604.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "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/roboarc-knot-untying-06-i01-privileged--msdv25d/replay.mp4",
+  "duration_s": 28.2,
+  "fps": 15.0,
+  "frames": 423,
+  "sha256": "7b6a6cc16522d2b869cf60df56cc04f217b190e15e0b3cc54b42e45c19e3f1fd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，灰色固定夹右侧的橙色绳子已有多重交叉线圈，初态不满足解开铺平。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.0–7.7 s，机器人右侧二指夹爪夹住自由端附近绳段，绳端随爪离开原来的桌面位置，被移向中央线圈后放下；中央交叉仍在。"
+     },
+     {
+      "t": 16.3,
+      "log_step": 127,
+      "text_zh": "观察：视频 9.3–12.7 s，机器人左爪夹住并抬起中央绳环，随后放回；视频 14.0–18.7 s，左爪重新夹住自由端附近绳段并向画面左侧牵引，绳环随之向固定端一侧移动，仍保持交叉和重叠。log step 127 的脚本从 c_s2 检查点开始，命令左爪抓尾段并逐段向负 x 方向牵引；这段动作与视频相符。"
+     },
+     {
+      "t": 28.13,
+      "log_step": 139,
+      "text_zh": "观察：视频 22.0–26.3 s 的换抓、牵引后，直到视频 27.0–28.13 s 每帧，固定夹右侧仍有明显相交、贴叠的绳环；左爪仍夹着另一段绳子，腕部视图可见绳段进入合拢的两指之间，未见最终释放。log step 139 保存 c_k3 的 1045 行动作，服务 success=False；inputs/run.json 的评分器字段 strict_goal_reached=0、success=0，与可见未达形态一致。"
+     },
+     {
+      "t": null,
+      "log_step": 140,
+      "text_zh": "观察：log step 139 已保存最终 1045 行文件；log step 140–143 随后才试验把绳段向另一侧搬移，log step 144 的生成脚本仍读取已保存的动作数组，log step 145 自述交付未完成。后续试验不计入本次视频节点进度，也不以 agent 所称“拓扑已解开”作为节点达到的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.0–7.7 s 右侧二指夹爪夹取、搬动自由端附近绳段并释放；视频约 9.3–12.7 s 左侧二指夹爪夹住中央绳环抬起后放回，视频约 14.0–28.13 s 左爪又先后换抓尾段并牵拉。绳段随合拢的夹爪移动；两爪是先后操作，未见同时夹持协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 16.3,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 15.7–18.7 s，机器人左爪把所夹绳段向固定端方向拉，中央交叉线圈也随之向左移动，未铺开为分离曲线。视频 20.0–26.3 s 再次换抓牵拉后仍有交叠，视频 27.0–28.13 s 保持该未完成形态且左爪仍持绳；这一步始终没有完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留交叉/重叠",
+    "t": 16.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 16.3–18.7 s，机器人向左牵拉后桌面上仍是数段相穿、贴叠的绳环；视频 22.7–28.13 s 可见固定夹右侧的重叠环及交叉点，未出现各非局部绳段分开的平面曲线。",
+    "note_zh": "候选名称：残留交叉/重叠。现象是柔性绳子的形态没有理开，未见可确认的固定物阻挡或异常力；现有接触、运动条目不能准确表达这种残留形态，因此使用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 16.3,
+    "log_step": 127,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 15.7–18.7 s 显示左爪单点牵引尾段时，交叠绳环一起向固定端一侧移动，右爪停在旁边，没有约束另一绳段来形成分离运动；视频 21.0–22.7 s、25.0–26.3 s 的后续单爪牵拉虽拉长外侧绳段，残余交叠环仍保留。log step 127、132、135 的交付分支均采用左爪抓尾段并向负 x 方向拉的接触布局，与这些画面吻合。该布局主要拖动成组绳段，未有效产生解开重叠所需的绳段相对运动；归为抓取和接触设计。",
+    "note_zh": "是否存在可行替代：未知。未在本次交付的同一中间绳形上验证替代抓点或对持方案；不把会话中未交付的试验当作已验证替代。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告 DAG 所列六项原生几何、速度及漂移指标，故这些数值均为 null；不能从画面核实毫米级净距、速度、漂移或连续确认窗口。agent 在 log step 144–145 所称“拓扑已解开”及其自编结型检查没有原生认证，不能据此确认物理拓扑；但视频中宏观交叉与未释放已足以判定节点为 false。抓取和接触设计的归因是视频运动与交付脚本相互支持的推断，未测得绳间摩擦力或张力。",
+  "unmet": {
+   "rope_untangled_flat": false
+  }
+ },
+ "summary_zh": "机器人先后用右爪搬自由端、左爪抬环并换抓牵拉，但绳环向固定端一侧收拢后仍有交叉重叠，唯一节点“绳子解开铺平”全程未达到，最终为 0/1。断点在视频约 16.3 s 的牵拉过程中，单点抓取布局未有效分开绳段；视频 27.0–28.13 s 仍见重叠环且左爪持绳。缺少原生毫米级测量与接触力日志，根因属于推断；保存文件后的会话试验未计入评分轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点 rope_untangled_flat 全程未达成，与视频（28 s 末帧仍有交叉绳环、左爪持绳）及评分器 success=0/strict_goal_reached=0 一致；接触、断点、根因均有视频支持，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": "2026-10-30T23:46:01Z",
+  "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/roboarc-knot-untying-06-i01-privileged--msdv25d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--msdv25d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5ea9f41ab08d81486df2c5239bbd94cb1bac02529240548b0237b9a71e9187b3",
+   "video_sha256": "7b6a6cc16522d2b869cf60df56cc04f217b190e15e0b3cc54b42e45c19e3f1fd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--4ek3not.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--4ek3not.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95f7d0120e28c74afa28fc4a40226750e208501
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--4ek3not.json
@@ -0,0 +1,229 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--4ek3not",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2040,
+   "live_rows": 2040,
+   "sim_steps": 2040,
+   "physics_steps": 10200,
+   "steps": 1007,
+   "elapsed_s": 10739.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-knot-untying-06-i01-standard--4ek3not/replay.mp4",
+  "duration_s": 51.067,
+  "fps": 15.0,
+  "frames": 766,
+  "sha256": "7568fef675c79a2aa360323521da43e305cd60f82ec665e0dfdd43b29ae0c56f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色绳子一端在灰色桌面夹具下固定，中央有多重交叉、重叠线圈，自由端向右下方弯曲，初始不满足解开铺平。"
+     },
+     {
+      "t": 3.5,
+      "log_step": 34,
+      "text_zh": "观察：视频 2.0–4.5 s，左爪靠近中央绳圈、闭合后向左牵移，再张开抬离；绳圈发生变形和移位，但松手后仍有交叉和重叠。log step 34 的首轮脚本安排抓取内侧绳段后牵拉，画面没有呈现完成解结的结果。"
+     },
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–17.5 s，两夹爪在绳圈两侧闭合并相向配合牵引，随后张开离开，中央仍是重叠线圈；视频 26.0、34.0、36.0 s 的离手画面也仍可见重叠。"
+     },
+     {
+      "t": 50.5,
+      "log_step": null,
+      "text_zh": "观察：视频 48.5–51.0 s，两夹爪夹住不同绳段并向两侧拉开，原线圈被拉成长条，但中央仍有小环和绳段交叉；视频 50.0、50.5、51.0 s 均未显示双爪松开及绳段分离的终态。评分器 reward.success=0、live_success=0，与可见的未达状态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 48.5–51.0 s，左右二指夹爪分别夹住绳圈的不同绳段，闭爪后两侧绳段随夹爪分离而被拉长，形成协同牵引。此前视频 2.0–10.0 s 主要由左爪单独接近、闭爪牵移和释放，之后反复双爪配合；未把所有闭爪动作一概视为抓取成功。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 3.5,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.5–4.5 s，机器人首轮牵移并释放后，中央线圈仍有重叠和交叉；以该次未成功的牵拉作为导航锚点。随后机器人持续操作同一步，视频 17.5、26.0、34.0 s 的离手状态仍未消除重叠；最后视频 50.5–51.0 s 虽将绳圈拉长，中央仍相交且双爪尚未释放，这一步始终没有修复完成。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.5,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 3.5–4.5 s，机器人牵拉改变了中央绳圈的位置和形状，却留下互相覆盖的环；视频 17.5、26.0、34.0 s 的后续释放也保留该形态缺陷。视频 50.5–51.0 s 最后一轮双爪外拉将环拉窄、拉长，但固定端引出的绳段与长条绳段仍在中央交叉，没有形成各段分离的平面曲线。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本目录没有状态日志；评分字段未报告 DAG 所列六项原生几何、速度、漂移和机器人净距指标，也没有逐次抓持绑定或接触力记录。log step 40、104、125、195 有 agent 脚本根据本体感觉计算的命令与实际夹爪位置差异，但这些会话诊断不足以证明最终交叉残留究竟由拓扑规划、抓点选择还是运动跟踪造成，故根因留空；局部夹持细节和毫米级验收条件无法独立核实。节点为 false 依据可见交叉与未释放，而非仅凭零分。"
+ },
+ "summary_zh": "机器人先以左爪牵移中央绳圈，再反复用双爪夹持不同绳段协同牵拉，“绳子解开铺平”始终未达成，最终为 0/1。视频 3.5–4.5 s 首轮牵拉后仍有重叠；最后视频 50.5–51.0 s 虽拉长绳圈，中央仍有交叉且尚未松手，断点为该步骤操作中，现象为位姿不准。缺少原生接触与验收测量，无法可靠确定更具体的根因。",
+ "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 false、断点（操作中）、双臂协作抓握的接触标签与视频一致：视频 0–51 s 中心绳圈始终交叉重叠，末帧仍有交叉且双爪未松开；根因留空并附 gap_zh 合理（无状态日志，无法区分规划与执行）。位姿不准作为现象略勉强，但视频无法支持更具体的替代，不要求修改。",
+    "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": "2026-10-30T23:54:10Z",
+  "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/roboarc-knot-untying-06-i01-standard--4ek3not/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--4ek3not/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "824a095e9c3a6b8d10db8e19c009b72969a255ae2b8735e91fe86039130351cc",
+   "video_sha256": "7568fef675c79a2aa360323521da43e305cd60f82ec665e0dfdd43b29ae0c56f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--6zdjkmj.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--6zdjkmj.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3283ba8cccde28a4f7b6604659e66284c03fdda
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--6zdjkmj.json
@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--6zdjkmj",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5508,
+   "live_rows": 5508,
+   "sim_steps": 5508,
+   "physics_steps": 27540,
+   "steps": 1372,
+   "elapsed_s": 9244.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-knot-untying-06-i01-standard--6zdjkmj/replay.mp4",
+  "duration_s": 137.8,
+  "fps": 15.0,
+  "frames": 2067,
+  "sha256": "ded7e064be19c621679495fb66dd04737c218ab243064353903e3a0ccf3a6ada"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色绳左端在灰色固定夹下，中央有多重交叉线圈，自由端向右前方弯曲，初态未解开。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 45,
+      "text_zh": "观察：视频 16.0–21.5 s，右夹爪夹持右侧绳段，左夹爪闭合后牵拉中央绳段，线圈被拉长并移位，但交叉仍在；log step 45 的 s2 脚本安排左爪抓住内侧段后向前牵拉、再松开。"
+     },
+     {
+      "t": 64.0,
+      "log_step": 89,
+      "text_zh": "观察：视频 55.0–64.0 s，两夹爪分别夹住中央不同绳段，左爪向前牵引，绳段和线圈一起变形；左爪释放后中央仍有交叉。log step 89 返回服务 done=false、reason=None。"
+     },
+     {
+      "t": 101.5,
+      "log_step": 118,
+      "text_zh": "观察：视频 96.0–101.5 s，左夹爪向绳端下探、闭合并转向中央，原来位于线圈左上方的短绳端仍留在原处，没有随爪完成搬运；log step 118 的 s12 脚本原定抓端、抬升、旋转并移动到中央。"
+     },
+     {
+      "t": 137.73,
+      "log_step": 137,
+      "text_zh": "观察：视频 136.8–137.73 s，双夹爪已张开，绳子中央仍有相互重叠的环和交叉；log step 137 的末次服务返回 done=false、reason=None。成功参考视频 60.8 s 的中央线圈已经展开成彼此分离的曲线；本次视频没有出现该形态，故节点始终未达，非仅依据评分为零。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.0–20.0 s，右二指夹爪夹住右侧绳段，左二指夹爪夹住中央段并牵拉；视频 55.0–64.0 s 双爪再次分别夹持绳段配合牵引。早期右爪单独夹起自由端附近绳段、晚期左右爪依次换抓和松开；部分晚期抓端动作未实际带起绳端。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 20.0,
+   "log_step": 45,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.0–21.5 s，机器人左爪牵拉内侧绳段、右爪夹住另一段，中央线圈被整体拉动而未展开；之后反复换抓、抬环和穿尾尝试仍未消除交叉，直到视频 137.73 s 都未修复。log step 45 记录这次牵拉脚本；log step 142 中 agent 也自述未解开绳结。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 98.5,
+    "log_step": 118,
+    "evidence_zh": "观察：视频 96.0–101.5 s，左爪执行下探闭合、抬起和旋转动作，但目标短绳端留在线圈左上方，没有随爪转移；视频 104.0–110.0 s 的再次抓端也未将该绳端带走。这里指这两次换抓未建立可搬运绳端的夹持，并非说整个运行从未夹住绳子；log step 118、123 分别记录两次抓端脚本。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，服务及评分器未报告 DAG 所列六项原生几何、速度和漂移指标，故其数值为 null；毫米级贴桌、净距和确认静止阈值不能从视频精确复核，但可见交叉足以判节点为假。首次牵拉的具体失败机理无法判别：视频 16.0–22.0 s 可见左爪牵拉时绳环随之变形、移位，交叉保留，但这不能单独证明运动落点或姿态偏差，也不能确定是解结策略错误、抓取和接触布局不适配，还是执行中未产生所需的相对滑动。log step 45 的 s2 脚本给出闭合、牵拉、松开的位姿序列；开环序列本身不证明策略不可行。log step 142 关于“摩擦使整个结随拉动移动”的诊断是 agent 自述，未获接触力或绳段相对滑动测量的独立验证；是否存在可行替代方案为未知。按 docs/03_trajectory.md Step 3.3 的判别次序，现有证据不足以在规划、抓取和接触设计及执行控制之间选定根因，故 root_causes 留空。视频 96.0–110.0 s 的两次抓端失败是同一未完成节点内后续尝试的可见现象，不能倒推为视频约 20.0 s 首次牵拉失败的原因；晚期抓端未带起绳子的原因也不能进一步区分为夹指接触几何、定位误差或跟踪误差。绳结内部的接触力与辅助抓取绑定未完整记录。log step 67 的服务强迫接触读数和评分器 forcing_events=3 不等于 forced_breakdown，评分器 simulator_instability=0、infra_error=0；此处不将已退开恢复的爪间碰撞另作最终失败原因。"
+ },
+ "summary_zh": "双臂实际夹持并反复牵拉、换抓和抬动绳段，但中央交叉线圈始终未展开，“绳子解开铺平”最终为 0/1，视频 137.73 s 松手后仍有明显交叉。断点保留在视频约 20.0 s 的首次牵拉，后续两次抓端又未带起目标绳端；这些后期现象不能解释首次牵拉的失败原因。缺少状态日志、接触力及绳段相对滑动测量，首次牵拉无法区分规划、接触设计或执行问题，根因留空，置信度由 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": "节点值（未达、final=false）、时钟、log step 编号与断点 ref 均与视频一致；问题在 why 层：phenomena[0]“位姿不准”只是重述未达成的结果，根因 控制 只解释 98 s 之后的抓端失败，没有解释断点（约 20 s 的牵拉）处的失败。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、final=false 与视频一致（21 s、137 s 帧中央仍有交叉线圈）；第 1 轮问题已按证据修正，根因留空并在 gap_zh 说明理由，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": "2026-10-31T00:14:53Z",
+  "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/roboarc-knot-untying-06-i01-standard--6zdjkmj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--6zdjkmj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--6zdjkmj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--6zdjkmj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c29f7c03d2f6af2d71c6562c2bb534225d8bae161b25dfe8c9fefe191dbea02",
+   "video_sha256": "ded7e064be19c621679495fb66dd04737c218ab243064353903e3a0ccf3a6ada",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--b9ilfvk.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--b9ilfvk.json
new file mode 100644
index 0000000000000000000000000000000000000000..522c06c24b2ccb23bfa5116f1d5a71c52fa15d5a
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--b9ilfvk.json
@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--b9ilfvk",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5038,
+   "live_rows": 5038,
+   "sim_steps": 5038,
+   "physics_steps": 25190,
+   "steps": 1073,
