Add 123 trajectories (phase 2, remaining runs; batch S38)

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--23udcaa",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1303,
+   "sim_steps": 1303,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 8.43,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 18,
+   "agent_resets": 0,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.482,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.249,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa/replay.mp4",
+  "duration_s": 13.04,
+  "fps": 25.0,
+  "frames": 326,
+  "sha256": "ebaa122623858042e43d5d140fd32b2bcf7cd930dc5c11c07c27037452e51310"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.16–3.20 s，机器人转身后继续向画面左侧迈步，第1个来球从远端飞近，经机器人画面右侧掠过，在视频 3.04 s 已位于其后方近地处，随后向近端弹跳；机器人仍直立。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 49,
+      "text_zh": "观察：log step 48 重新执行生成脚本并保存交付轨迹，log step 49 对该交付文件进行官方重放，裁判返回 dodge 1 阶段事件（仿真 3.023 s），success=true、executed_rows=1303；run.json 评分字段 replay_success=1、deterministic=1、stages_reached=5。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 49,
+      "text_zh": "推断：最终交付重放的1303个控制步×0.01 s=仿真 13.03 s，与视频 13.04 s 的逐帧取整时长吻合；第1球离机及触地在视频约 2.2 s、3.0 s 已与裁判事件核对。结合本球相邻帧和重放的阶段记账，将本节点首次完成锚定在视频约 3.04 s（约0.1 s精度），而非刚从身体旁飞过时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧迈步，使身体避开第1个来球；相邻帧显示球从身旁通过，无需用手接球。裁判重放记入该球躲避成功。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第1球时，机器人左右脚交替接触木质球场地面，支撑腿和躯干完成移动，身体保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.68,
+      "log_step": null,
+      "text_zh": "观察：视频 4.64–5.84 s，机器人继续向画面左侧迈步，第2个来球飞近后从其侧旁通过；视频 5.60–5.76 s 可见球在机器人后方接近地面并继续远离，机器人未倒地。"
+     },
+     {
+      "t": 5.68,
+      "log_step": 49,
+      "text_zh": "观察：log step 48 重新执行生成脚本并保存交付轨迹，log step 49 对该交付文件进行官方重放，裁判返回 dodge 2 阶段事件（仿真 5.661 s），success=true、executed_rows=1303；run.json 评分字段 replay_success=1、deterministic=1、stages_reached=5。"
+     },
+     {
+      "t": 5.68,
+      "log_step": 49,
+      "text_zh": "推断：最终交付重放的1303个控制步×0.01 s=仿真 13.03 s，与视频 13.04 s 的逐帧取整时长吻合；第1球离机及触地在视频约 2.2 s、3.0 s 已与裁判事件核对。结合本球相邻帧和重放的阶段记账，将本节点首次完成锚定在视频约 5.68 s（约0.1 s精度），而非刚从身体旁飞过时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧迈步，使身体避开第2个来球；相邻帧显示球从身旁通过，无需用手接球。裁判重放记入该球躲避成功。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第2球时，机器人左右脚交替接触木质球场地面，支撑腿和躯干完成移动，身体保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.08,
+      "log_step": null,
+      "text_zh": "观察：视频 7.20–8.24 s，机器人已改为向画面右侧退步，第3个来球从其画面左侧通过，视频 8.08 s 球已到机器人后方近地处，之后弹起，机器人继续站立行走。"
+     },
+     {
+      "t": 8.08,
+      "log_step": 49,
+      "text_zh": "观察：log step 48 重新执行生成脚本并保存交付轨迹，log step 49 对该交付文件进行官方重放，裁判返回 dodge 3 阶段事件（仿真 8.064 s），success=true、executed_rows=1303；run.json 评分字段 replay_success=1、deterministic=1、stages_reached=5。"
+     },
+     {
+      "t": 8.08,
+      "log_step": 49,
+      "text_zh": "推断：最终交付重放的1303个控制步×0.01 s=仿真 13.03 s，与视频 13.04 s 的逐帧取整时长吻合；第1球离机及触地在视频约 2.2 s、3.0 s 已与裁判事件核对。结合本球相邻帧和重放的阶段记账，将本节点首次完成锚定在视频约 8.08 s（约0.1 s精度），而非刚从身体旁飞过时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面右侧迈步，使身体避开第3个来球；相邻帧显示球从身旁通过，无需用手接球。裁判重放记入该球躲避成功。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第3球时，机器人左右脚交替接触木质球场地面，支撑腿和躯干完成移动，身体保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.64,