+   "elapsed_s": 10561.6,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-knot-untying-06-i01-standard--b9ilfvk/replay.mp4",
+  "duration_s": 126.0,
+  "fps": 15.0,
+  "frames": 1890,
+  "sha256": "0e01d4111309cc7acf5c16aed441b23a3ee923c0faaef271d747129e9fffbaef"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主俯视图中，橙色绳子一端在左侧灰色固定夹下，中央有多圈交叉重叠，自由端向右下延伸；初始未解开。"
+     },
+     {
+      "t": 29.5,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–36.0 s中，机器人左夹爪数次向中央绳圈和固定端附近绳段下降、闭合、抬起；主视图和左腕图未显示绳段被夹住后随爪抬离桌面，原绳圈及自由端仍留在原处。"
+     },
+     {
+      "t": 112.0,
+      "log_step": 121,
+      "text_zh": "观察：视频94.0–116.5 s机器人右夹爪反复接近自由端侧绳段及中央线圈，视频118.5–121.0 s改由左夹爪接近；绳子没有随夹爪搬走，重叠线圈持续存在。log step 121服务返回双爪开度约0.057 m、done=false；agent自编追踪器在log step 120、131、134输出的crossings=0不是原生成功判定。"
+     },
+     {
+      "t": 124.0,
+      "log_step": 139,
+      "text_zh": "推断：这是同一实时评分局，reward记录graded_by_live=1、sim_startups=1、resumes=0。log step 8服务控制频率为40 Hz，reward.sim_steps=5038对应视频125.95 s，与视频总长126.0 s吻合；log step 139的control_steps=4958对应视频123.95 s，已用视频124.0 s双臂回撤且双爪张开的画面核对。此处只使用控制步计数映射，没有使用agent工作时间。"
+     },
+     {
+      "t": 125.93,
+      "log_step": null,
+      "text_zh": "观察：视频124.0、124.5、125.0、125.5及125.93 s双爪均已撤离绳体，中央仍有清楚可见的交叉重叠圆圈，未出现各段分离的铺平曲线。参考成功视频61.3 s相同视角显示原线圈已展开为无交叉的长弯曲线；本次视频没有这一形态。未达节点的依据是本次持续可见的重叠，不仅是reward.success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频26.0–36.0 s左二指夹爪、视频94.0–116.5 s右二指夹爪、视频118.5–121.0 s左二指夹爪依次尝试夹取橙色绳段；没有可确认的双侧夹紧及随爪运动。爪体在最接近绳子的若干画面遮住指尖接触面，无法确定是否短暂轻触、压到绳体，故实际接触保留未知；不把闭爪指令当作抓握，也不将依次单臂尝试记成双臂协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 27.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约27.5 s机器人左夹爪已在中央绳圈旁执行夹取，随后视频28.0–36.0 s的抬起、再下降没有带走绳段，原重叠线圈保持在桌面。后续右夹爪及末段左夹爪的尝试也未消除重叠，视频125.93 s仍未解开；断点取这一步最早一组可见的失败夹取，时间为粗略导航锚点。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 29.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频27.0–33.0 s左夹爪在绳圈旁闭合并多次抬降，绳子仍在桌上原位置；视频34.5 s左腕图中绳段在指尖前方，夹爪没有将其夹起。视频94.0–116.5 s右夹爪和视频118.5–121.0 s左夹爪再试后，中央绳圈及右下自由端仍未被牵走。推断：解结所需的有效夹持始终没有建立；这里不排除短暂单侧轻触，也没有证据表明曾持住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 57、60、85的服务反馈反复拒绝ee_pose行，明确给出逆解相对当前关节跳到另一分支、超过每行0.5 rad门槛并保持该臂的原因；agent随后在log step 63、88修改为关节轨迹。之后log step 120、131中agent脚本读回右TCP位置与下降目标相差约0.311 m并中止夹取，log step 134中左TCP读回为[-0.059,0.003,0.049] m，目标[-0.055,0.009,0.020] m，仍相差约0.030 m并中止。视频27.0–36.0、94.0–121.0 s对应的多次空手接近与绳子不随爪运动支持接近轨迹/末端到位问题妨碍夹持；不将agent在log step 142对服务缺陷的自述当作已证实的仿真器故障。"
+   }
+  ],
+  "gap_zh": "观察：本目录没有状态日志；视频可确定中央交叉未被消除，但夹爪遮挡和侧栏分辨率限制了瞬时指尖接触的判读，无法可靠区分轻触、按压与完全未触及，故contact_actual保留未知。评分器未报告DAG列出的六项原生几何/速度指标，不能从agent自己的视觉估计或机器人关节速度补填。推断：日志足以支持控制轨迹未到位，但未独立证实具体停滞的底层碰撞位置、力矩状态或逆解实现缺陷。"
+ },
+ "summary_zh": "机器人先后用左右夹爪多次接近绳段，但没有建立可见的有效夹持，绳子中央的交叉重叠始终未展开，“绳子解开铺平”最终为0/1。断点在解结操作中的失败夹取；服务逆解分支拒绝及脚本读回的末端位置误差支持控制·轨迹或逆解归因，末尾撤爪没有修复绳圈。无状态日志及原生毫米级测量，瞬时轻触方式与停滞的具体物理机制仍不确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点、现象与根因均有视频和日志支持：视频0–125.9 s中央交叉线圈始终存在，与成功视频61.3 s的展开形态不同；log step 120/131/134的末端位置误差读回支持轨迹或逆解归因。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": "2026-10-31T00:15:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--b9ilfvk/03_label"
+   },
+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--b9ilfvk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--jnc6e8v.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--jnc6e8v.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de3af7e546ae1ee9db72982428cc220a2c77148
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--jnc6e8v.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--jnc6e8v",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 7899,
+   "live_rows": 7899,
+   "sim_steps": 7899,
+   "physics_steps": 39495,
+   "steps": 1468,
+   "elapsed_s": 9948.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 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": 10,
+   "peak_disk_gb": 0.451,
+   "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/roboarc-knot-untying-06-i01-standard--jnc6e8v/replay.mp4",
+  "duration_s": 197.533,
+  "fps": 15.0,
+  "frames": 2963,
+  "sha256": "002e56211e529acea74a6158a64c32ad3b4729d6d61b2c869e98f537cac1a348"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视图中固定夹右侧的橙色绳子中央有多重重叠线圈，初态不满足解开铺平。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 78,
+      "text_zh": "观察：视频 8.0–12.0 s 右夹爪合拢夹住自由端附近绳段并抬起，绳段随夹爪离开桌面；随后多次换握、牵拉，中央交叉仍在。log step 78 记录机器人执行抬升验证；抓取事实以视频中绳段随动为据。"
+     },
+     {
+      "t": 160.0,
+      "log_step": 235,
+      "text_zh": "观察：视频 140.0–160.0 s 左夹爪夹住中央附近绳段，右夹爪夹住另一绳段向外牵拉，多重线圈缩减为一个较大的环及环侧紧密交叠；视频 158.0–185.0 s 的逐秒画面仍显示该交叉，没有形成各段分离的曲线。"
+     },
+     {
+      "t": 197.4,
+      "log_step": 256,
+      "text_zh": "观察：视频 196.6–197.4 s 双爪最终张开退离，灰色固定夹仍在原处，中央绳环及环右侧交叠仍清楚可见，故松手后仍未解开铺平。log step 256 的服务最终状态为 control_steps=7899、done=false、reason=null；评分器 live_success=0，与可见残留交叉一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–12.0 s 右二指夹爪合拢夹住自由端附近绳段，抬升并牵拉；前段反复单爪换握。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 145.0–160.0 s 左二指夹爪夹住中央绳段，右二指夹爪夹住另一段向外牵拉，两爪分别合拢在不同绳段上。视频 190.0–194.0 s 左爪又夹住环侧绳段调整，右爪继续牵拉。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 75.0–90.0 s 左夹爪闭合的指端压在中央绳圈上方，右爪夹持外侧绳段牵拉；此阶段左爪按压绳团的接触与后段双爪分别夹绳不同。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 163.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 158.0–170.0 s 左爪固定环侧绳段，右爪继续向外拉，中央交叠环未被抽开，右爪下方绳段随后松弛并脱离夹持位置。视频 174.0–196.0 s 再次换握、牵拉和局部调整仍保留该环，视频 197.4 s 松手后交叉也未解除；断点锚定末段牵拉失效的约视频 163.0 s。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 163.0,
+    "log_step": 248,
+    "evidence_zh": "推断：视频 158.0–185.0 s 机器人两爪相对牵拉时，绳子的中央环侧交叠收紧并滞留，后续外侧绳段运动未使该交叠处继续抽开，表现为绳结卡紧、牵拉无法传成解环运动。log step 248 中 agent 也自述“最后两轮没有抽出绳子，结卡紧且抓握滑动”；该自述仅作旁证，未把服务的辅助抓取通用力阈值当作本次实测力。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 163.0,
+    "log_step": 252,
+    "evidence_zh": "观察：视频 158.0–160.0 s 右爪带动绳段向外移动，视频 162.0–164.0 s 右腕画面中绳段已回落为夹爪前方的松弛弯曲，未继续随爪保持固定；视频 194.0–196.5 s 最后牵拉后右指间也无绳段，早于视频 197.2–197.4 s 的主动张爪退离。log step 252 的脚本保持右爪闭合命令0.002，随后其腕图像检测由537降到0并输出LOST，与可见脱持一致；检测值是 agent 脚本输出，非服务持握状态。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，服务未报告绳段接触力、辅助抓取绑定及其解除原因，也未报告DAG列出的六项原生几何和静止指标。视频能确认交叉残留、牵拉停滞及脱持，但不能可靠区分最后绳结未解开主要来自解环路径规划、持绳布局还是辅助抓取执行失效，故根因层留空；不把agent关于力阈值或预算的解释当作已证实根因。毫米级高度、净距、速度及漂移未独立验证，不影响以可见交叉判定节点为假。",
+  "unmet": {
+   "rope_untangled_flat": false
+  }
+ },
+ "summary_zh": "机器人通过单爪换握和双臂牵拉，将中央多重线圈缩减为一个残留绳环，但“绳子解开铺平”始终未达到，最终为0/1节点。视频约163.0 s起末段牵拉遇到卡紧交叠并失去持绳，后续局部调整未解除交叉，视频197.4 s松手后仍有交叠，与评分器success=0一致。无状态日志及原生接触力、抓取绑定和毫米级验收读数，无法可靠细分根因。",
+ "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 rope_untangled_flat 为 false 与视频（0、100、160–197 s 帧中环形交叉始终存在）及评分器 success=0 一致；断点在末段牵拉失效约 163 s、时钟均标明视频；未发现需要修改的内容。接触力异常为标注的推断，证据有限但已声明，未当作观察。",
+    "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": "2026-10-31T00:07:22Z",
+  "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/roboarc-knot-untying-06-i01-standard--jnc6e8v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--jnc6e8v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "61d5879b4ea229bb93b90ab98ce74c003c0d90f13b2cf1e39365cf4d07e21423",
+   "video_sha256": "002e56211e529acea74a6158a64c32ad3b4729d6d61b2c869e98f537cac1a348",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--kkfhp7d.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--kkfhp7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ebf6a9044bf2316a1644ad0703271274e3ffd2
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--kkfhp7d.json
@@ -0,0 +1,236 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--kkfhp7d",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6273,
+   "live_rows": 6273,
+   "sim_steps": 6273,
+   "physics_steps": 31365,
+   "steps": 3787,
+   "elapsed_s": 10828.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 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": 1.143,
+   "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/roboarc-knot-untying-06-i01-standard--kkfhp7d/replay.mp4",
+  "duration_s": 156.933,
+  "fps": 15.0,
+  "frames": 2354,
+  "sha256": "c4187765e35fc63b3cf16558bb22c350b235c6b6d1cb6181f1abacaf65251b44"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙绳左端固定于灰色夹具，中央有多重相互交叉的线圈，自由尾段伸向右下方，初态未解开。"
+     },
+     {
+      "t": 25.4,
+      "log_step": 126,
+      "text_zh": "观察：视频 22.3–27.6 s，机器人左夹爪夹住上方绳弧并向外牵拉，右夹爪夹持尾段；绳弧明显拉长，中央小圈仍有交叉。视频 39.4 s 双爪松开后，中央交叉和右侧折回绳弧仍在。"
+     },
+     {
+      "t": 131.0,
+      "log_step": 486,
+      "text_zh": "观察：视频 124.0–131.0 s，机器人右爪在自由尾端附近闭合和移位、左爪随后在外圈附近移位，绳尾和中央交叉基本未随这组动作改变；agent 在 log step 486 承认此前的两次牵拉只改变手的位置，6毫米指间距是指令闭合值，并未验证持绳。"
+     },
+     {
+      "t": 156.86,
+      "log_step": 587,
+      "text_zh": "观察：视频 150.0–155.0 s，机器人对中央小圈再作短距离牵拉；视频 155.9、156.1、156.3、156.5、156.7、156.86 s 双爪已张开抬起，中央仍有相互交叉、重叠的小圈，固定端仍在夹具下。log step 587 的实时机器人服务（本次单一评分回合的观测接口）最终返回 done=false、reason=null；评分字段 live_success=0、success=0，与可见未解开的形态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.3–27.6 s，左右二指夹爪同时夹持不同绳段，左爪牵拉上方绳弧，右爪保持尾段；视频 24.5–25.4 s 绳弧随左爪伸长。视频 6.5–8.0 s 还有右爪单独夹住尾段向右拉的操作；后续双爪交替换握中央绳段、绳弧及自由尾段。仅空合但绳子不随动的尝试不作为已抓牢的依据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 153.0,
+   "log_step": 575,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 150.0–155.0 s，机器人最后夹取中央小圈并向左短拉，改变了外圈大小却未消除小圈交叉；视频 156.86 s 松爪抬起后仍保留中央重叠。log step 584 的 agent 也自述仍有紧凑重叠，随后释放静置，log step 587 服务仍未判成功。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 153.0,
+    "log_step": 575,
+    "evidence_zh": "观察：视频 153.0 s，固定端与长尾之间仍夹着多个交叠小绳圈；视频 154.0–155.0 s 机器人向左牵拉中央绳段，视频 156.86 s 松手后小圈仍相互交叉、局部重叠，没有展开成各段分离的平面曲线。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：关键抓取与牵拉未可靠建立并验证持绳，使若干计划中的解结动作没有传递到绳体。视频 124.0–131.0 s 夹爪在尾端和外圈附近闭合、移动，绳体基本不随动；log step 463 的脚本为尾端设定TCP高度0.024米，log step 465 服务实际读数约0.035米，log step 468 指间距收敛至脚本命令的0.006米；agent 在 log step 486 承认这些是空夹、先前牵拉未带动绳子。后续视频 150.0–155.0 s 虽能拉动中央绳段，仍未解除交叉。因此归于抓取执行及反馈方面的控制问题；现有证据不足以把整次失败进一步唯一细分为接触设计、轨迹跟踪或反馈控制。",
+    "source_zh": "视频 / 日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；评分字段未报告DAG所列六项原生几何、速度、漂移和净距数值，因此 native_metrics 均为 null，不能凭视频核实毫米级联合验收阈值。中央交叉在多视图和末尾密集帧中清楚可见，足以判节点未完成；不能仅凭现有画面确定每次空夹的具体接触几何或剩余绳圈的完整上下穿绕关系，故根因停留在控制大类。"
+ },
+ "summary_zh": "机器人曾单爪牵拉自由尾段、双爪分别夹持绳弧与尾段并反复换握，绳子部分展开，但“绳子解开铺平”始终未完成，最终为0/1。视频 150.0–156.86 s 最后牵拉及松手后，中央仍有交叉、重叠小圈；多次空夹和未验证持绳的牵拉表明控制执行与反馈存在问题。无状态日志及原生毫米级验收读数，具体控制子类和完整绳结拓扑不能唯一确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、final=false、断点在 rope_untangled_flat、末帧中央仍有交叉小圈均与视频一致；时钟（log step 126 sim 25.37≈视频 25.4 s，step 587 sim 156.8≈视频末帧）可核对；根因“控制”有 log 步骤 463/465/468/486 支撑，且文中已声明不能细分，不构成需要修改的错误。",
+    "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": "2026-10-31T00:14:46Z",
+  "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/roboarc-knot-untying-06-i01-standard--kkfhp7d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--kkfhp7d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c9e16ed4614c35ca359b0c5a50c373d1235cf15c1780f80c594ef22d3afec6e1",
+   "video_sha256": "c4187765e35fc63b3cf16558bb22c350b235c6b6d1cb6181f1abacaf65251b44",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--mylwr8f.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--mylwr8f.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8a7a1a3832c43741274e04deb6cfa0d60923cc
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--mylwr8f.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--mylwr8f",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11552,
+   "live_rows": 11552,
+   "sim_steps": 11552,
+   "physics_steps": 57760,
+   "steps": 5239,
+   "elapsed_s": 10766.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.486,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.448,
+   "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/roboarc-knot-untying-06-i01-standard--mylwr8f/replay.mp4",
+  "duration_s": 288.867,
+  "fps": 15.0,
+  "frames": 4333,
+  "sha256": "cf8cdfdbdeadc9b77d8abdbfa848caff44c8adc86d56bab55998179a0a45df37"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色绳子左端位于灰色固定夹下，中央有多重交叉线圈，右侧为弯曲自由绳段，初态不满足解开铺平。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34–56 s，机器人左二指夹爪夹住中央绳环并抬动，右二指夹爪保持另一绳段并向右牵引；绳段随两爪运动，中央线圈变形但仍存在投影交叉。"
+     },
+     {
+      "t": 193.0,
+      "log_step": null,
+      "text_zh": "观察：视频 188–200 s，机器人右夹爪夹住中央交叉右侧的绳段并向右牵拉；视频 192–195 s 可见两个绳圈逐渐缩紧，松爪撤开后仍为相互交叉的小圈，右侧自由段也保留回环。"
+     },
+     {
+      "t": 288.8,
+      "log_step": null,
+      "text_zh": "观察：视频 200–280 s 的后续换握和牵拉未清除中央小圈；视频 287.0–288.8 s（含末帧）仍能看见固定夹右侧的交叉小圈和最右端回环，机器人尚在操作。与成功参考视频 61.3 s 的各段分离平面曲线相比，本次未达到宏观无交叉条件。"
+     },
+     {
+      "t": null,
+      "log_step": 389,
+      "text_zh": "观察：评分器 reward 字段为 success=0、live_success=0、graded_by_live=1、sim_startups=1、resumes=0、infra_error=0；日志最后的 agent 自述为仍在等待松绳并展环脚本执行（log step 389），没有完成报告。评分是本次连续实时操作的结果，不把脚本预定的后续释放动作视作已执行。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 34–56 s，左右二指夹爪分别夹住中央绳环和右侧绳段，左爪抬环、换向，右爪牵引；两段绳子随各自夹爪运动。此前视频 8–24 s 及后来视频 188–198 s 等阶段由右爪单独夹持牵拉，视频 208–248 s 有左爪单独换握、抬放；这些先后发生的单爪操作同属本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 193.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人始终在尝试解开同一根绳子。视频 192–195 s 右爪牵引时，中央“8”字形交叉缩成紧小圈；视频 198–200 s 松爪后交叉仍在，此后继续换握但直到视频 288.8 s 仍未消除。该牵拉片段作为未完成解结的导航锚点，节点从未完成。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "绳圈收紧且交叉残留",
+    "t": 193.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 188–191 s 中央有两个相交绳圈；视频 192–195 s 机器人右夹爪带动右侧绳段向右移动，绳圈缩小而没有展开；视频 198–200 s 释放后以及视频 288.8 s 末帧仍可见小圈交叉。",
+    "note_zh": "候选名称：绳圈收紧且交叉残留。现象是柔性绳形变后保留交叉，现有接触、运动及全身条目没有直接对应；可见夹持和牵拉已经发生，也没有足够证据把该结果归为抓空、松脱或异常接触力。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 193.0,
+    "log_step": 329,
+    "evidence_zh": "推断：agent 的脚本在 log step 329 规定夹住交叉右侧绳段后直接沿 +X 拉到 x=0.300，并以此消除“8”字圈；log step 331 也明确把该牵拉作为完全解开的方案。视频 188–195 s 显示相应方向的夹持牵拉确实移动了绳段，却把保留交叉的圈收紧；log step 366、377 又以逐步向 +X 牵拉处理剩余环，视频 256–280 s 后仍留交叉。因此所选解结方向和动作顺序未有效处理残留交叉，是有动作结果支持的策略问题。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志，评分器也未报告六项原生几何及静止指标，故无法量化绳段净距、贴桌高度、速度、漂移或释放认证。视频足以判断残留交叉使节点为假；根因是结合脚本与可见收紧结果的推断，不能由画面精确重建全部绳段的三维穿绕关系，也不将日志 agent 时间换算成视频时间。"
+ },
+ "summary_zh": "机器人通过双爪夹持、抬环以及多轮单爪换握和牵拉改变了绳形，但“绳子解开铺平”始终未完成，最终为 0/1。视频约 192–195 s 的向右牵拉把交叉圈收紧，后续操作直到视频 288.8 s 仍留下中央交叉；结合日志脚本，推断解结方向与顺序选择未能消除这些交叉。无状态日志和原生毫米级指标，无法进一步量化几何及静止条件。",
+ "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 rope_untangled_flat 为假、final=0 与评分器 success=0 及视频末帧（仍有交叉的绳结）一致；断点、接触与根因均有帧和日志支持，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": "2026-10-30T23:49:06Z",
+  "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/roboarc-knot-untying-06-i01-standard--mylwr8f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--mylwr8f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "21e748218b25f7c85e9eb06b8d07c0fad968fea74af034688722098b4deb4c14",
+   "video_sha256": "cf8cdfdbdeadc9b77d8abdbfa848caff44c8adc86d56bab55998179a0a45df37",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--xxvu992.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--xxvu992.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc13f3383976041cb1981393c8cba179f65e1786
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--xxvu992.json
@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--xxvu992",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 8646,
+   "live_rows": 8646,
+   "sim_steps": 8646,
+   "physics_steps": 43230,
+   "steps": 1160,
+   "elapsed_s": 10443.7,
+   "video_rendered": 1,
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+   "simulator_instability": 0,
+   "gave_up": 0,
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+   "resumes": 0,
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+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
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+   "peak_memory_gb": 0.396,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.148,
+   "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/roboarc-knot-untying-06-i01-standard--xxvu992/replay.mp4",
+  "duration_s": 216.2,
+  "fps": 15.0,
+  "frames": 3243,
+  "sha256": "08d1d6c477ea5c118fd231fb9c3a4eb4573e1016f0dab9b06d40b0dc1e602a76"
+ },
+ "state": null,
+ "progress": {
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+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
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+    "intervals": [],
+    "final": false,
+    "evidence": [
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+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色绳子一端位于桌上灰色固定夹下，中央已有相互重叠的线圈，初态不满足解开铺平。"
+     },
+     {
+      "t": 101.0,
+      "log_step": null,
+      "text_zh": "观察：视频 96.0–109.5 s，右二指夹爪夹住绳段抬起并向外牵拉，绳体随夹爪移动，原线圈展开了一部分，但固定端与右爪之间仍有交叉绳环，右爪附近又出现弯环；未见所有绳段分离且松手的合格状态。"
+     },
+     {
+      "t": 198.5,
+      "log_step": null,
+      "text_zh": "观察：视频 189.5–198.5 s，右夹爪再次夹绳外拉、放下并张开退出，桌面右侧留下多个相交绳环；视频 200.0–210.0 s 双臂先后退开，交叉仍在。"
+     },
+     {
+      "t": 215.8,
+      "log_step": null,
+      "text_zh": "观察：视频 215.2–216.0 s 的末秒画面中，两爪张开并离开绳子，固定端仍在灰夹下，右侧仍有两个较大的相交绳环和上方小重叠环；绳体未铺成各段分离的平面曲线。成功参考视频 60.8 s 则呈现分离的长弯曲线，仅用于辨识目标外观。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "推断：log step 9 的服务说明规定首次满足成功条件即结束实时回合；run.json 的 reward 记录 graded_by_live=1、live_success=0、sim_startups=1、resumes=0，且视频抽查全程保留交叉或处于持绳操作中，因此没有可记为达成的联合确认区间。这里未将 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 96.0–103.5 s、189.5–194.0 s，右侧二指夹爪合拢夹住橙色绳段，抬起并牵拉，绳段随爪移动，随后张开释放；左爪长期张开放在固定端附近，未见它同时夹绳提供反力。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 181.0–186.5 s，右夹爪闭合后在桌面绳段旁横向扫动，接触拨动绳段，未把该段夹持提走；log step 209 的机器人脚本也明确执行闭爪横扫。此接触与前后的抓握依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 101.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 96.0–109.5 s，右夹爪实际夹绳并向外牵拉后，绳环改变形状但交叉没有消除；后续仍围绕绳环反复夹拉。视频 198.5 s 最后一次牵拉释放后仍有多个交叉，视频 215.8 s 双爪退开后依然保留，绳子解开铺平这一步始终未完成；视频 101.0 s 是首次明显展开线圈却留下交叉的粗略导航锚点。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "绳段交叉缠叠未消除",
+    "t": 101.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 101.0 s 牵拉后的绳子仍有相交绳环；视频 108.0–109.5 s 又聚成重叠弯环，视频 198.5 s 松手后和视频 215.8 s 末态仍见多个相交、叠放的绳环。机器人确实抓住并移动过绳子，但没有把交叉展开。",
+    "note_zh": "候选现象为绳段交叉缠叠未消除。现有接触类没有覆盖抓握已建立、主动释放后材料仍缠叠的形态失败；位姿不准不能明确表达这里的绳段相互交叉，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 200,
+    "evidence_zh": "推断：log step 159 的机器人脚本按堆叠点中心到自由端的方向抓起外拉；log step 200 的脚本按预设八方向轮换，每次选堆叠中心附近绳点并外拉约 0.15 m，再放下，未使用绳材料顺序或交叉上下关系规划穿出路径。视频 96.0–109.5 s、174.0–180.5 s 及 189.5–198.5 s 显示右爪执行夹起外移，绳环随之迁移、重组而没有全部分离；agent 在 log step 230 自述未获得可靠的有序中心线，无法计算上下交叉顺序。综合支持这次解结策略没有针对残留交叉设计有效的消除顺序，而非仅由失败评分反推原因。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有评分器报告的六项原生几何、速度、漂移或净距数值；日志中的点云高度、堆叠比例和连杆原点距离是 agent 自算代理量，不能填作原生指标。局部被右爪遮挡的绳段无法逐段恢复材料顺序及真实上下拓扑，故不声称某个特定绳结被拉紧，也不归因于夹持力或仿真异常；可见的残留投影交叉已足以判定节点未达成。"
+ },
+ "summary_zh": "机器人以右夹爪多次抓起、外拉、放下绳段，并尝试闭爪横扫，但始终未完成“绳子解开铺平”，节点终值为 0/1。视频 101.0 s 起的牵拉仍留下交叉，最终视频 215.8 s 双爪退开后仍有重叠绳环；结合 log step 159、200 的径向轮换牵拉脚本，推断未规划有效的交叉消除顺序是主要原因。无状态日志或原生毫米级测量，不能精确量化高度、净距、速度和漂移。",
+ "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 rope_untangled_flat 终值 false 与末帧（视频 216 s 仍有交叉绳环）及 graded_by_live=1/live_success=0 一致；接触、断点、其他现象与推理/规划根因有视频和 log step 159/200/209/230 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": "2026-10-30T23:45:58Z",
+  "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/roboarc-knot-untying-06-i01-standard--xxvu992/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--xxvu992/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f0023078c8344c0d8c63d8fea433b8ae7c1f80f38fe9ddba7f17b13d0259669",
+   "video_sha256": "08d1d6c477ea5c118fd231fb9c3a4eb4573e1016f0dab9b06d40b0dc1e602a76",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--ysqhu4t.json b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--ysqhu4t.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc74f2e60073e0d1fb8e0956d93430efab6c54
--- /dev/null
+++ b/phase2/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--ysqhu4t.json
@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--ysqhu4t",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2452,
+   "live_rows": 2452,
+   "sim_steps": 2452,
+   "physics_steps": 12260,
+   "steps": 606,
+   "elapsed_s": 5212.4,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-knot-untying-06-i01-standard--ysqhu4t/replay.mp4",
+  "duration_s": 61.4,
+  "fps": 15.0,
+  "frames": 921,
+  "sha256": "ef46412738a8e1fe0c3ac871b9b1ce88efb2044d09e5cf01f4464a1577c52beb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [
+     [
+      61.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色绳子一端在桌面灰色固定夹下，中央有多重重叠线圈，自由端弯向前右方，初态未解开。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–20.0 s，机器人左爪夹住中央绳段并抬起绳环，右爪夹住自由端；腕部视图可见绳子位于相对的指面之间，并随夹爪移动。视频 24.0–29.3 s，右爪携端靠近左爪抬起的绳环，随后松开退出，中央仍有交叉。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 35.5–44.0 s，机器人左爪重新夹起自由端并向前左牵拉，右爪随后夹住中央外圈向后右展开；视频 57.3 s 仍可见小卷曲且两爪持绳，尚未达到释放后的联合验收。"
+     },
+     {
+      "t": 61.3,
+      "log_step": null,
+      "text_zh": "观察：视频 58.7–59.7 s，两爪将展开的绳段放低；视频 60.0–60.3 s 两爪张开，视频 60.5–61.33 s 退手，腕部及侧视画面可见绳子已离开夹爪。末帧绳子贴着桌面呈各段分离的长弯曲线，无可见交叉或重叠，固定端保持在夹具处。"
+     },
+     {
+      "t": 61.3,
+      "log_step": 260,
+      "text_zh": "观察：log step 260 中，实时机器人服务返回 38_hands_clear 的 done=true、reason=success、sim_time_s=61.30；run.json 的 reward 同时记录 success=1、live_success=1、graded_by_live=1，且 resumes=0、sim_startups=1。该记录是同一实时评分局的服务终止结果，不是 agent 的完成自述。"
+     },
+     {
+      "t": 61.3,
+      "log_step": 260,
+      "text_zh": "推断：结合视频 60.0–61.33 s 的松爪、退手和铺平终态，以及 log step 260 的服务成功判定，将包含连续确认0.5秒的节点达成时刻保守标为视频约 61.3 s，精度约半秒；不将此前仍持绳的形态展开计为完成。无状态日志，视频无法独立测准毫米级净距、非局部间距、速度和漂移，联合阈值是否通过以实时评分器判定为据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.0–27.3 s，左二指夹爪夹住中央绳段抬环，右二指夹爪夹住自由端并靠近绳环；视频 44.0–59.7 s，左爪持自由端、右爪换抓绳圈或外弯，共同牵拉铺展。两爪各自夹住一段绳子。先前右爪单独抓自由端、随后左爪单独重抓和抽出自由端，均属于同一步中的先后抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人通过双爪分段抓握、抬环、换抓和牵拉，将初始重叠线圈展开，随后放低绳子、松爪并退手；“绳子解开铺平”在视频约 61.3 s 达成，最终完成1/1节点。log step 260 的实时服务返回成功，与视频末段离手且无可见交叉的终态一致。无状态日志且六项原生数值均未报告，毫米级几何、净距和静止阈值依赖服务的联合成功验收，不能由画面独立复测。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功运行：视频末帧（61.3 s）绳子贴桌、无交叉、已离手，与 log step 260 服务成功（sim_time 61.30）一致；时间、final、contact_actual（双臂协作+抓握）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": "2026-10-31T00:09:06Z",
+  "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/roboarc-knot-untying-06-i01-standard--ysqhu4t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--ysqhu4t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "401e56e5c867a9121f39867fcc510591a109bc2669ca5a3d0eac077e93505358",
+   "video_sha256": "ef46412738a8e1fe0c3ac871b9b1ce88efb2044d09e5cf01f4464a1577c52beb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd740275aaf641e9dfedd922f37d64a869ec6ff
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2.json
@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--3gvgad2",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 10,
+   "submitted_actions": 10,
+   "sim_steps": 90,
+   "physics_steps": 900,
+   "sim_time_s": 2.249999999999996,
+   "final_reward": 0.0,
+   "replay_wall_s": 74.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 11,