+      "log_step": null,
+      "text_zh": "观察：视频 9.68–10.80 s，机器人继续向画面右侧退步，第4个来球从其画面左侧通过，视频 10.56–10.72 s 球在其后方落向地面并弹跳，机器人未倒地。"
+     },
+     {
+      "t": 10.64,
+      "log_step": 49,
+      "text_zh": "观察：log step 48 重新执行生成脚本并保存交付轨迹，log step 49 对该交付文件进行官方重放，裁判返回 dodge 4 阶段事件（仿真 10.588 s），success=true、executed_rows=1303；run.json 评分字段 replay_success=1、deterministic=1、stages_reached=5。"
+     },
+     {
+      "t": 10.64,
+      "log_step": 49,
+      "text_zh": "推断：最终交付重放的1303个控制步×0.01 s=仿真 13.03 s，与视频 13.04 s 的逐帧取整时长吻合；第1球离机及触地在视频约 2.2 s、3.0 s 已与裁判事件核对。结合本球相邻帧和重放的阶段记账，将本节点首次完成锚定在视频约 10.64 s（约0.1 s精度），而非刚从身体旁飞过时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面右侧迈步，使身体避开第4个来球；相邻帧显示球从身旁通过，无需用手接球。裁判重放记入该球躲避成功。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第4球时，机器人左右脚交替接触木质球场地面，支撑腿和躯干完成移动，身体保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.08–13.00 s，机器人再次向画面左侧迈步，第5个来球从其画面右侧通过并下降；视频 12.88、12.92、12.96、13.00 s 可见球与机器人逐渐分离，末帧机器人保持直立，球已在其后方近地处。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 49,
+      "text_zh": "观察：log step 48 重新执行生成脚本并保存交付轨迹，log step 49 对该交付文件进行官方重放，裁判返回 dodge 5 阶段事件（仿真 13.023 s），success=true、executed_rows=1303；run.json 评分字段 replay_success=1、deterministic=1、stages_reached=5。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 49,
+      "text_zh": "推断：最终交付重放的1303个控制步×0.01 s=仿真 13.03 s，与视频 13.04 s 的逐帧取整时长吻合；第1球离机及触地在视频约 2.2 s、3.0 s 已与裁判事件核对。结合本球相邻帧和重放的阶段记账，将本节点首次完成锚定在视频约 13.00 s（约0.1 s精度），而非刚从身体旁飞过时。末次记账位于末帧附近，其最终完成由评分器成功及五阶段结果确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧迈步，使身体避开第5个来球；相邻帧显示球从身旁通过，无需用手接球。裁判重放记入该球躲避成功。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第5球时，机器人左右脚交替接触木质球场地面，支撑腿和躯干完成移动，身体保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先转身，再以双足往返步行避开五次来球，五个事件节点均完成，最终进度为5/5；视频末帧仍保持直立。最终交付文件的官方重放（log step 49）返回五个躲球阶段及成功，评分字段也为成功且重放确定。无状态日志，远景中的球体很小，瞬时无接触及精确触地时刻需结合裁判事件确认；视频完成锚点为约0.1 s精度，第5球在视频约13.0 s的末帧附近完成验收。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "五个躲球节点的视频时间与裁判事件（仿真 3.023/5.661/8.064/10.588/13.023 s，1303 步×0.01 s 对应视频 13.04 s）一致，final=5、无失败层，接触标签合理；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": "2026-10-31T00:03:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "81b69e7e5b988e8ca6935a5becc22a354c62afd7a0c655547de27191348e2dad",
+   "video_sha256": "ebaa122623858042e43d5d140fd32b2bcf7cd930dc5c11c07c27037452e51310",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--bjptqva",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1318,
+   "sim_steps": 1318,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 11.25,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 89,
+   "agent_resets": 2153,
+   "agent_replays": 8,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.471,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.24,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva/replay.mp4",
+  "duration_s": 13.2,
+  "fps": 25.0,
+  "frames": 330,
+  "sha256": "94bdcc251963f7988055b791cd9b00fe84da9ccfe7a1b3980363a070affa913c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–3.12 s，第1球从发球机方向飞到机器人身旁，机器人已转身并向侧后方移步；视频 3.12–3.28 s，球在机器人后侧低处触地并弹起，机器人仍直立。"