+   "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": 0.513,
+   "peak_memory_gb": 1.459,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.089,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2/replay.mp4",
+  "duration_s": 2.333,
+  "fps": 15.0,
+  "frames": 35,
+  "sha256": "612387d73465c63cb0b7b97ad1ba1145aa60bfe1cdede5f984657c08ece48415"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 的俯视和侧视中，立柱、绳链、两珠子和两端盘处于初始谜题区域；逐帧检查至视频 2.27 s，非目标组件位置未见变化，机器人双爪始终远离组件。"
+     },
+     {
+      "t": 2.267,
+      "log_step": 15,
+      "text_zh": "推断：DAG明确系统侧条件在初态成立；视频 0.00–2.27 s 中非目标组件保持初态，log step 15 的已保存录制仅为 hold(10)，故该条件从视频 0.00 s 保持到结束。未凭视频估测毫米级分隔面距离。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，蓝色金属环水平围在立柱底部，位于绿色虚线目标方形外；两个夹爪均未接近或夹住环。"
+     },
+     {
+      "t": 2.267,
+      "log_step": 16,
+      "text_zh": "观察：已检查视频全部35帧，包括视频 1.33–2.27 s 的末段；金属环、双臂和夹爪始终保持初始位置，环没有解离或进入目标区。log step 16 的服务启动输出确认已保存初始基线文件，评分器字段 n_actions=10、strict_goal_reached=0 与这段保持不动的回放一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 0,
+   "log_step": 15,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–2.27 s 全部帧中，机器人双臂保持初始姿态，夹爪未接触蓝色金属环，环始终围在柱脚且在目标区外。log step 15 的脚本在 reset 后只录制 hold(10) 并保存，log step 16 确认保存完成；完整会话日志没有后续录制或保存调用。因此该交付尚未开始金属环解离及入区工作。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0,
+    "log_step": 15,
+    "evidence_zh": "观察：视频 0.00–2.27 s 中双臂未向金属环移动，未出现抓取、解离或搬运动作；log step 15 录制的是 hold(10)，log step 16 确认该初始基线已保存。评分回放中的金属环入区步骤根本未启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/中有完整视频及run.json，但无状态日志和成功示范；评分器未报告DAG所列七项原生指标的数值。log step 26、31、72 等测试直接操纵会话内的独立 MuJoCo 数据，log step 231 又明确创建独立数据用于测试；log step 237 最后仅称等待测试完成，未提交更新录制。推断：这些会话测试不能充当评分回放的物理失败或节点进度，也不足以确定未形成操作轨迹的具体规划或控制根因；保留根因空层，不从未尝试或会话耗时反推原因。不可见分隔面的毫米级余量无法直接量测，系统侧节点依据初态成立与全程保持初态判断。"
+ },
+ "summary_zh": "观察：评分视频全程保持初始姿态，系统留在原侧从视频 0.00 s 到结束均成立，最终为1/2节点；金属环仍围在柱脚、在目标区外。观察：log step 15–16 保存的交付仅含10步保持，金属环入区断在首步前，现象为没尝试。推断：后续会话仿真测试没有进入交付，现有证据不足以确定具体规划或控制根因；无状态日志，原生毫米级及速度指标均未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.00 s 与 2.27 s 帧一致，双臂未动、环仍围在柱脚；交付仅为 hold(10)（log step 15–16），没尝试、断点首步前、空根因层并附 gap_zh 均有证据支持，节点值与时间无误。",
+    "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": "2026-10-30T23:44:37Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--3gvgad2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fec3a1bc261e3aba7307e0e56c9c16122c7ee525595f89f78a91650f6eb6c4d7",
+   "video_sha256": "612387d73465c63cb0b7b97ad1ba1145aa60bfe1cdede5f984657c08ece48415",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr.json
new file mode 100644
index 0000000000000000000000000000000000000000..0796bcd0e2f6623404380a585ba7bddf06a737d3
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr.json
@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 773,
+   "submitted_actions": 773,
+   "sim_steps": 853,
+   "physics_steps": 8530,
+   "sim_time_s": 21.324999999999857,
+   "final_reward": 0.0,
+   "replay_wall_s": 650.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 58,
+   "agent_resets": 33,
+   "agent_sim_steps": 11102,
+   "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": 0.603,
+   "peak_memory_gb": 1.687,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.308,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr/replay.mp4",
+  "duration_s": 21.4,
+  "fps": 15.0,
+  "frames": 321,
+  "sha256": "68c861220faa3bb7eb86f6ff22bd5a0964c842af70ddd6bdb8b710386ccfa6f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中立柱、绳链、两颗珠子及两个绿色端盘均在原谜题侧；目标虚线方框在立柱后方。"
+     },
+     {
+      "t": 21.33,
+      "log_step": null,
+      "text_zh": "推断：逐秒检查视频全段，并加密检查视频 15.0–19.0 s 和视频 20.0–21.33 s，立柱及绳链、珠子、端盘均保持初态布局附近，未被搬向立柱后方的目标区；依据初态成立且未见向目标侧位移，判定系统留原侧持续成立。不可见分隔面的毫米级余量无状态日志可核实。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中蓝色金属环水平套在立柱底部，未处于立柱后方的绿色虚线目标方框内。"
+     },
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.0–18.4 s 的右腕视角显示右夹爪两指收拢在环管两侧，主视角中左夹爪一直停在场景左侧；蓝环仍围住立柱底部，没有随右夹爪抬离原处。"
+     },
+     {
+      "t": 21.33,
+      "log_step": 310,
+      "text_zh": "观察：视频 20.0–21.33 s 中右夹爪停在环边，完整蓝环仍在立柱底部，目标区未被占据；log step 310 检查的交付文件为 actions (773,14)，评分器也报告 submitted_actions=773、strict_goal_reached=0。入区未达成的判断来自可见位置，并非仅由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 17.0–18.4 s 的右腕视角中，右臂平行二指夹爪从环管两侧收拢夹持蓝色金属环；左臂未参与。计分视频未显示随后抬环或搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": null,
+   "log_step": 310,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.0–21.33 s 中机器人右夹爪在金属环边完成接近、收拢后停留，环始终套在立柱底部，没有进入绿色目标区。log step 235 的代码在抓握后保存 partial trajectory，完整轨迹须到脚本末尾才另存；log step 310、312 确认交付文件仍只有 773 行。推断：计分尝试止于解离入区步骤的抓握阶段，没有可定位的突发物理故障时刻，故时间留空。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 310,
+    "evidence_zh": "观察：log step 235 的保存代码在抓握后写入 partial trajectory，仅在完整脚本末尾再次保存全程；log step 310 读取交付文件得到 actions (773,14)，log step 312 再次读取仍为 773 行，log step 314 所示文件大小与修改时间也未更新。与此同时，log step 312、314 的会话脚本输出已推进到 exit+carry 32–56/200 并报告环高度上升；inputs/run.json 的 reward.agent_replays=0、submitted_actions=773、deterministic=1。视频 15.0–21.33 s 中右夹爪夹持后停留，蓝环仍套在立柱底部，没有这些后续抬环动作。推断：agent 将未回放验证的抓握阶段快照留作最终交付，后续会话动作未写入交付文件；保存与验收操作导致计分尝试截在抓握阶段，按 DECISIONS.md N10 归为交付操作出错。",
+    "source_zh": "保存代码与文件检查的工具输出（log step 235、310、312、314）；评分器 reward 字段；计分视频。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频和运行日志，但没有状态日志及成功示范。视频能确认环始终未离开立柱底部，不能核验不可见分隔面的毫米级边界。log step 308、312、314 中会话脚本继续抬环，但 log step 310、312 的已存文件始终为 773 行，log step 314 的文件大小与修改时间也未更新，视频亦不含这些抬环动作；agent 在 log step 315 自述交付含前 56 个退出路径位姿，与文件检查及计分视频不符，未据此记进度。推断：交付仅含抓握阶段，未显示足以归入滑脱、阻挡、位姿不准等类别的物理失败，故现象为空；保存代码、文件检查和 reward.agent_replays=0 支持交付操作出错，根因不再留空。会话中较早的逆解和补偿问题（log step 282、299）不在计分片段内，最终脚本又已修改（log step 303），不足以另加具体控制根因。agent 自述时间用完本身不作现象或根因；各原生毫米级、速度及确认窗指标未由评分器报告，均填 null。"
+ },
+ "summary_zh": "计分视频中右臂接近并夹持金属环，环到视频 21.33 s 仍套在立柱底部；非目标组件保持在原侧，最终为 1/2 个节点成立。断点为金属环入目标区的操作中，交付的 773 行轨迹只含抓握阶段；保存代码和文件检查表明后续会话抬环动作未写入交付，评分器报告 agent_replays=0，根因为交付操作出错。未见明确可归类的物理故障，现象留空；缺少状态日志，无法核验毫米级边界及速度。",
+ "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、断点和视频读数与帧一致（环全程套在立柱底部，右夹爪仅接近并夹持）。但根因层为空不妥：log 显示交付的是未经回放的 partial 轨迹文件，符合 N10 / FAIL-19 的 交付 · 交付操作出错。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点（留原侧成立、环未入目标）、接触（右夹爪抓握）、断点及交付操作出错根因与视频一致；未发现新问题。",
+    "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": "2026-10-31T00:12:20Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--fbt9mhr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40f36c0763721aa9be3479e0e0ef1be74c0536395728f85f298fde12755c0369",
+   "video_sha256": "68c861220faa3bb7eb86f6ff22bd5a0964c842af70ddd6bdb8b710386ccfa6f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot.json
new file mode 100644
index 0000000000000000000000000000000000000000..051abf5515bd3003482e295331cd8aae28513233
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot.json
@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--fyzgyot",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2871,
+   "submitted_actions": 2871,
+   "sim_steps": 2951,
+   "physics_steps": 29510,
+   "sim_time_s": 73.77499999999965,
+   "final_reward": 0.0,
+   "replay_wall_s": 2600.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 12,
+   "agent_sim_steps": 0,
+   "agent_records": 6,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot/replay.mp4",
+  "duration_s": 73.867,
+  "fps": 15.0,
+  "frames": 1108,
+  "sha256": "af4b26ee5eba0cb02832240235637a539e3bd3cdbbab34530afff8733dd7b43e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 立柱、绳链、两珠和两端盘位于绿色虚线目标区近侧的原谜题区域；初态满足系统留原侧条件。"
+     },
+     {
+      "t": 39,
+      "log_step": 361,
+      "text_zh": "观察：视频 9.0–15.0 s 左夹爪抬环时绳链随环升起；视频 33.0–39.0 s 右夹爪夹住右珠并向远离目标区的方向拉，绳链及环移向桌面前方。log step 356、358、361 的该次重置后执行读数均为 remainder_on_system_side=True，各非目标部件子项均为 True。"
+     },
+     {
+      "t": 73.6,
+      "log_step": 422,
+      "text_zh": "推断：结合视频全程每隔约 3 s 的俯视/侧视及动作段每隔 0.5 s 的帧，未见非目标部件进入目标侧；视频 60.0–73.6 s 绳链仍在立柱近侧，珠子和端盘均在桌面原侧。log step 310 是最终提交轨迹的重新 reset/record_start，其后未再重置；log step 407 的所有 remainder_on_side 子项仍为 True，log step 422 的整体部件包围盒最大 y=0.135 m，与初态固定立柱边缘一致。由这些相符证据保留全程成立；隐形分隔面的毫米级距离无法仅凭画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 33.0–39.0 s，机器人右侧平行二指夹爪夹住右侧红色珠子并将其向系统侧拉动，绳链随之移动；视频约 42.0–44.5 s 左爪重新夹环时右爪仍在珠子处配合，随后珠子离开右爪。未把未夹起的端盘算为抓握。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9,
+      "log_step": 322,
+      "text_zh": "观察：视频约 5.0–9.0 s 左夹爪闭合夹住蓝色金属环的环缘并将其从桌面抬高到立柱上方，原环位置空出；绳链也被带起，仍穿过环并贴着环缘。视频 12.0–15.0 s 环横移后被主动松开，落在立柱右前侧，未到绿色目标区。"
+     },
+     {
+      "t": 45,
+      "log_step": 369,
+      "text_zh": "观察：视频 42.0–45.0 s 左夹爪重新夹住桌面上的环，随后环随左爪横移和抬起；右夹爪此前夹持珠子，珠子随后脱离。视频 48.0–62.0 s 环被翻转并向立柱方向推进，但仍有绳圈挂在环缘，目标区保持空置。"
+     },
+     {
+      "t": 73.6,
+      "log_step": 422,
+      "text_zh": "观察：视频 69.0–73.6 s 左夹爪持环停在立柱前，近景中绳链缠挂在环缘并邻接立柱；完整环从未到绿色虚线目标方形内。log step 420 指令将环中心移到 [-0.136,0.286,1.02] m；log step 421 返回环中心约 [-0.102,-0.032,1.102] m，log step 422 再试后约 [-0.094,-0.036,1.094] m 并保存；该结果与视频终态相符。评分器 strict_goal_reached=0，环入区节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪先夹住金属环环缘抬起、横移后松开；右夹爪随后夹住右珠拉绳，左夹爪在视频约 42.0–44.5 s 重新夹环时右夹爪仍在珠子处配合。珠子随后脱离右爪，此后由左夹爪单独持环翻转和搬运；每只夹爪均是二指夹持各自部件，并非双臂挤压。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 60.0,
+   "log_step": 397,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 59.0–62.0 s 左夹爪持竖起的环向立柱/目标方向推进，绳圈绷在环的上缘，环停在立柱近侧；后续抬高、转腕及视频 69.0–73.6 s 的搬运仍未解除缠挂并入区。log step 397 的连续两次前移返回误差约 0.029 m、0.049 m，随后 log step 420–422 的直接搬运也未到位且保存了失败终态。该节点一直未完成，视频时间为受阻段的近似导航锚点。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 60.0,
+    "log_step": 393,
+    "evidence_zh": "观察：视频 60.0–62.0 s 的左腕近景可见绳圈绕挂环缘，向立柱延伸的绳段拉紧，持环前移停滞；视频 69.0–73.6 s 环继续被绳链和立柱区域阻住。log step 393 的实际接触列表含 ring_0 与 cord_067/068、ring_31 与 cord_025/023；log step 397 的前移误差增大，log step 421–422 的末次搬运误差约 0.317 m、0.130 m。环仍由左夹爪夹住，受阻后未进入目标区。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人尚未解除环与绳圈的缠挂，agent 的后续策略已转为直接把环送往目标。视频 48.0–62.0 s 及视频 66.0–73.6 s 的近景均显示绳圈仍扣在环缘；log step 377、388、393 已打印多处环与绳链接触，log step 420 仍从环中心约 [-0.142,-0.112,1.153] m 直接向 [-0.136,0.286,1.02] m 搬运，log step 422 又向立柱方向的中间点 [−0.136,0.08,1.02] m 搬运。该跨阶段路径在解除套连、避开立柱之前便推进运输，视频所示的绳链牵制及立柱阻挡没有被解决；此判断针对具体搬运策略，不由零分或停止本身反推。"
+   }
+  ],
+  "gap_zh": "没有 inputs/states.jsonl、确定性状态路径或成功示范；系统侧分隔面不可见，毫米级边界、速度及联合确认计时无法逐帧量化，native_metrics 的七个原生数值均未由评分字段报告。系统留原侧依靠多视角全程观察与最终提交那次重置后的相符评估输出判断；未把 log step 262 中另一次已被重置的越界测试算入视频。可见缠挂和末段受阻，但不能精确分解各接触对的阻力贡献。"
+ },
+ "summary_zh": "观察：机器人完成了夹环抬升、右爪夹珠拉绳、左爪重新抓环及翻转搬运；系统留原侧从视频起点保持到终点，最终进度为 1/2。推断：金属环入目标区失败在操作中，绳圈仍缠挂环缘，后续直接搬运向立柱方向受阻，解除套连与运输路径的规划未完成。没有逐帧状态日志，隐形分隔面及毫米级验收指标只能结合相符日志辅助判断。",
+ "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（系统留原侧全程成立、环入区未达成）、1/2 进度、断点 ring_in_goal/操作中、被挡/碰撞与推理/规划原因均与视频帧相符；校验通过，未发现需改内容的错误。无状态日志，系统侧毫米级判断依赖相符的日志读数，标注已写明为推断。",
+    "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": "2026-10-30T23:55:10Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--fyzgyot/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4fc9af7fb9168775e5a75b7255cff7b06ee905bb6cd680101106a9c53e390c70",
+   "video_sha256": "af4b26ee5eba0cb02832240235637a539e3bd3cdbbab34530afff8733dd7b43e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd40a258d5673d6bf70498d8bfe9e4bd939ea10e
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c.json
@@ -0,0 +1,336 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--g4bda7c",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2009,
+   "submitted_actions": 2009,
+   "sim_steps": 2089,