+     },
+     {
+      "t": 3.1,
+      "log_step": 30,
+      "text_zh": "推断：第1球完成锚点取视频约 3.10 s，依据上述首次触地附近的连续帧，时间误差约 0.1–0.2 s。log step 30 记录最终参数轨迹的保存及两次外部重放，均包含 dodge 1 至 dodge 5 且 success=true；本次评分器另报 stages_reached=5、metric_dodged=5、replay_success=1、deterministic=1。因此确认本球未以活球击中机器人并已被裁判计入，终态为真；没有用 agent 会话时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人以双腿移步并带动躯干侧移，避开第1次来球；视频中球从身旁经过，结合评分器成功结果确认全身未被该活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第1球期间，机器人左右脚交替接触木质球场地面，承重并保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.36–5.84 s，第2球从远端飞来，从机器人画面左侧通过并降到地面；视频 5.92–6.16 s 可见落地后的反弹，机器人继续在场内移步。"
+     },
+     {
+      "t": 5.8,
+      "log_step": 30,
+      "text_zh": "推断：第2球完成锚点取视频约 5.80 s，依据上述首次触地附近的连续帧，时间误差约 0.1–0.2 s。log step 30 记录最终参数轨迹的保存及两次外部重放，均包含 dodge 1 至 dodge 5 且 success=true；本次评分器另报 stages_reached=5、metric_dodged=5、replay_success=1、deterministic=1。因此确认本球未以活球击中机器人并已被裁判计入，终态为真；没有用 agent 会话时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人以双腿移步并带动躯干侧移，避开第2次来球；视频中球从身旁经过，结合评分器成功结果确认全身未被该活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第2球期间，机器人左右脚交替接触木质球场地面，承重并保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "观察：视频 7.84–8.24 s，第3球从机器人画面右侧通过，继续向近端下降；视频 8.24–8.40 s 可见球触地后弹起，机器人双脚交替支撑、身体直立。"
+     },
+     {
+      "t": 8.2,
+      "log_step": 30,
+      "text_zh": "推断：第3球完成锚点取视频约 8.20 s，依据上述首次触地附近的连续帧，时间误差约 0.1–0.2 s。log step 30 记录最终参数轨迹的保存及两次外部重放，均包含 dodge 1 至 dodge 5 且 success=true；本次评分器另报 stages_reached=5、metric_dodged=5、replay_success=1、deterministic=1。因此确认本球未以活球击中机器人并已被裁判计入，终态为真；没有用 agent 会话时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人以双腿移步并带动躯干侧移，避开第3次来球；视频中球从身旁经过，结合评分器成功结果确认全身未被该活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第3球期间，机器人左右脚交替接触木质球场地面，承重并保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.32–10.80 s，第4球从机器人画面左侧通过，在与机器人分离的位置降到地面；视频 10.88–11.04 s 球弹起后继续远离，机器人仍站立并移步。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 30,
+      "text_zh": "推断：第4球完成锚点取视频约 10.80 s，依据上述首次触地附近的连续帧，时间误差约 0.1–0.2 s。log step 30 记录最终参数轨迹的保存及两次外部重放，均包含 dodge 1 至 dodge 5 且 success=true；本次评分器另报 stages_reached=5、metric_dodged=5、replay_success=1、deterministic=1。因此确认本球未以活球击中机器人并已被裁判计入，终态为真；没有用 agent 会话时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人以双腿移步并带动躯干侧移，避开第4次来球；视频中球从身旁经过，结合评分器成功结果确认全身未被该活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第4球期间，机器人左右脚交替接触木质球场地面，承重并保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.16,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.16,
+      "log_step": null,
+      "text_zh": "观察：视频 12.80–13.16 s，第5球从远端接近，从机器人身旁飞过，视频 13.12–13.16 s 已降到其后侧近地面处；最后一帧机器人仍直立，双脚位于场内。"
+     },
+     {
+      "t": 13.16,
+      "log_step": 30,
+      "text_zh": "推断：第5球完成锚点取视频约 13.16 s，依据上述首次触地附近的连续帧，时间误差约 0.1–0.2 s。log step 30 记录最终参数轨迹的保存及两次外部重放，均包含 dodge 1 至 dodge 5 且 success=true；本次评分器另报 stages_reached=5、metric_dodged=5、replay_success=1、deterministic=1。因此确认本球未以活球击中机器人并已被裁判计入，终态为真；没有用 agent 会话时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人以双腿移步并带动躯干侧移，避开第5次来球；视频中球从身旁经过，结合评分器成功结果确认全身未被该活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第5球期间，机器人左右脚交替接触木质球场地面，承重并保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先转身并向侧后方移动，随后在本方场内往返移步，依次躲过五次来球，全部五个节点终态为真。评分器报告成功、躲球数为5且重放确定；log step 30、41、56 的交付重放记录与视频结果一致，会话中其他测试的被击中或越界不属于本次评分轨迹。无逐帧状态日志，远景也不显示裁判阶段文字，因此各节点时刻依据球首次触地附近画面估计，第5球取视频末帧 13.16 s 附近，瞬时接触及逐球记账由评分成功结果补强。",