+   "physics_steps": 20890,
+   "sim_time_s": 52.224999999998104,
+   "final_reward": 0.0,
+   "replay_wall_s": 1721.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 16,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.513,
+   "peak_memory_gb": 5.538,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.268,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/replay.mp4",
+  "duration_s": 52.333,
+  "fps": 15.0,
+  "frames": 785,
+  "sha256": "bdcb8e8e7d468976aa74131a9e3cd6ab869ee9744824f73d6a0d10ce7c9c9c89"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      19.5
+     ],
+     [
+      49.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，立柱和底座固定，绳链、两珠和两端盘均在初始谜题区域，目标方形位于立柱后方。推断：依据DAG给出的初态分隔面定义，系统留原侧从视频0.0 s成立。"
+     },
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频18.8–21.0 s，左夹爪接过竖直端盘并向立柱后方拉，端盘后缘伸向目标区；视频25.5–32.0 s该端盘已平躺在底座后方、绿色目标边线附近。推断：以初始底座的后缘及DAG规定的向目标侧5毫米分隔面为参照，约视频19.5 s端盘开始越过分隔面；该时刻为视觉估计，误差约0.5 s。"
+     },
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–46.5 s，左端盘及相连绳段一直位于立柱后方；左夹爪在视频32.0–35.0 s提绳移动该端盘后，端盘仍留在后方，没有回到初始系统侧。"
+     },
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频48.4–49.8 s，右夹爪夹绳将端盘从立柱后方绕右侧带到前方；视频50.0–52.27 s两端盘、两珠和可见整条绳链均回到分隔面靠机器人一侧，立柱与底座未移位。推断：约视频49.5 s系统留原侧恢复并保持到结束，恢复时刻误差约0.5 s；此判断依据多视图部件位置，不是由总分反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约2.0–5.5 s，左夹爪夹持左端盘附近绳链并抬起，右夹爪夹住端盘边缘接手；视频约16.5–19.5 s，右夹爪持端盘，左夹爪从槽后夹住端盘并接手。随后两臂交替夹持绳链搬动端盘；视频约47.0–50.5 s由右夹爪夹住绳链，将左端盘绕柱带回前侧。各夹爪均有闭合夹持及所夹部件随动，未见成功抓握金属环。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s，机器人夹持绳链和端盘、完成双手交接并将端盘竖起送入立柱槽；蓝色金属环始终留在底座上，环孔仍围住立柱，没有随端盘离开。"
+     },
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频19.0–49.8 s，机器人在立柱前后交替夹持端盘及绳链，搬动后侧端盘再绕立柱带回前侧；金属环一直在底座原位，绿色目标方形没有出现完整金属环。"
+     },
+     {
+      "t": 52.2,
+      "log_step": 82,
+      "text_zh": "观察：视频50.0–52.27 s，包括最后一秒，右夹爪仍夹绳停在前右侧，金属环仍平放于立柱根部并套住立柱；log step 82保存2009行动行的轨迹，log step 92核对交付文件仍为2009行。后续log step 83–90的抓环试验未写入这份交付，不能计入评分视频的动作或进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约2.0–5.5 s双臂交接端盘及其相连绳链，视频约16.5–19.5 s右夹爪持竖直端盘穿槽、左夹爪从后侧接手；视频约47.0–50.5 s右夹爪夹住绳链，把后侧端盘绕柱带到前侧。这里的抓握对象仅为端盘和绳链，未观察到夹爪抓握金属环；金属环在视频0.0–52.27 s一直套在柱根。推断：这些接触改变与金属环套连的绳组件构型，属于固定DAG中包含解离的ring_in_goal节点的准备性操作，不表示金属环已被抓取或搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 50.5,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约50.5 s右夹爪结束绕柱搬绳后停留，至视频52.27 s金属环仍套在立柱底部，既未抬离也未进入后方绿色目标区；系统留原侧已恢复。log step 82保存此前2009行，log step 92确认最终交付同一长度，log step 97也明确自述仅提交端盘准备动作。推断：未修复的步骤是金属环入目标区；视频50.5 s仅锚定准备动作结束而步骤仍未完成的位置，不声称此时发生抓环滑落或碰撞。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 90,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话调试未能形成可执行的抓环动作，导致交付止于搬绳准备段。log step 83的脚本尝试下降夹环并抬升，log step 84输出object_in_hand为None、环仍在原位；log step 86再次夹环输出None且TCP明显高于所设抓取点，log step 89的实测关节值偏离命令值并记录肩关节力矩25.8；log step 90又输出None。log step 92只保留此前2009行，log step 97将未继续的原因自述为无法抓住环。这些是会话层面的控制证据，未作为评分轨迹中发生抓环失败的证据；无法区分具体接触设计、逆解或跟踪问题，保留上层“控制”。"
+   }
+  ],
+  "gap_zh": "观察：inputs/有完整评分视频和运行日志，但没有状态日志或成功示范。分隔面不可见，系统侧失去与恢复时刻依据初始边界、多视图及前后帧推断，不能核实毫米级极值；评分器未报告DAG列出的七项原生指标。交付轨迹仅包含解离准备动作，后续抓环试验未交付，因此没有证据给该评分尝试标具体的抓环接触失败或位姿失准，失败现象层留空（CASES.md FAIL-23）；会话日志可支持上层控制根因，但无法证实agent猜测的夹爪撞柱或更细的控制子类。 本轮分歧：审查将端盘穿槽与绕柱排除在ring_in_goal的作业之外；本标签按task/task_dag.json:70,100给定的节点范围，将可见的套连组件操作纳入该节点，故保留操作中，不以未直接抓环等同于整个节点没尝试。没有成功示范或状态日志可独立确认这些准备动作的解离效果，不把它们计为完成；对作业起点的解释仍有不确定性。",
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  }
+ },
+ "summary_zh": "评分轨迹中双臂夹持绳链和端盘，完成穿槽、后侧搬动及绕柱带回前侧的准备动作；系统留原侧约在视频19.5–49.5 s失去后恢复，最终成立1/2节点，金属环始终套在柱根，未解离入区。推断：log step 84、86、89、90中的空抓、目标与实测关节偏差支持会话层面的上层控制根因（docs/03_trajectory.md:226,290–303；CASES.md FAIL-22），这些试验未交付，因此评分失败现象仍留空，抓握标签仅指端盘和绳链。没有状态日志，分隔面通过时刻为视觉估计，毫米级指标无法精测；前轮准备动作是否已启动节点的分歧仍存，本轮也不能决定性排除接触方案或整体规划的影响、独立验证完整解法及试验失败与交付止步的唯一因果关系，依05规则6将置信度由6降至5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间基本可由视频核对（端盘约19.5 s过柱、约49.5 s带回，金属环全程套在立柱上，终态1/2）。问题在断点分类：交付轨迹从未接触金属环，ring_in_goal的作业未启动，应为首步前+没尝试，而非“操作中”+空现象；另外ring_in_goal的contact_actual抄自端盘操作。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间（端盘约19.5 s越过、约49.5 s带回，环全程套柱，终态1/2）经帧核对成立，断点节点ring_in_goal正确，where的分歧第1轮已有证据回应，不重复。问题在根因：“控制”仅由会话内抓环试验（log step 83–90）支撑，这些试验未交付，不是评分episode的观察；评分轨迹里没有任何抓环动作，不能据此判定控制失败。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的拒绝成立：log step 84/86/89/90 的输出（object_in_hand=None、TCP高于目标、目标与实测关节偏差及力矩25.8、IK误差）与回应所述一致；docs/03_trajectory.md:226 与 CASES.md FAIL-22 允许把会话反复抓取失败归为控制（来自会话证据），文件已写明这些试验未交付、失败现象留空、conf降为5。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的拒绝成立：log step 84/86/89/90 的输出（object_in_hand=None、TCP高于目标、目标与实测关节偏差及力矩25.8、IK误差）与回应所述一致；docs/03_trajectory.md:226 与 CASES.md FAIL-22 允许把会话反复抓取失败归为控制（来自会话证据），文件已写明这些试验未交付、失败现象留空、conf降为5。",
+   "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": "2026-10-31T00:18:49Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/03_label"
+   },
+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--g4bda7c/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": "1618331bdc5cfe859f98f25bfc604ef60798355710c11e834548e8f73887bcbd",
+   "video_sha256": "bdcb8e8e7d468976aa74131a9e3cd6ab869ee9744824f73d6a0d10ce7c9c9c89",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk.json
new file mode 100644
index 0000000000000000000000000000000000000000..491be84a7e075013507c3b6f77bdd728f7c910f4
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--hxtdalk",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1760,
+   "submitted_actions": 1760,
+   "sim_steps": 1840,
+   "physics_steps": 18400,
+   "sim_time_s": 45.99999999999846,
+   "final_reward": 0.0,
+   "replay_wall_s": 1389.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 58,
+   "agent_resets": 69,
+   "agent_sim_steps": 26219,
+   "agent_records": 9,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.513,
+   "peak_memory_gb": 1.813,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.334,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk/replay.mp4",
+  "duration_s": 46.067,
+  "fps": 15.0,
+  "frames": 691,
+  "sha256": "dc9f5a05b5fb7e942a986fd039b6fa133645446d7811308a9663e16e43dce249"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，立柱、绳链、两颗珠子与两端盘均在原谜题侧；视频 3.0–45.0 s 的全景及视频 45.0–46.0 s 的密集末帧中，这些非目标部件始终留在原区域，右臂没有参与操作。"
+     },
+     {
+      "t": 46.0,
+      "log_step": 139,
+      "text_zh": "推断：非目标部件留原侧的状态从视频 0.0 s 持续至结束。log step 139 的第8次测试保存1760行动作，与评分器 n_actions=1760一致，且其反复小幅试提、没有进入搬运的行为与视频一致；该次测试末尾 evaluate 输出 remainder_on_system_side=True，各非目标部件均为True。分隔面不可见，毫米级余量没有独立状态日志可核对。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.133,
+      "log_step": null,
+      "text_zh": "观察：视频 13.333–18.667 s，机器人左夹爪逐渐下降到蓝色金属环左侧，双指在环管两侧闭合；环发生小幅位移，仍围在立柱根部。视频 19.2–44.0 s，左夹爪在此处反复小幅试提，没有把环抬离立柱或向后方绿色虚线目标区搬运。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0、45.2、45.4、45.6、45.8、46.0 s，金属环仍在原底板上、套在立柱下部；完整环轮廓不在后方目标区，因此入区和解离条件未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 的第8次测试输出 rows 1720、saved (1760, 14)，evaluate 中 target_inside.target_ring=False；评分器记录 n_actions=1760、strict_goal_reached=0。log step 140 另一次测试出现 lift1/lift2，但视频没有这些抬升，不能计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 18.1–44.0 s，左臂平行二指夹爪在金属环左侧管段两侧闭合并反复小幅提动；右臂保持停放，没有双臂协作。对向指面部分受遮挡，视频不支持把整个试提过程解释为持续可靠抓持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 43.0,
+   "log_step": 139,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.1–44.0 s，机器人左夹爪只在环左侧重复微小试提，环仍围在立柱底部；视频 46.0 s 亦未解离或入区。log step 139 记录第8次测试在逐档闭爪及试提后，由 agent 的生成脚本抛出 grasp failed: no weld，随后保存1760行动作；这是与计分行数、视频行为相符的交付。视频约 43.0 s 为最后一轮试提结束附近的导航锚点，并非由 agent 时间换算。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "source_zh": "日志",
+    "log_step": 139,
+    "evidence_zh": "推断：抓握验证的抬升阈值与实际试提幅度不匹配，使脚本反复拒绝抓握并在搬运前中止。log step 132 的代码命令从当前TCP向上8毫米试提，却要求环至少上升3毫米；不足时清空本地 held 标志、退回再试。log step 138–139 的第8次测试每档均先读到 object_in_hand 返回 slotted_chain，环上升2.3–2.9毫米，最终因所有档位低于阈值而抛出异常并保存1760行。log step 140 将试提高度改为10毫米、阈值改为结合TCP位移的相对判据后，另一测试继续执行到 lift2；这支持原验证参数过严的解释，仅作根因的会话证据，不计入计分节点。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范。固定分隔面不可见，系统留原侧的连续性由近乎不变的可见位置和与交付匹配的测试末态共同推断，无法独立核对全部网格顶点的毫米级余量。交付只执行接近、闭爪与抓握验证，没有执行朝目标区的搬运；局部指面与环管接触受遮挡，不能证明稳定抓握建立后又丢失，也没有可见固定物阻挡证据，故现象层留空，不把未启动的目标区搬运标成位姿不准。原生七项连续指标均未由评分器报告，value留null。"
+ },
+ "summary_zh": "计分视频中，非目标系统自初态至结束留在原侧，最终为1/2节点；左夹爪在金属环左侧反复闭爪、微提，环始终留在立柱根部，未解离或入目标区。与交付对应的第8次测试因抓握验证的3毫米阈值未被满足而中止；后续第9次测试的抬升没有进入计分视频。无状态日志，分隔面的毫米级余量与持续可靠抓握无法精确核实，现象层留空。",
+ "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（系统留原侧为真、金属环入区为假，final=1/2）、断点 ring_in_goal 以及抓握类 contact_actual 与视频一致：左夹爪在环旁反复微提，环始终套在立柱根部。第8次测试因脚本抓握验证抛出 no weld 而中止，所存 1760 行与评分器 n_actions 一致，这是 agent 自己的脚本崩溃，不属外因，因此归 控制·参数调试 可接受。现象层留空并附 gap_zh，没有证据支持更具体的现象，故不要求修改。",
+    "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": "2026-10-30T23:45:04Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--hxtdalk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1f7abbc0f31b0fd39efa64d5842af44b35eac80a8a858372a6fc52aa348b48c",
+   "video_sha256": "dc9f5a05b5fb7e942a986fd039b6fa133645446d7811308a9663e16e43dce249",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c15c7679b7b0de8c695aeccd04ed65dadf44344
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u.json
@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--jpyt79u",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 845,
+   "submitted_actions": 845,
+   "sim_steps": 925,
+   "physics_steps": 9250,
+   "sim_time_s": 23.124999999999755,
+   "final_reward": 0.0,
+   "replay_wall_s": 557.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 17,
+   "agent_resets": 22,
+   "agent_sim_steps": 4152,
+   "agent_records": 3,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u/replay.mp4",
+  "duration_s": 23.2,
+  "fps": 15.0,
+  "frames": 348,
+  "sha256": "115317241a4986404b38a9a4aec5d301f156a7bd7e5a248ad8381a7ba9f33bb8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中立柱、绳链、两颗珠子及两个端盘均在原谜题一侧；绿色虚线目标区在立柱后方。任务 DAG 明确该保留关系在初态成立。"
+     },
+     {
+      "t": 23.13,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0–23.13 s 的全程粗采样及视频 18.0–23.13 s 的密集帧，立柱、绳链、珠子和端盘没有向后方目标区发生可见搬移，末帧仍保留原来的布置，故系统留原侧关系持续成立；不可见分隔面的毫米级边界不能直接量测。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频约 1.0–3.0 s 右臂转腕并向立柱底部的蓝色金属环下降；左臂保持停放。此后右夹爪在环前侧反复接近和闭合，环始终在立柱周围，未向后方绿色虚线目标区转移。"
+     },
+     {
+      "t": 20.5,
+      "log_step": 125,
+      "text_zh": "推断：视频约 20.0–21.2 s 右夹爪闭合后尝试上提，环只在立柱底部小幅移动，没有随夹爪离开组件。log step 125 所读最后一次生成日志记录先取得环的辅助夹持绑定（weld），随后首次抬升 lift00 时绑定丢失；log step 124–126 确认该次失败仍保存为 845 行交付文件，与评分器 submitted_actions=845 相符。这些日志仅辅助解释已见动作，未将其中的脚本墙钟秒数换算成视频时间。"
+     },
+     {
+      "t": 23.13,
+      "log_step": null,
+      "text_zh": "观察：视频 22.2–23.13 s（包括末帧）金属环仍围在立柱底部，绿色虚线目标区为空，没有完成解离和整环入区；评分器 strict_goal_reached=0 与此相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂二指夹爪在金属环前侧弧段闭合并尝试夹持上提，末段短暂夹持随后丢失；左臂未参与。视频约 20.0–21.2 s 的小幅环运动由 log step 125 的夹持建立和丢失记录辅助确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 20.5,
+   "log_step": 125,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 20.0–21.2 s，机器人右夹爪在立柱底部尝试夹环上提，环未被带离；直到视频 23.13 s 仍套在立柱周围。log step 125 记录交付录制在首次抬升 lift00 丢失辅助夹持，log step 124–126 确认其 845 行动作被保存交付，之后没有修复或搬运入区。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 20.5,
+    "log_step": 125,
+    "evidence_zh": "推断：视频约 20.0–21.2 s 右夹爪闭合并开始上提，金属环仅发生小幅位移，随后仍留在立柱底部，未随手带走；视频 22.2–23.13 s 未再建立有效搬运。交付生成日志（log step 125）先报 weld: slotted_chain，后报 WELD LOST at lift00，支持这是短暂持有后的丢失，而非全程没有建立夹持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 122,
+    "source_zh": "日志",
+    "evidence_zh": "推断：所选俯向握姿在支架附近未形成适合抬升的接触布局。log step 114 的独立会话诊断直接记录右夹爪基体碰撞几何 47 与 rail_left 接触；最后交付生成中的 log step 122 又记录抓取 TCP 实际 y=-0.0445 m、期望 y=-0.0216 m，反复修正后腰关节仍约偏差 0.0527 rad。视频约 3.0–20.0 s 右夹爪在同一支架附近反复下降而环未移走，随后首次抬升即失去夹持（log step 125）。这些证据支持当前握姿及其与支架的几何干涉造成抓取错位和不可靠承载；没有验证可行替代握法。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；固定分隔面不可见，系统留原侧由初态成立和非目标组件全程没有可见向目标侧位移推断，无法逐顶点核实毫米级余量。夹爪遮挡了部分指垫，辅助夹持建立和丢失由最后交付生成日志与视频小幅环运动共同判断，视频时间约有 0.5 s 不确定性。rail_left 接触的精确诊断来自会话探测，并非评分回放接触日志；绳张力是否直接触发丢失、能否直接上提解离及替代握法均未被独立验证，故不另标规划根因。DAG 的七项原生指标在评分字段中均未报告，保留 null。",
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  }
+ },
+ "summary_zh": "系统留在原侧的初始目标在视频中持续保持，最终为 1/2 节点；右夹爪尝试夹持金属环并小幅上提，环始终留在立柱底部，未解离或移入目标区。首次抬升中短暂夹持丢失，日志诊断支持所选握姿受支架干涉而错位；没有状态日志，分隔面的毫米级边界及绳张力的具体作用不能精确核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（系统留原侧 true、环入区 false，final=1/2）、断点 ring_in_goal/操作中、没保持住现象和抓取与接触设计根因均与视频及交付生成日志相符；时钟未换算，validator 通过。唯一保留意见：agent 自述纯竖直抬升无法解开绳套，但这是 agent 自述且未验证，故不要求改动。",
+    "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": "2026-10-30T23:57:12Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--jpyt79u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8cc6dc9f4db565eaf2008d64c957bc3f8d09edf03dca99b8e23f15f7b81291d",
+   "video_sha256": "115317241a4986404b38a9a4aec5d301f156a7bd7e5a248ad8381a7ba9f33bb8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--urmumoj.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--urmumoj.json
new file mode 100644
index 0000000000000000000000000000000000000000..2832beac55c7fb5867dc1b8a6527903ef73d5223
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--urmumoj.json
@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--urmumoj",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 8581,
+   "submitted_actions": 8581,
+   "sim_steps": 8661,
+   "physics_steps": 86610,
+   "sim_time_s": 216.5250000000321,
+   "final_reward": 0.0,
+   "replay_wall_s": 9676.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 56,
+   "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/roboarc-slotted-post-ring-04-i01-privileged--urmumoj/replay.mp4",
+  "duration_s": 216.6,
+  "fps": 15.0,
+  "frames": 3249,
+  "sha256": "dd44ff20997bde6d80c5a247471d64a59e9bc42a501cbb8b5618d367aea9a574"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      27.5
+     ],
+     [
+      34,
+      68.5
+     ],
+     [
+      76,
+      151
+     ],
+     [
+      175.5,
+      204.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 立柱、绳链、两颗红珠和两块绿色端盘均在初始谜题一侧；任务文本将分隔面定义为非目标初态极值再向目标侧偏移5毫米，因此该节点初始成立。"
+     },
+     {
+      "t": 29,
+      "log_step": 99,
+      "text_zh": "推断：视频 26–36.5 s 的主视角及腕部视角显示，右臂将仍带绳的环降至柱后，再转成竖直穿槽；绳链先被拉到目标方向，随后回到柱旁。失去与恢复近似标在视频 27.5 s、34 s；log step 99 的 CORD BOUNDS 最大 y 为0.16525米，支持该次后移存在绳链越界，而非仅环自身移动。"
+     },
+     {
+      "t": 70,
+      "log_step": null,
+      "text_zh": "推断：视频 67–78.5 s 的连续帧显示，左臂再次将环越过柱顶向后移，绳链从柱顶向后张开；环移回柱前时绳链随之回收。按固定分隔面的定义，近似标记视频 68.5 s 失去、76 s 恢复；两个边界均为视觉估计。"
+     },
+     {
+      "t": 154.5,
+      "log_step": 248,
+      "text_zh": "观察：视频 151–154.5 s 环被右夹爪拉到目标方向，两股绳沿柱后延伸并穿过环；log step 248 的原生放置检查报告 remainder_on_system_side=False，具体为 disc_right=False、cord=False。该检查是仿真服务返回值，不是 agent 自述。"
+     },
+     {
+      "t": 175.5,
+      "log_step": null,
+      "text_zh": "推断：视频 163–178.5 s 已逐半秒检查：机器人抬环并从柱后向柱前越过，珠子与端盘随后回到柱前，近似在视频 175.5 s 恢复系统侧关系；此后视频 179–203 s 的抓珠、穿环和穿槽动作主要在柱前进行。"
+     },
+     {
+      "t": 203.5,
+      "log_step": 354,
+      "text_zh": "观察：log step 354 的 FINAL TRY METRICS 返回 remainder_on_system_side=True、all_target_inside=False；视频 203–204 s 同样可见珠和端盘留在柱前、右夹爪持环向后拉。此读数只支持当时恢复，不能证明下一次移动仍保持。"
+     },
+     {
+      "t": 206,
+      "log_step": 357,
+      "text_zh": "推断：视频 204–206 s 右夹爪继续后移，绳链重新被向目标方向拉开，近似在视频 204.5 s 失去；log step 357 的 GOAL FULL 返回 cord=False，其余非目标部件=True。视频 215.6 s、216.53 s 绳链仍跨接柱与环，没有恢复为独立留在原侧的系统。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–16 s 左夹爪夹住蓝色金属环并抬起；视频 20–27 s 右夹爪接握金属环、左夹爪松开原先夹入的绳链。视频 103–107 s 左夹爪持环、右夹爪夹珠穿环；视频 186–192 s 左夹爪夹另一颗珠、右夹爪持环；视频 208–215 s 左夹爪夹住绿色端盘，右夹爪继续持环。两手各自以二指夹持，并非两臂相向挤压。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频 4–16 s 左夹爪确实将蓝环从底座处抬起，原处不再留环；环仍牵起绳链。视频 28–54 s 环被转成竖直并穿过柱槽，随后转平移到柱左前方。"
+     },
+     {
+      "t": 54,
+      "log_step": null,
+      "text_zh": "观察：视频 52–60 s 环虽已抽出柱槽，黄黑绳仍跨过蓝环右侧边缘并连回柱顶，左臂侧移、抬环时绳也随之移动；这不是完成解离后的独立搬运。"
+     },
+     {
+      "t": 154.5,
+      "log_step": 248,
+      "text_zh": "推断：视频 151–154.5 s 环进入目标方向，但两股绳仍通过环并被拉长；log step 248 的服务检查虽报告 all_target_inside=True、quiet=True，却同时报告系统侧条件=False。按本节点联合验收与0.5秒确认要求，此时不能计为达成。"
+     },
+     {
+      "t": 206,
+      "log_step": 357,
+      "text_zh": "观察：视频 202–206 s 右夹爪再次将环从槽后拉出，环仍靠在立柱后侧、绳仍牵连；log step 357 原生检查为 target_ring=False、cord=False、quiet=False。"
+     },
+     {
+      "t": 216.53,
+      "log_step": null,
+      "text_zh": "观察：视频 208–215 s 左夹爪夹端盘调姿，右夹爪持环，绳链没有从环上脱开；视频 215.6 s 和216.53 s 环仍在立柱旁，完整环轮廓没有处于绿色目标方形内。评分器字段 strict_goal_reached=0 与所见一致，不能将单独的入区位置误计为联合完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–16 s 左夹爪夹住蓝色金属环并抬起；视频 20–27 s 右夹爪接握金属环、左夹爪松开原先夹入的绳链。视频 103–107 s 左夹爪持环、右夹爪夹珠穿环；视频 186–192 s 左夹爪夹另一颗珠、右夹爪持环；视频 208–215 s 左夹爪夹住绿色端盘，右夹爪继续持环。两手各自以二指夹持，并非两臂相向挤压。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 54,
+   "log_step": 133,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 52–60 s 左夹爪已将环抽出柱槽，但黄黑绳跨过环边连着柱顶，环向左移时绳随之张紧；后续换手、穿珠及绕柱均未让金属环完成独立入区。视频 215.6–216.53 s 仍可见环被绳牵在柱旁，因此断点为解离并入区这一步，早先可恢复的系统侧偏离不另作断点。"
+  },
+  "unmet": {
+   "system_on_original_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 54,
+    "log_step": 133,
+    "evidence_zh": "观察：视频 52–60 s 金属环右边缘被仍绕着柱顶的绳链套住，机器人拉环时绳链张紧随动，未能抽离；视频 151–154.5 s 和202–216.53 s 相同牵连仍在。log step 133 列出 ring 与多节绳链的实际接触，log step 354 再次列出 ring 与 link_044、link_078–081、link_041 的接触；所见阻挡来自绳链，不能将它标成抓取从未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的脚本在尚有绳股穿环时先执行朝目标的整体搬运：log step 246 将持环夹爪先移至环中心 y=0.16米，再移至 y=0.288米；log step 248 的检查明确得到环已在目标内、右端盘与绳链越界。log step 273 又采用退回柱后再送目标的顺序，log step 283 再次返回绳、右珠和右端盘不在系统侧；视频 151–175 s 对应显示这些动作仍牵着绳。该跨阶段顺序把未解开的绳组件一起拉向目标，无法在这些尝试中兼顾环入区和系统留原侧；后续穿珠、端盘补救至视频末尾仍未消除牵连。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范。分隔面不可见，腕部视角随手移动且绳在柱后局部遮挡；系统侧各区间边界是结合前后帧与固定面定义的近似推断，尤其视频 27.5–34 s、68.5–76 s 和151–175.5 s，不能保证毫米级越界及所有短暂恢复都被辨出。log step 54 将早期记录截回359行并回放，之后持续追加保存；日志中的早期抓取失败及被截掉的换手不计入此视频。控制步为40 Hz（log step 23），log step 248 的6184步对应视频154.6 s，已用视频151–155 s首次目标放置核对；这是控制步映射，不是agent时间换算。根因仅认定有证据的未解离先搬运顺序，缺乏可验证的完整解谜路线，不能进一步断言所有后续失败均由规划或某个控制参数造成。七项原生连续指标未由评分器逐项报告，均保留null。"
+ },
+ "summary_zh": "机器人实际抬起金属环，反复穿槽、换手，并用另一夹爪抓珠穿环、夹端盘调姿；系统留原侧初始成立且中途多次恢复，但最终两个目标节点均为假。失败集中在金属环解离并入区：绳链一直牵连环，先搬运未解开的环还把非目标绳和端盘拉向目标侧。无状态日志和成功示范，系统侧区间为多视角近似判断，毫米级边界与精确速度无法复核。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "合同校验通过；抽查视频 0/54/154/216 s 帧，环始终被绳链牵连、末帧环仍在柱旁、未入目标方形，两个节点最终为假与评分器 strict_goal_reached=0 一致，断点、被挡/碰撞现象与规划根因有证据支持，未发现需改内容的错误。系统侧区间为近似判断，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": "2026-10-30T23:48:16Z",
+  "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/roboarc-slotted-post-ring-04-i01-privileged--urmumoj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--urmumoj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3db885bd598421ebadd545fde3f62f7502bd062e89cf0832033db505033e896e",
+   "video_sha256": "dd44ff20997bde6d80c5a247471d64a59e9bc42a501cbb8b5618d367aea9a574",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz.json
new file mode 100644
index 0000000000000000000000000000000000000000..b15d5780fa63544b2957474077d284b3c5e2b809
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz.json
@@ -0,0 +1,252 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--2uq5pyz",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 0,
+   "live_rows": 0,
+   "sim_steps": 0,
+   "physics_steps": 0,
+   "steps": 0,
+   "elapsed_s": 1547.3,
+   "replay_wall_s": 6.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.162,
+   "peak_processes": 5,
+   "peak_disk_gb": 0.257,
+   "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/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz/replay.mp4",
+  "duration_s": 0.067,
+  "fps": 15.0,
+  "frames": 1,
+  "sha256": "fb354a5217931795e4e81df82e620660930ca7a8be7d795519e73774862741d7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s（全片唯一帧，也是末帧）的俯视及侧视显示立柱、绳链、两颗珠子和两个端盘均在初始谜题区域，双夹爪远离组件。"
+     },
+     {
+      "t": 0,
+      "log_step": 5,
+      "text_zh": "推断：DAG 将固定分隔面定义在非目标组件初态最靠目标点之外5毫米，故初态满足留在原侧；log step 5 服务读数为 control_steps=0、physics_steps=0、sim_time_s=0，且评分器字段 n_actions=0、physics_steps=0，支持唯一视频帧所示初态在评分结束时仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 n_actions=0、live_rows=0，视频 0.000 s 仅为初态；没有交付机器人动作，非目标组件未被操作。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的唯一帧中，蓝色金属环仍环绕立柱下部、位于木底板上，绿色虚线目标方形内没有金属环；左右夹爪均未夹住环。"
+     },
+     {
+      "t": 0,
+      "log_step": 40,
+      "text_zh": "观察：log step 32–40 的机器人服务调用只查询正运动学或逆运动学，末次 log step 40 仍在比较候选抓取位置的连杆间隙；评分器 n_actions=0、live_rows=0、sim_steps=0，没有执行抓环、解离或移入目标区的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：视频 0.000 s 双夹爪均离开金属环；评分器 n_actions=0、live_rows=0，没有交付抓取或搬运动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 41,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 41 的最终消息明确记录“This request was blocked by Gemini's filters”；此前 log step 40 仍在查询候选抓取位姿的正运动学。评分器 n_actions=0、live_rows=0、physics_steps=0，视频 0.000 s 的唯一帧为未操作的初态；未见中断前已固定的完成结果或物理失败。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 41 记录模型提供方过滤拦截，会话在实际机器人动作前中断；视频只有 0.000 s 一帧（总时长0.067秒），评分器动作数与物理步数均为0。推断：按外因中断规则及 CASES.md FAIL-5，该记录应重测并排除出智能体失败分析，保留目录 success=0，不标“没尝试”或机器人根因。没有执行过程、状态日志或成功参考视频，无法评价候选解离/抓取方案的物理成败；DAG 的毫米级原生指标未获评分器报告，均留空。"
+ },
+ "summary_zh": "观察：视频 0.000 s 的唯一帧显示谜题仍在初态，系统留原侧条件保持，金属环仍在立柱底部、未入绿色目标区，最终节点为1/2。观察：log step 41 记录 Gemini 过滤拦截，评分器 n_actions=0、physics_steps=0；推断：这是首步前的外因中断，应重测并排除出智能体失败分析，目录 success=0 原样保留。观察：没有动作过程或状态日志，无法判断实际解离操作的现象和根因，原生几何及速度指标也未报告。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 9,
+    "summary_zh": "标签与证据一致：log step 41 为 Gemini 过滤拦截，评分器 n_actions=0、physics_steps=0，视频仅有 0.000 s 一帧初态；按外因中断规则，breakpoint 为 unknown/首步前，两层为空并有 gap_zh，符合 03 第5条与 FAIL-5。节点 system_on_original_side 从 0 起成立、ring_in_goal 未达成，final=1/2 正确。",
+    "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": "2026-10-31T00:03:23Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--2uq5pyz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ba10a54ec8b0076fe031c6bd9c3806af01ff8f8b79843254cde7c9dce1c82067",
+   "video_sha256": "fb354a5217931795e4e81df82e620660930ca7a8be7d795519e73774862741d7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--a9chl8r.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--a9chl8r.json
new file mode 100644
index 0000000000000000000000000000000000000000..560b59a60ac5060b946abcf02b4904b682a9e18c
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--a9chl8r.json
@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--a9chl8r",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 16992,
+   "live_rows": 16992,
+   "sim_steps": 16992,
+   "physics_steps": 169920,
+   "steps": 5306,
+   "elapsed_s": 10887.1,
+   "replay_wall_s": 7619.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.449,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.459,
+   "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/roboarc-slotted-post-ring-04-i01-standard--a9chl8r/replay.mp4",
+  "duration_s": 424.867,
+  "fps": 15.0,
+  "frames": 6373,