+ "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，五个节点终态为真与评分器 stages_reached=5、metric_dodged=5 一致；抽查视频帧中机器人始终直立、球在身旁落地，��间锚点合理，无 failure。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:07:05Z",
+  "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/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3fe71aaffe0237792a70267a9b712662c72c1e910b48e9b7c892ded44bd1efb4",
+   "video_sha256": "94bdcc251963f7988055b791cd9b00fe84da9ccfe7a1b3980363a070affa913c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk.json

@@ -0,0 +1,300 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1344,
+   "sim_steps": 1344,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 10.21,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1979,
+   "agent_resets": 0,
+   "agent_replays": 17,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 21.139,
+   "peak_processes": 20,
+   "peak_disk_gb": 0.993,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk/replay.mp4",
+  "duration_s": 13.48,
+  "fps": 25.0,
+  "frames": 337,
+  "sha256": "0b3a58310f616283ea0e8da12bfa99ce9754725593192d0c8a97bd2c679b981c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–3.12 s，第1球向机器人飞来并从其身旁通过，机器人持续迈步；视频 3.16–3.24 s，球降至地面后反弹，机器人仍直立且未触边线。"
+     },
+     {
+      "t": 3.2,
+      "log_step": 217,
+      "text_zh": "推断：以视频约 3.2 s 的首次触地作为第1球完成锚点（远景约有 0.1 s 的判读误差）；评分器 reward 的 stages_reached=5、metric_dodged=5、success=1、replay_success=1、deterministic=1，以及 log step 217 对最终交付文件两次重放均列出 dodge 1 至 dodge 5 且终态哈希相同，支持本球已被裁判依序记账。未将会话中的其他测试用作本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：本次第1球飞来时，机器人通过双腿移步改变躯干位置，球从机体旁通过；结合评分器五球均躲过的结果，判定机器人与本球活球期间保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第1球的躲避过程中，机器人左右脚交替接触木质球场地面，支撑腿与躯干保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.84,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.84,
+      "log_step": null,
+      "text_zh": "观察：视频 5.32–5.80 s，第2球从机器人身旁掠过，双脚继续交替支撑；视频 5.84–5.92 s，球与地面阴影汇合后反弹，机器人保持站立。"
+     },
+     {
+      "t": 5.84,
+      "log_step": 217,
+      "text_zh": "推断：以视频约 5.84 s 的首次触地作为第2球完成锚点（远景约有 0.1 s 的判读误差）；评分器 reward 的 stages_reached=5、metric_dodged=5、success=1、replay_success=1、deterministic=1，以及 log step 217 对最终交付文件两次重放均列出 dodge 1 至 dodge 5 且终态哈希相同，支持本球已被裁判依序记账。未将会话中的其他测试用作本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：本次第2球飞来时，机器人通过双腿移步改变躯干位置，球从机体旁通过；结合评分器五球均躲过的结果，判定机器人与本球活球期间保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第2球的躲避过程中，机器人左右脚交替接触木质球场地面，支撑腿与躯干保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.52,
+      "log_step": null,
+      "text_zh": "观察：视频 7.80–8.48 s，第3球飞近后从机器人侧方通过，机器人移步避让；视频 8.52–8.60 s，球落地后反弹，机器人仍位于己方场内。"
+     },
+     {
+      "t": 8.52,
+      "log_step": 217,
+      "text_zh": "推断：以视频约 8.52 s 的首次触地作为第3球完成锚点（远景约有 0.1 s 的判读误差）；评分器 reward 的 stages_reached=5、metric_dodged=5、success=1、replay_success=1、deterministic=1，以及 log step 217 对最终交付文件两次重放均列出 dodge 1 至 dodge 5 且终态哈希相同，支持本球已被裁判依序记账。未将会话中的其他测试用作本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：本次第3球飞来时，机器人通过双腿移步改变躯干位置，球从机体旁通过；结合评分器五球均躲过的结果，判定机器人与本球活球期间保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第3球的躲避过程中，机器人左右脚交替接触木质球场地面，支撑腿与躯干保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.32–11.12 s，第4球飞近后经过机器人身旁，机器人双脚支撑、躯干保持直立；视频 11.16–11.24 s，球落地并开始反弹。"