+  "sha256": "26ea524674a04af7ecbd3f99bc2c9e3b69c78b54d9a2d3b0d3408b135554b6a7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s立柱固定在底板上，绳链、两珠子和两端盘均位于底板及其前方；绿色虚线目标区位于后方。DAG定义的分隔面使初态成立。"
+     },
+     {
+      "t": 344,
+      "log_step": null,
+      "text_zh": "观察：视频0–420 s每隔约5 s的全程取帧，以及视频310–344 s和398–424.8 s的密集画面中，立柱和底板保持原位，机器人牵拉使绳链、珠子及端盘在底板前方移动，未见非目标部件向后进入目标一侧。"
+     },
+     {
+      "t": 424.8,
+      "log_step": null,
+      "text_zh": "推断：视频424.8 s各非目标部件仍在底板及其前方，结合初态分隔面定义和全程运动方向，系统留原侧持续成立；不可见分隔面及毫米级极值未由状态日志复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约165–305 s先由右二指夹爪夹取绳链并向桌前牵拉；视频320–344 s及398–424.8 s左夹爪也在另一股绳链处合拢，两臂参与夹持与牵拉。早段右夹爪还接触、拨动右侧珠子和端盘；并非已抓起金属环。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s蓝色金属环平放在底板上并环绕立柱根部，位于后方绿色虚线目标方形之外。"
+     },
+     {
+      "t": 200,
+      "log_step": null,
+      "text_zh": "观察：视频160–199 s密集画面和视频200–305 s全程取帧中，右夹爪反复靠近、合拢并牵拉绳链；绳链形状改变，但金属环始终留在立柱根部，未被搬到目标区。"
+     },
+     {
+      "t": 424.8,
+      "log_step": 271,
+      "text_zh": "观察：视频398–424.8 s密集腕视与俯视画面中，机器人双臂继续在底板前夹取、牵拉绳链，绳链仍经过环孔及立柱之间，金属环仍在底板原处；最后一秒至视频424.8 s亦未离开立柱或进入目标区。log step 271的最后一段控制脚本输出仍是左臂夹绳阶段，评分器live_success和replay_success均为0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约165–305 s先由右二指夹爪夹取绳链并向桌前牵拉；视频320–344 s及398–424.8 s左夹爪也在另一股绳链处合拢，两臂参与夹持与牵拉。早段右夹爪还接触、拨动右侧珠子和端盘；并非已抓起金属环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 410,
+   "log_step": 271,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约407–419 s左夹爪在底板前缘和绳股处闭合、移动，绳链在两夹爪之间堆聚，金属环仍套在立柱底部；到视频424.8 s未解除套连、未入目标区。log step 271记录末段左臂夹取目标未到位，位置误差34.505毫米；这是解离并入区步骤中的操作，后续没有完成该步骤。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 410,
+    "log_step": 271,
+    "evidence_zh": "推断：视频407–419 s左夹爪在底板前缘反复夹取绳股，绳链堆聚而未被按预定路径拉出；log step 271中控制脚本从机器人本体读数得到左TCP实际位置[0.0014,0.0092,0.0510]米，夹取目标为[-0.0034,0.0386,0.0335]米，报告位置误差34.505毫米，说明末段夹取位姿未到位。视频424.8 s环仍未解离。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 410,
+    "log_step": 271,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 264（phaseD2）输出左臂servo IK fail及pull IK fail，左侧累计拉动命令为0；log step 269启动phaseD3交替牵拉脚本，log step 271的phaseD3输出中左臂报告27.099及34.505毫米位置误差，却继续闭爪。视频398–424.8 s显示机器人仍在绳股和底板前重复操作，未完成解离。由此支持夹取、牵拉执行存在控制问题；无法进一步将全部误差唯一归为逆解、接触几何或跟踪控制。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功示范；分隔面不可见，系统留原侧依据初态定义及视频中运动方向判断，不能逐顶点核验毫米级边界。末段夹爪和绳链相互遮挡，缺少逐接触对及同步力读数；日志中的GRIP、fed是agent控制脚本的判别或命令累计，不能等同实际抓牢或穿绳距离。无法验证其交替牵拉方案能否完成拓扑解离，故不另推断规划根因；各原生几何、速度及确认时间指标未由评分器报告。"
+ },
+ "summary_zh": "机器人通过右臂及后段双臂夹取、牵拉绳链，非目标组件仍留在原侧，最终保持1/2节点；金属环始终位于立柱根部，未解离并移入后方目标区。断点为金属环入目标区的操作过程，末段夹取位姿未到位，日志支持控制执行问题。无状态日志和成功示范，毫米级分隔边界、实际接触力及解离策略可行性无法精确核验。",
+ "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（系统留原侧 true、金属环入区 false）、断点 ring_in_goal 和\"控制\"根因与视频及日志相符；仅有一处日志步骤引用错位。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（系统留原侧 true、金属环入区 false）、断点 ring_in_goal 与最终帧（环仍套在立柱根部）相符；未发现需改的内容，仅根因归类较含糊但已标注为推断且有 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": "2026-10-31T00:17:25Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--a9chl8r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--a9chl8r/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--a9chl8r/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--a9chl8r/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c641805545bf417d93926ebe28288b31e9d764782735e6241bc96932c335679e",
+   "video_sha256": "26ea524674a04af7ecbd3f99bc2c9e3b69c78b54d9a2d3b0d3408b135554b6a7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--kt8b7za.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--kt8b7za.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1f62945e22133554d16d6927fa28475f90f285
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--kt8b7za.json
@@ -0,0 +1,317 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--kt8b7za",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 8332,
+   "live_rows": 8332,
+   "sim_steps": 8332,
+   "physics_steps": 83320,
+   "steps": 2422,
+   "elapsed_s": 10818.6,
+   "replay_wall_s": 6284.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-slotted-post-ring-04-i01-standard--kt8b7za/replay.mp4",
+  "duration_s": 208.4,
+  "fps": 15.0,
+  "frames": 3126,
+  "sha256": "1ed3662b6054b6216336e59119d0594d8b9d7976bb91614f8a68bb8db920d3b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      81.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，立柱和底板、黄黑绳链、两颗珠子及两片端盘都在绿色目标方框前方的原谜题侧；按任务分隔面由初态最靠近目标的非目标点再外移5毫米定义，初态成立。"
+     },
+     {
+      "t": 81.0,
+      "log_step": null,
+      "text_zh": "推断：视频 75.0–85.0 s，右夹爪将环从柱后继续向绿色方框移动，腕部视图中双股绳仍绕在环的近侧边缘，随环向目标侧牵出；约视频 81.0 s 起，按初始底板后缘和目标近边之间的分隔关系判断，绳链已进入分隔面目标侧。分隔面不可见，首次越界锚点有数秒不确定性。"
+     },
+     {
+      "t": 140.0,
+      "log_step": null,
+      "text_zh": "观察：视频 96.0–142.0 s，机器人虽回移、侧移和翻转环并夹拉绳链，绳链始终从立柱延伸至柱后或侧后的环缘；视频 138.0–142.0 s 的腕部视图清楚显示绳链延入绿色目标框。"
+     },
+     {
+      "t": 208.33,
+      "log_step": null,
+      "text_zh": "推断：视频 144.0–208.33 s，目标侧环缘一直搭有黄黑绳弯，末尾视频 207.0–208.33 s 的两腕视图均显示双股绳伸入绿色方框并绕住环缘，故非目标组件未全部返回原侧；立柱、珠子和端盘仍在原谜题附近也不能抵消绳链越界。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右平行夹爪持环时，左平行夹爪多次夹住绳段或绳弯，试图把绳链移回立柱一侧；也曾单独用左夹爪提拉柱顶绳段。视频 98.0–116.0 s、128.0–132.0 s、163.0–165.0 s 可见夹持与拉动，不能由后续滑脱否认此前实际夹绳。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–36.0 s，左夹爪夹住蓝色金属环并沿立柱抬升，环离开初始底部位置，黄黑绳同时被带起；视频 48.0–72.0 s，机器人将环竖起穿过柱槽并向右夹爪换手。"
+     },
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 77.0–90.0 s，右夹爪在柱后翻平并向目标区移动金属环，但右腕视图持续显示双股绳钩绕近侧环缘，移动环时绳弯随之受牵，环没有完成与绳组件的解离。"
+     },
+     {
+      "t": 142.0,
+      "log_step": null,
+      "text_zh": "观察：视频 138.0–144.0 s，金属环的投影已位于绿色框内，绳链却仍从立柱侧延伸至环近缘并搭挂其上；视频 156.0–174.0 s 环落桌后，左夹爪反复夹提绳弯，仍未将绳链从环缘移走。"
+     },
+     {
+      "t": 208.33,
+      "log_step": 419,
+      "text_zh": "观察：视频 198.0–208.33 s，右夹爪再次持环、左夹爪夹绳后移开，绳仍回落挂在环缘；末帧视频 208.33 s 仍可见牵连。log step 419 的 agent 自述“绳滑脱且仍绕在环缘”与画面一致；评分器 reward.live_success=0、replay_success=0、live_matches_replay=1，亦未报告成功。"
+     },
+     {
+      "t": 208.33,
+      "log_step": 420,
+      "text_zh": "观察：log step 420 发出了再抓绳并向系统侧搬回的多段命令，但 log step 421 尚无完成回执；视频最后只显示左爪重新靠近绳弯，不能把命令中尚未看到的搬回动作记为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "先由左二指夹爪握环抬升、穿槽，随后右二指夹爪接手持环；两臂再配合，一臂抓环、另一臂夹绳段/绳弯试图解离。视频 98.0–116.0 s、128.0–132.0 s、198.0–205.0 s 可见这种配合；期间右爪曾松环使环落在目标区桌面，再重新抓起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 84.0,
+   "log_step": 142,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 81.0–85.0 s，机器人右夹爪持环向绿色目标区移动，绳链仍双股搭挂环近缘并随之被牵出；log step 142 记录了 agent 向目标中心移动并等待确认的命令。视频 90.0–208.33 s 的后续夹绳和翻环未解除这一牵连，末帧仍未完成解离及联合验收，因此断在正在进行的金属环入目标区步骤。"
+  },
+  "unmet": {
+   "system_on_original_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 84.0,
+    "log_step": 151,
+    "evidence_zh": "观察：视频 81.0–85.0 s 的右腕视图显示黄黑绳弯实际包绕环缘，环向柱后移动时绳弯被绷向环缘而没有脱开；视频 140.0–144.0 s 和视频 207.0–208.33 s 仍能看到该挂连。log step 151 中 agent 也明确承认绳仍约束环并回移恢复松弛。阻碍来自绳与环的挂接接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "未知",
+    "t": 84.0,
+    "log_step": 142,
+    "evidence_zh": "推断：视频 40.0 s 环被左爪举起时绳已挂在环上，视频 56.0、66.0、72.0 s 穿槽与换手过程中绳仍绕在环缘；视频 78.0、81.0、84.0 s 右爪将环翻平并移向目标，双股绳仍搭挂近侧环缘并随环被牵向目标侧。因此，解离尚未完成就转入目标区放置的阶段选择，使入区与系统留原侧的联合条件未能成立。log step 132、135、140 显示 agent 曾计划通过翻平和短距离移动让绳滑落，并非完全没有解离计划；但 log step 142 中 agent 自述绳似已滑回柱槽，随即下令移至目标中心，视频仍显示挂连，log step 151 才回移恢复松弛。归因于这一未经有效确认便进入放置阶段的推理/规划，而非将视频 165.0–166.0 s 后期补救中的夹绳滑脱当作早期根因；没有成功示范或试验证明某一种替代解套路径可完成全任务，替代方案可行性为未知。",
+    "source_zh": "视频 / inputs/run.json 中的阶段决策与移动命令（log step 132、135、140、142、151）"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 只有本次 run.json、replay.mp4 及元数据，没有状态日志或成功示范。固定分隔面不可见，也没有全部网格顶点与原生速度/确认计时读数，因此“系统留在原侧”的首次失去时间约视频 81.0 s 是结合初态、目标边界和绳链随环移动作出的近似推断，可能有数秒误差；无法独立量化七项原生指标，均留 null。视频 163.0–166.0 s 可见左爪夹提绳弯后移开而绳仍留在环缘，这是断点后的补救失败；局部指垫接触被遮挡，log step 321 所说接触在指垫边缘仍是 agent 自述，不据此保留独立的抓取和接触设计根因。规划归因限于挂连未解除便转入目标区放置，缺少证据判定唯一拓扑解法或验证某种替代策略可行。"
+ },
+ "summary_zh": "机器人将金属环从立柱底部抬起、竖起穿槽并换手，但未解除环缘挂绳就转入目标区放置，后续补救也未解除牵连，金属环入目标区节点从未完成。系统留原侧初态成立，约视频 81.0 s 后绳链被带向目标侧，最终两个节点均为假；视频 78.0–84.0 s 的持续挂连与 log step 142 的放置决策支持推理/规划根因，后期夹绳滑脱不作为该断点的独立现象。没有状态日志及成功示范，分隔面首次越界时间与规划归因含推断，毫米级边界、速度和确认时间无法量化，置信度保持 6。",
+ "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、时钟和断点基本与视频一致（环与绳自始至终未解离，两节点末帧均为假）。主要问题在根因：视频 40 s 起绳就已挂在被抬起的环上，agent 带绳穿槽、移向目标，没有先处理套连，根因锚在 165 s 的指端滑脱是后期补救动作的症状，与断点不一致。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（两节点末帧均为假）、断点 ring_in_goal、被挡/碰撞现象与推理/规划根因均与视频一致；绳自抬环起即挂在环缘，视频 84 s、140 s、208 s 仍可见牵连。越界首次时间为推断且已标注。",
+    "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": "2026-10-31T00:18:04Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--kt8b7za/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--kt8b7za/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--kt8b7za/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--kt8b7za/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "365a3068289ddce59cb4a33c15d8e00ba0d4dcfaa55df6642f8ae238b9807d11",
+   "video_sha256": "1ed3662b6054b6216336e59119d0594d8b9d7976bb91614f8a68bb8db920d3b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--psbx8rr.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--psbx8rr.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aeb9a432d1921c11f9edc1a15d46fdf8e81060b
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--psbx8rr.json
@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--psbx8rr",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 17,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 13106,
+   "live_rows": 13106,
+   "sim_steps": 13106,
+   "physics_steps": 131060,
+   "steps": 5340,
+   "elapsed_s": 10799.1,
+   "replay_wall_s": 5373.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-slotted-post-ring-04-i01-standard--psbx8rr/replay.mp4",
+  "duration_s": 327.733,
+  "fps": 15.0,
+  "frames": 4916,
+  "sha256": "a83063c0e33d67389c44fa726a5baa86c5b49158038109240b2c5bc5e396d193"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      78.3
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木柱和底板位于目标区前方，绳、两个红珠和两个绿色端盘均在原谜题一侧；该节点按 DAG 的初态分隔面定义成立。"
+     },
+     {
+      "t": 78.3,
+      "log_step": 310,
+      "text_zh": "推断：视频 77.7–80.3 s，左夹爪持蓝环向木柱后方的目标区移动并下降，搭在环上的绳随环后移，原先被提到木柱附近的红珠、绿色端盘也留到柱后。结合视频 76.0–77.7 s 的位置和视频 80.3–86.0 s 的绳盘落点，将系统侧条件的丢失近似锚定在视频 78.3 s；不可见分隔面附近的绳段此前已有摆动，精确首次越界可能早于此锚点；log step 310 的脚本先夹拉绳，再直接把左爪持环移向目标。"
+     },
+     {
+      "t": 294,
+      "log_step": null,
+      "text_zh": "观察：视频 290.0–295.0 s，右夹爪保持蓝环，左夹爪牵拉前方绳段和端盘；前盘移向左前方，但另一绿色端盘仍在木柱后方，没有恢复所有非目标部件留原侧的状态。"
+     },
+     {
+      "t": 327.65,
+      "log_step": null,
+      "text_zh": "观察：视频 326.7–327.65 s 的高位及右腕视图仍显示一个绿色端盘和相连绳段位于木柱后方、靠蓝环的目标一侧，另一个端盘在左前方；系统侧保持条件最终不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 290.0–295.0 s，右二指夹爪夹持蓝环，左二指夹爪夹住前方绳段牵拉，带动相连红珠和端盘；两臂共同尝试恢复非目标部件留原侧。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 299.0–310.0 s 及视频 315.0–324.0 s，右爪保持蓝环，左爪用指端在柱后绳、红珠和绿色端盘附近推拨、扫动，尝试把它们移回系统侧。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色金属环平放并套在木柱下部，目标区在木柱后方，入区节点初始不成立。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0–51.0 s，左二指夹爪夹住环边并抬起蓝环；视频 59.0–66.0 s 继续上提时绳搭在环边，一侧珠子、端盘随绳被提向木柱，尚未形成独立的整环入区。"
+     },
+     {
+      "t": 80,
+      "log_step": 310,
+      "text_zh": "观察：视频 78.0–81.7 s，左夹爪将蓝环搬向木柱后方并下降，腕视图显示绳仍横搭环口且绿色端盘靠在环内侧附近；此后反复拨绳和调整环的位置。"
+     },
+     {
+      "t": 327.65,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–77.7 s 蓝环仍在木柱处或上方操作，尚未整体进入目标体积；视频约 78.3 s 后至视频 327.65 s，非目标绳盘留原侧这一联合条件一直未恢复，所以即使后段环被右爪持到绿色目标区附近，也未达到本节点的联合连续确认。终帧仍有绿色端盘及绳段在目标侧，评分器 live_success=0、success=0 与之相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：前段左二指夹爪夹持蓝环，右爪参与理绳；视频 290.0–295.0 s 改由右爪夹持环边、左爪夹绳牵拉，配合尝试解离并入区。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 51.0–58.0 s 及视频 66.0–77.0 s，左爪持环，右爪用指端拨扫搭在环边、木柱附近的绳；后段左右角色互换，右爪持环、左爪推拨绳盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "system_on_original_side",
+   "t": 78.3,
+   "log_step": 310,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 78.3 s，机器人在携环向目标搬运时把仍搭连的绳和一侧端盘带到木柱后方，系统留原侧这一初始已成立的节点丢失；视频 80.3–86.0 s 的腕视图可见绳、珠、端盘仍在环旁。此后机器人多次牵拉、推拨，视频 327.65 s 仍有端盘和绳留在目标侧，故这是最先丢失且未恢复的节点。"
+  },
+  "unmet": {
+   "system_on_original_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 78.3,
+    "log_step": 310,
+    "evidence_zh": "观察：视频 78.0–81.7 s，左爪携蓝环移到木柱后方，绳与一侧珠、端盘跟随到环旁；视频 290.0–295.0 s 左爪拉动前盘时，柱后另一端盘仍未回到原侧。视频 327.65 s 右腕视图仍见端盘与绳紧邻目标区内的蓝环，非目标部件停在了要求保留区域之外。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 310,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 310 的脚本在右爪夹绳并向前拉一次之后，就保持该右臂目标不变、令左爪把环直接移向目标并下降，没有在这两阶段之间检查绳是否已从环边清开。视频 76.0–80.3 s 显示绳仍搭在环口，环向目标移动时绳及端盘被一起牵过去；后续 log step 323 改用低位扫绳补救，视频 80.3–327.65 s 却始终未恢复系统侧关系。该搬运顺序把尚未解除的绳环耦合带入下一阶段，解释了非目标部件被带到目标侧的结果。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功示范；固定分隔面不可见，首次越界时绳和端盘部分被木柱、夹爪遮挡，区间终点视频 78.3 s 取自明确的向目标搬运过程，是视觉近似锚点；此前抬环、调姿时是否已有少量绳段越界无法精确排除，故不将它解释为精确的首次穿面时刻。不能从图像核实毫米级全网格边界、目标刚体速度及原生联合计时，评分器未报告 DAG 的七项原生指标，故均填 null。日志里的点云范围和完成判断是 agent 自行计算或自述，未当作评分器的逐节点验收；末段端盘留在目标侧则有视频直接支持。"
+ },
+ "summary_zh": "系统留原侧在初态成立；机器人先由左爪抬环、右爪拨绳，后又换成右爪持环、左爪拉扫绳盘，但两个节点最终均未成立。视频约 78.3 s 搬环时，未清开的绳环耦合把非目标绳盘带向目标侧，此状态此后未恢复，蓝环的联合入区验收也未达成。没有状态日志，首次越界时刻只能用明确搬运过程近似锚定，毫米级几何、速度和确认窗无法独立核实。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频侧标签（系统留原侧在约 78 s 丢失、环入区从未成立、终帧端盘仍在目标侧）与帧一致；但 log_step 310 与视频 78 s 不对应：该步是右臂扫绳、左臂持环不动的脚本，并非『左爪持环移向目标并下降』，推理/规划根因的证据建立在错配的日志步上。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮对 log_step 的质疑源于数组下标与日志 id 混淆；steps[288].id=310 确为右臂夹拉绳、左臂搬环下降的脚本，与视频 76–81 s 一致。标签与帧一致，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": "2026-10-31T00:16:53Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--psbx8rr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--psbx8rr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--psbx8rr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--psbx8rr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d012075947c98ff79a44263f8dcffa30267092b3e704e1aaa9646485a383ad8",
+   "video_sha256": "a83063c0e33d67389c44fa726a5baa86c5b49158038109240b2c5bc5e396d193",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--tmw8gln.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--tmw8gln.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a17e950232502ddef72f1a7d4fb02985fab8082
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--tmw8gln.json
@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--tmw8gln",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 13,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3887,
+   "live_rows": 3887,
+   "sim_steps": 3887,
+   "physics_steps": 38870,
+   "steps": 1478,
+   "elapsed_s": 8535.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 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/roboarc-slotted-post-ring-04-i01-standard--tmw8gln/replay.mp4",
+  "duration_s": 97.267,
+  "fps": 15.0,
+  "frames": 1459,
+  "sha256": "7ffe459aebcc73f5c78e16f95bb01f2cc9b4b0030adceee5879b6170f873898d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，立柱和底板在绿色虚线目标区前方，黄黑绳、两颗珠子和两个端盘均在底板前方的系统侧；初态满足系统留原侧条件。"
+     },
+     {
+      "t": 36,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–48.0 s，两夹爪在绳与端盘附近运动，绳局部弯折有变化，但立柱、珠子和端盘未被带往立柱后方的绿色目标区。"
+     },
+     {
+      "t": 97.2,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段粗采样、视频 8.0–26.0 s、30.0–78.0 s 和 78.0–97.2 s 的密集检查，非目标组件始终留在底板及其前方，终帧与初态的整体分布一致，未见向目标侧越过分隔面的运动，故保留从初态延续的成立区间；不可见分隔面的毫米级判定仍缺状态数据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 17.0–25.5 s 及 42.0–56.5 s，右夹爪在环前缘探入和移动时拨动邻近黄黑绳段，绳段随指尖改变弯折。视频 32.0–40.0 s 左夹爪也在绳、珠子和端盘上方尝试闭合，未确认其夹起绳，不据此记抓握。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–17.0 s，右夹爪下降到蓝色金属环前侧并闭合；腕部视图中环仍在底板上套着立柱，没有随夹爪抬离。"
+     },
+     {
+      "t": 56.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–63.5 s，右夹爪反复探压、闭合和上抬，蓝色环仍在原底板上；视频 64.0–89.0 s 两臂在立柱周围重定位，也未把环带离。"
+     },
+     {
+      "t": 97.2,
+      "log_step": 112,
+      "text_zh": "观察：视频 89.0–97.2 s，右夹爪再次下降、闭合及上抬，最后一秒和视频 97.2 s 终帧均显示蓝色完整环仍套在立柱底部，立柱后方的绿色目标区未得到金属环。log step 112 的闭爪开度读数及提拉指令没有对应的可见拾取；评分器 live_success=0 与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 9.5–17.0 s、48.0–56.5 s，右夹爪指尖在蓝环边缘及底板附近向下探压，反复闭合后环仍留在底板；未见二指对向夹住环管并持环运动，故不将试抓指令标为实际抓握。左夹爪后续也靠近环上方试抓，未见成功夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 10.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.0 s，右夹爪已经下降到环边试抓，但蓝色环未随其运动；视频 17.0–25.5 s 的后续闭合、视频 53.0–56.5 s 的探压以及视频 89.0–97.2 s 的最后试抓均未取得可见持环。环始终套在立柱底部，入区步骤从试抓处受阻且未在后续修复，锚点取首次明显失败试抓附近。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 10.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 9.5–17.0 s、17.0–25.5 s 和 53.0–56.5 s，右夹爪虽在环与绳附近闭合及上抬，蓝色环均留在底板，腕部画面多次显示夹爪闭在环孔或邻近绳段处；视频 89.0–97.2 s 的最后动作也没有持环离开原位。推断：未建立此搬运所需的稳定夹持接触；局部探压、拨绳不等同于抓住金属环。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：试抓控制未把末端带到可夹住环管的位姿，也未可靠阻止未到位时的闭爪和提拉。log step 108 的命令抓取点为 [0.026,-0.016,0.058] m，而服务本体感觉返回末端 [0.0656,-0.0145,0.144] m，随后脚本仍闭爪；log step 109 返回右肩命令 0.205 rad、实测 -0.041 rad、力矩 25.80 Nm。log step 112 再次在末端高度 0.1407 m、关节偏差 0.276 rad 时闭爪并执行上抬，末端最终仅到 0.2026 m，服务压力监测最大值 273.6 N。视频 89.0–97.2 s 可见这段末次下降、闭合和上抬，却没有环随动；这些命令与实测偏差支持控制层面的归因，尚不足以区分具体控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范视频；分隔面不可见，不能精确核验全部非目标网格顶点的毫米级边界，系统留原侧依据初态与全段可见分布推断。腕部和夹爪有局部遮挡，左夹爪是否曾短暂夹住绳不能确认，未据开度单独记抓握。评分器未报告 DAG 的七项原生几何、速度及联合确认指标，均填 null。log step 115 将失败归于肩力矩上限并声称两臂都无法完成，但现有证据只证实所执行动作的跟踪偏差及接触失败，不能排除其他合法抓法或路径，因此不归因于任务或环境。日志引用保留 log step，不将 agent 工作时间换算为视频时间。"
+ },
+ "summary_zh": "实时单局中非目标组件从初态到结束均留在原系统侧，最终计 1/2；机器人反复靠近、探压和闭爪，金属环始终套在立柱底部，未进入绿色目标区。断点为金属环入目标区步骤的试抓阶段：未建立稳定持环接触，日志显示末端尚未到位仍执行闭爪和提拉，支持控制层面的失败归因。没有状态日志，分隔面毫米级关系和部分手指接触只能结合多视角推断；agent 关于力矩限制使任务无解的主张未获验证。",
+ "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（系统留原侧成立、环未入区，1/2）、断点 ring_in_goal 试抓阶段、没建立接触、控制根因均与视频一致；终帧环仍套在立柱底部，未见需要修改的错误。",
+    "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": "2026-10-31T00:14:32Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--tmw8gln/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--tmw8gln/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e955f1f72b940c3a5f05cd436063987c7d2b9f81536130e3ea0382b882981e7",
+   "video_sha256": "7ffe459aebcc73f5c78e16f95bb01f2cc9b4b0030adceee5879b6170f873898d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--vurya6e.json b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--vurya6e.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2e80b62c53e3484633aec125e850186e0e6b97
--- /dev/null
+++ b/phase2/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--vurya6e.json
@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--vurya6e",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 22,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 15381,
+   "live_rows": 15381,
+   "sim_steps": 15381,
+   "physics_steps": 153810,
+   "steps": 3551,
+   "elapsed_s": 8584.6,
+   "replay_wall_s": 4152.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 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,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.397,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.104,
+   "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/roboarc-slotted-post-ring-04-i01-standard--vurya6e/replay.mp4",
+  "duration_s": 384.6,
+  "fps": 15.0,
+  "frames": 5769,
+  "sha256": "f8bcbf249e5a55c245bf75adcd255a8537bd8693395bc0110d5247592b999811"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，立柱固定在底板上，绳链、两颗红珠和两个绿色端盘均在目标方框近边的原谜题一侧；目标方框在立柱后方。"
+     },
+     {
+      "t": 44.2,
+      "log_step": null,
+      "text_zh": "观察：视频 16.5–18.0 s、43.0–44.2 s，右夹爪下降后抵在立柱上部附近，立柱与底板未见平移或倾倒；绳链、红珠和端盘仍在初始一侧。"
+     },
+     {
+      "t": 384.4,
+      "log_step": null,
+      "text_zh": "推断：全程每 5 秒抽帧及视频 12.0–27.5 s、39.0–74.0 s、100.0–127.0 s、180.0–205.0 s、278.0–384.4 s的加密片段中，非目标组件位置基本不变，未见向目标方框越界；视频 383.6–384.4 s末段亦如此。结合DAG说明初态已满足，判为持续保留；不可见分隔面的毫米级裕量无法直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 16.5–18.0 s及43.0–44.2 s，机器人右夹爪的横向基座及夹指在立柱上端附近抵压；这是试取金属环时对非目标立柱的附带接触，未见夹持绳链、珠子或端盘，也未见将立柱带向目标侧。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": 137,
+      "text_zh": "观察：视频 14.0–18.0 s，右夹爪向立柱右侧下降，停在立柱上部附近；蓝色金属环仍平放在底板上并围住立柱，未随夹爪移动。"
+     },
+     {
+      "t": 44.2,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0–44.2 s，机器人再次下降，夹爪仍停在金属环上方；视频 46.0–49.0 s撤回时，环留在原处。log step 173记录实时局control_steps=1769和右TCP高度0.2276 m。"
+     },
+     {
+      "t": 300.0,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–127.0 s、180.0–205.0 s及278.0–300.0 s，右夹爪反复改变姿态、下降、闭合、抬起，蓝环始终留在立柱底部；未见环被双指夹住并随手抬起。"
+     },
+     {
+      "t": 384.4,
+      "log_step": 344,
+      "text_zh": "观察：视频 310.0–384.4 s，右夹爪继续在立柱侧面接近并开合，环仅在底部略有位移，未离开立柱组件；视频 383.6–384.4 s的末段中，整环仍在绿色目标方框外。评分器live_success=0、replay_success=0且live_matches_replay=1，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人用右二指夹爪反复试取蓝色金属环；视频 16.5–18.0 s、43.0–44.2 s可见夹爪基座及夹指抵在立柱上部附近，环留在下方。没有可确认的对环材的对向夹持，故不记抓握；后段夹爪与环/绳的瞬时接触面受遮挡，不能逐一确定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 17.0,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 16.5–18.0 s，机器人右夹爪试图下探取环，但夹爪结构在立柱上部附近停住，蓝环仍留在底板并套住立柱；log step 137的第一次下降结果为右TCP高度0.2278 m。此后多次重试，直到视频 384.4 s仍未抬起、解离或搬入目标区，因此该取环入区步骤一直没有修复。"
+  },
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 17.0,
+    "log_step": 173,
+    "evidence_zh": "观察：视频 16.5–18.0 s及43.0–44.2 s，机器人右夹爪的横向结构贴住立柱上端附近，夹指未下降到下方蓝环；随后撤回，环没有被带走。log step 173的实时局本体读数显示右肩指令+0.2434 rad、实际−0.1347 rad、驱动力矩25.8 N·m，右TCP停在0.2276 m，而log step 165的取环目标高度为0.047 m。推断：下降受接触阻断；日志control_steps=1769，按每0.1 s对应4控制步（log step 209）得40 Hz，1769/40≈视频44.2 s，已与该帧停靠姿态核对，且15381/40≈视频384.6 s总长一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人取环的运动与接触执行未能把双指带到环材两侧。log step 165命令下降至0.047 m，log step 173记录右TCP仍为0.2276 m且肩驱动饱和；改用末端位姿动作后，log step 215仍记录右肩指令+0.2829 rad、实际−0.0676 rad、力矩25.8 N·m；log step 326的闭合、抬升测试及视频 310.0–370.0 s中环始终留在底部，log step 342末次侧向接近仍有多行逆解拒绝。多种动作均未实现可用取环接触，归于控制；现有证据不足以进一步区分接触几何、轨迹逆解或反馈控制的主因。"
+   }
+  ],
+  "gap_zh": "无状态日志、接触对及成功示范；视频可见夹爪在立柱附近受阻，但不能精确确认每次阻挡的碰撞网格及后段环/绳接触面。agent在log step 345自述存在“隐形球形碰撞体”，该解释未被独立几何或接触记录证实，不能据此归为任务或环境问题；同处自述“没有强推记录”也与评分器forcing_events=22不符，该计数本身不是失败约束。非目标组件毫米级分隔面距离及所有原生速度/确认指标未报告，保留关系依据初态和视频中组件基本不动推断。"
+ },
+ "summary_zh": "机器人始终保留立柱、绳链、珠子和端盘在原侧的关系，最终完成1/2个节点；蓝色金属环从未被可靠取起，仍围住立柱且未进入目标方框。断点在金属环入区步骤：视频约17.0 s起右夹爪下探时在立柱上部附近受阻，反复重试仍失败，日志支持运动与接触执行方面的控制问题。缺少状态与接触对，无法核实agent所称的隐形碰撞体或进一步确定控制子类。",
+ "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：立柱/绳/珠/端盘始终在原侧，金属环从未被取起或入区（视频 0、17、44、384 s 帧确认），断点在 ring_in_goal，被挡/碰撞有视频（夹爪停在立柱上横梁处）与日志 TCP 0.2278/0.2276 m 支持；40 Hz 控制步映射（1769 步≈44.2 s）已与视频停靠姿态核对。根因停在控制/控制，保守合理。",
+    "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": "2026-10-31T00:06:27Z",
+  "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/roboarc-slotted-post-ring-04-i01-standard--vurya6e/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--vurya6e/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0fa042b43a1e514cbd8663e23c6c1282670a37d5dafacd7790de6bb9aa3e6746",
+   "video_sha256": "f8bcbf249e5a55c245bf75adcd255a8537bd8693395bc0110d5247592b999811",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}