+     },
+     {
+      "t": 11.2,
+      "log_step": 217,
+      "text_zh": "推断：以视频约 11.2 s 的首次触地作为第4球完成锚点（远景约有 0.1 s 的判读误差）；评分器 reward 的 stages_reached=5、metric_dodged=5、success=1、replay_success=1、deterministic=1，以及 log step 217 对最终交付文件两次重放均列出 dodge 1 至 dodge 5 且终态哈希相同，支持本球已被裁判依序记账。未将会话中的其他测试用作本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：本次第4球飞来时，机器人通过双腿移步改变躯干位置，球从机体旁通过；结合评分器五球均躲过的结果，判定机器人与本球活球期间保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第4球的躲避过程中，机器人左右脚交替接触木质球场地面，支撑腿与躯干保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.44,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 12.40–13.44 s：第5球从远端飞来，在视频 13.12–13.40 s 从机器人侧方掠过并下降，末帧视频 13.44 s 球已到地面，机器人仍直立，双脚位于场内。"
+     },
+     {
+      "t": 13.44,
+      "log_step": 217,
+      "text_zh": "推断：以视频约 13.44 s 的首次触地作为第5球完成锚点（远景约有 0.1 s 的判读误差）；评分器 reward 的 stages_reached=5、metric_dodged=5、success=1、replay_success=1、deterministic=1，以及 log step 217 对最终交付文件两次重放均列出 dodge 1 至 dodge 5 且终态哈希相同，支持本球已被裁判依序记账。未将会话中的其他测试用作本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：本次第5球飞来时，机器人通过双腿移步改变躯干位置，球从机体旁通过；结合评分器五球均躲过的结果，判定机器人与本球活球期间保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第5球的躲避过程中，机器人左右脚交替接触木质球场地面，支撑腿与躯干保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在己方场内往返移步，依次躲过全部五球，五个事件节点均完成；逐帧检查视频最后一秒及末帧视频 13.44 s，机器人仍站立。评分器记录 success=1、stages_reached=5、metric_dodged=5，log step 217 对最终交付文件的两次重放均成功且终态哈希一致。没有状态日志，场地远景也没有裁判阶段叠字，因此逐球完成时间按可见首次触地近似标注，瞬时接触与裁判记账由成功结果辅助确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个躲球节点均达成，与视频触地时刻和评分器结果一致；无失败，failure 为 null 合理，接触标签符合实际。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:03:24Z",
+  "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/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "18e8b3c087d959175ad8158e32d7f9ef1d69b4477f9e97de329b19ee84e607d6",
+   "video_sha256": "0b3a58310f616283ea0e8da12bfa99ce9754725593192d0c8a97bd2c679b981c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s.json

@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--qazb45s",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1298,
+   "sim_steps": 1298,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 9.86,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 592,
+   "agent_resets": 0,
+   "agent_replays": 16,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.693,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.843,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 25.0,
+  "frames": 325,
+  "sha256": "dd7ae7643f6b306eacf6ed15a9e15472907065d9da110a03da8ed11832037080"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.92,
+      "log_step": null,
+      "text_zh": "观察：视频 2.32–2.80 s，第1个红球离开发球机并从正在移步转身的机器人身旁飞过；视频 2.84–2.96 s，球在机器人后侧下降至木地板附近，随后继续向画面近端运动，机器人仍直立。"
+     },
+     {
+      "t": null,
+      "log_step": 541,
+      "text_zh": "观察：log step 540 运行最终交付生成器，log step 541 返回该轨迹共1298个控制步、仿真终点12.98 s，裁判事件在仿真 2.892 s 记入 dodge 1；inputs/run.json 的评分器字段另报告 n_actions=1298、deterministic=1、replay_success=1、stages_reached=5、metric_dodged=5。此前会话中的其他候选轨迹不用于本节点判定。"
+     },
+     {
+      "t": 2.92,
+      "log_step": 541,
+      "text_zh": "推断：相邻视频帧中的来球通过、落地过程与最终交付日志的第1次裁判记账相符，且评分器确认全部五球躲避成功，因此本节点完成并锁存。视频 2.92 s 是所检查帧给出的近似完成导航点；小球与影子的分离及瞬时接触在远景中难以精确分辨，完成时刻有约0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在第1球经过时移步并转身，躯干与腿部避离红球路线；结合该球的裁判记账，推断活球未触及机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在躲第1球期间双脚交替接触木质地板，支撑直立躯干并完成移步，未见手、膝或躯干撑地。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "避开",
+      "note_zh": "观察：机器人躲第1球时双臂上举并随身体转向，双手、前臂处于球路上方；结合裁判成功记账，推断双臂均未接触该活球。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.64,
+      "log_step": null,
+      "text_zh": "观察：视频 4.92–5.48 s，第2个红球从远端飞来，机器人举臂继续移步，球从其身旁通过；视频 5.56–5.68 s，球落至地面附近并继续远离机器人，未见机器人倒地。"
+     },
+     {
+      "t": null,
+      "log_step": 541,
+      "text_zh": "观察：log step 540 运行最终交付生成器，log step 541 返回该轨迹共1298个控制步、仿真终点12.98 s，裁判事件在仿真 5.617 s 记入 dodge 2；inputs/run.json 的评分器字段另报告 n_actions=1298、deterministic=1、replay_success=1、stages_reached=5、metric_dodged=5。此前会话中的其他候选轨迹不用于本节点判定。"
+     },
+     {
+      "t": 5.64,
+      "log_step": 541,
+      "text_zh": "推断：相邻视频帧中的来球通过、落地过程与最终交付日志的第2次裁判记账相符，且评分器确认全部五球躲避成功，因此本节点完成并锁存。视频 5.64 s 是所检查帧给出的近似完成导航点；小球与影子的分离及瞬时接触���远景中难以精确分辨，完成时刻有约0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在第2球经过时沿场地侧方继续移步、转身，躯干与腿部避离红球路线；结合该球的裁判记账，推断活球未触及机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在躲第2球期间双脚交替接触木质地板，支撑直立躯干并完成移步，未见手、膝或躯干撑地。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "避开",
+      "note_zh": "观察：机器人躲第2球时双臂上举并随身体转向，双手、前臂处于球路上方；结合裁判成功记账，推断双臂均未接触该活球。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.92,
+      "log_step": null,
+      "text_zh": "观察：视频 7.32–7.88 s，第3个红球沿画面上侧飞向机器人，机器人移步转向，球经过身体旁；视频 7.92–8.20 s，球已在机器人后侧地面附近向场边运动，机器人保持站立。"
+     },
+     {
+      "t": null,
+      "log_step": 541,
+      "text_zh": "观察：log step 540 运行最终交付生成器，log step 541 返回该轨迹共1298个控制步、仿真终点12.98 s，裁判事件在仿真 7.917 s 记入 dodge 3；inputs/run.json 的评分器字段另报告 n_actions=1298、deterministic=1、replay_success=1、stages_reached=5、metric_dodged=5。此前会话中的其他候选轨迹不用于本节点判定。"
+     },
+     {
+      "t": 7.92,
+      "log_step": 541,
+      "text_zh": "推断：相邻视频帧中的来球通过、落地过程与最终交付日志的第3次裁判记账相符，且评分器确认全部五球躲避成功，因此本节点完成并锁存。视频 7.92 s 是所检查帧给出的近似完成导航点；小球与影子的分离及瞬时接触在远景中难以精确分辨，完成时刻有约0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在第3球经过时在靠近画面上侧边线处转身移步，躯干与腿部避离红球路线；结合该球的裁判记账，推断活球未触及机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在躲第3球期间双脚交替接触木质地板，支撑直立躯干并完成移步，未见手、膝或躯干撑地。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "避开",
+      "note_zh": "观察：机器人躲第3球时双臂上举并随身体转向，双手、前臂处于球路上方；结合裁判成功记账，推断双臂均未接触该活球。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.64,
+      "log_step": null,
+      "text_zh": "观察：视频 9.88–10.48 s，第4个红球从发球机一侧接近，机器人转身移步并举起双臂，球从身体旁通过；视频 10.56–10.68 s，球下降至地板附近并远离，机器人仍以双脚支撑。"
+     },
+     {
+      "t": null,
+      "log_step": 541,
+      "text_zh": "观察：log step 540 运行最终交付生成器，log step 541 返回该轨迹共1298个控制步、仿真终点12.98 s，裁判事件在仿真 10.639 s 记入 dodge 4；inputs/run.json 的评分器字段另报告 n_actions=1298、deterministic=1、replay_success=1、stages_reached=5、metric_dodged=5。此前会话中的其他候选轨迹不用于本节点判定。"
+     },
+     {
+      "t": 10.64,
+      "log_step": 541,
+      "text_zh": "推断：相邻视频帧中的来球通过、落地过程与最终交付日志的第4次裁判记账相符，且评分器确认全部五球躲避成功，因此本节点完成并锁存。视频 10.64 s 是所检查帧给出的近似完成导航点；小球与影子的分离及瞬时接触在远景中难以精确分辨，完成时刻有约0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在第4球经过时转身并向场内移步，躯干与腿部避离红球路线；结合该球的裁判记账，推断活球未触及机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在躲第4球期间双脚交替接触木质地板，支撑直立躯干并完成移步，未见手、膝或躯干撑地。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "避开",
+      "note_zh": "观察：机器人躲第4球时双臂上举并随身体转向，双手、前臂处于球路上方；结合裁判成功记账，推断双臂均未接触该活球。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.96,
+      "log_step": null,
+      "text_zh": "观察：视频 12.28–12.84 s，第5个红球接近并从机器人身旁飞过；视频 12.88–12.96 s，球下降到机器人后侧的地板附近，末帧机器人仍举臂直立，双脚位于场内。"
+     },
+     {
+      "t": null,
+      "log_step": 541,
+      "text_zh": "观察：log step 540 运行最终交付生成器，log step 541 返回该轨迹共1298个控制步、仿真终点12.98 s，裁判事件在仿真 12.971 s 记入 dodge 5；inputs/run.json 的评分器字段另报告 n_actions=1298、deterministic=1、replay_success=1、stages_reached=5、metric_dodged=5。此前会话中的其他候选轨迹不用于本节点判定。"
+     },
+     {
+      "t": 12.96,
+      "log_step": 541,
+      "text_zh": "推断：相邻视频帧中的来球通过、落地过程与最终交付日志的第5次裁判记账相符，且评分器确认全部五球躲避成功，因此本节点完成并锁存。视频 12.96 s 是所检查帧给出的近似完成导航点；小球与影子的分离及瞬时接触在远景中难以精确分辨，完成时刻有约0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在第5球经过时改变行进方向、移步退让，躯干与腿部避离红球路线；结合该球的裁判记账，推断活球未触及机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人在躲第5球期间双脚交替接触木质地板，支撑直立躯干并完成移步，未见手、膝或躯干撑地。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "避开",
+      "note_zh": "观察：机器人躲第5球时双臂上举并随身体转向，双手、前臂处于球路上方；结合裁判成功记账，推断双臂均未接触该活球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人通过连续移步、转身及双臂上举躲过全部五次来球，五个节点分别约在视频 2.9、5.6、7.9、10.6、13.0 s 完成；末帧仍站立，评分器确认成功、确定性重放通过且 dodged=5。最终交付生成记录为 log step 540–541 的1298步轨迹，与评分器动作数和视频过程一致，早先候选试验不计入本次进度。无状态日志，场地远景中的小球及瞬时接触较难精确分辨，逐球完成时间按相邻帧近似标注，裁判记账与最终成功字段补强无活球接触的判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "五个躲球节点的时间与裁判记账（仿真2.892/5.617/7.917 s等）及评分器 dodged=5、stages 5/5 一致，成功运行无 failure，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:07:52Z",
+  "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/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dc1c69f25429f3d16054368cceba72e3246f625d938c79c3b3d689c1d649a16b",
+   "video_sha256": "dd7ae7643f6b306eacf6ed15a9e15472907065d9da110a03da8ed11832037080",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1306,
+   "sim_steps": 1306,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 7.65,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 101,
+   "agent_resets": 7895,
+   "agent_replays": 11,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa/replay.mp4",
+  "duration_s": 13.08,
+  "fps": 25.0,
+  "frames": 327,
+  "sha256": "143c69b2110870717a8decdd1937a1a58696667ebf1fe3271bcbd7dd9c6a5da3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.60–3.40 s 逐帧及局部放大中，第1球从远端机器方向飞来，视频 2.80–2.96 s 从机器人画面右侧掠过，与身体轮廓分离；视频 3.00–3.04 s 球降至木地面，随后球与地面阴影重新分离、弹起。机器人在场内移步，双脚支撑身体，未见跌倒。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 204,
+      "text_zh": "推断：第1球在视频 3.04 s 附近完成躲避，以可见落地/反弹为近似时间锚点，误差约 0.1 s；裁判逐球记账时刻没有直接显示。 inputs/run.json 的评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=5、metric_dodged=5；log step 204 读取最终交付的两次重放记录，阶段列表包含 dodge 1。这支持本节点终值为真；不采用会话中早期测试的结果或 agent 时间定位视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第1球通过时，机器人通过腿部移步带动躯干离开球路，球从身体旁掠过，与机器人保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲避第1球期间双脚交替接触木质场地，承担全身重量并维持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.00–6.00 s 逐帧中，第2球从远端飞向机器人，视频 5.40–5.56 s 从机器人画面左侧通过；视频 5.60–5.64 s 球接近地面并改变竖直运动方向，视频 5.68–5.80 s 已反弹远离。机器人继续向画面右侧移步，与球分开并保持直立。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 204,
+      "text_zh": "推断：第2球在视频 5.60 s 附近完成躲避，以可见落地/反弹为近似时间锚点，误差约 0.1 s；裁判逐球记账时刻没有直接显示。 inputs/run.json 的评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=5、metric_dodged=5；log step 204 读取最终交付的两次重放记录，阶段列表包含 dodge 2。这支持本节点终值为真；不采用会话中早期测试的结果或 agent 时间定位视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第2球通过时，机器人通过腿部移步带动躯干离开球路，球从身体旁掠过，与机器人保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲避第2球期间双脚交替接触木质场地，承担全身重量并维持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.04,
+      "log_step": null,
+      "text_zh": "观察：视频 7.60–8.48 s 逐帧中，第3球从远端飞来，视频 7.88–8.00 s 沿机器人画面右侧下落；视频 8.04–8.08 s 球落至地面附近并开始反弹，视频 8.12–8.20 s 球与地面阴影重新分开。机器人向画面左侧移步，球与身体轮廓分离，未倒地。"
+     },
+     {
+      "t": 8.04,
+      "log_step": 204,
+      "text_zh": "推断：第3球在视频 8.04 s 附近完成躲避，以可见落地/反弹为近似时间锚点，误差约 0.1 s；裁判逐球记账时刻没有直接显示。 inputs/run.json 的评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=5、metric_dodged=5；log step 204 读取最终交付的两次重放记录，阶段列表包含 dodge 3。这支持本节点终值为真；不采用会话中早期测试的结果或 agent 时间定位视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第3球通过时，机器人通过腿部移步带动躯干离开球路，球从身体旁掠过，与机器人保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲避第3球期间双脚交替接触木质场地，承担全身重量并维持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.00–11.00 s 逐帧中，第4球在视频 10.40–10.56 s 从机器人画面左侧掠过；视频 10.60–10.64 s 球到达地面并反弹，视频 10.68–10.80 s 球再次升高。机器人向画面右侧继续移步，双脚支撑，球未进入身体轮廓。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 204,
+      "text_zh": "推断：第4球在视频 10.60 s 附近完成躲避，以可见落地/反弹为近似时间锚点，误差约 0.1 s；裁判逐球记账时刻没有直接显示。 inputs/run.json 的评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=5、metric_dodged=5；log step 204 读取最终交付的两次重放记录，阶段列表包含 dodge 4。这支持本节点终值为真；不采用会话中早期测试的结果或 agent 时间定位视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第4球通过时，机器人通过腿部移步带动躯干离开球路，球从身体旁掠过，与机器人保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲避第4球期间双脚交替接触木质场地，承担全身重量并维持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.04,
+      "log_step": null,
+      "text_zh": "观察：视频 12.00–13.04 s 已逐帧检查，末秒机器人保持直立并向画面左侧移步；第5球在视频 12.80–12.96 s 从机器人画面右侧掠过，视频 13.00–13.04 s 降至机器人前方地面附近，与机器人分离。末帧视频 13.04 s 没有机器人倒地或活球贴身的可见迹象。"
+     },
+     {
+      "t": 13.04,
+      "log_step": 204,
+      "text_zh": "推断：结合最后一球已在末帧降至地面附近及评分器最终成功，以视频 13.04 s 末帧作为第5球达成的近似锚点，精确落地及记账瞬间可能在末帧采样之后，误差约 0.1 s。 inputs/run.json 的评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=5、metric_dodged=5；log step 204 读取最终交付的两次重放记录，阶段列表包含 dodge 5。这支持本节点终值为真；不采用会话中早期测试的结果或 agent 时间定位视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第5球通过时，机器人通过腿部移步带动躯干离开球路，球从身体旁掠过，与机器人保持分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲避第5球期间双脚交替接触木质场地，承担全身重量并维持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人通过持续移步和多次往返换向依次躲过五球，五个事件节点均达成；视频末帧 13.04 s 仍直立，评分器确认成功、躲球数为 5，交付重放一致。成功参考视频仅用于核对来球、落地和支撑的可见形态，本次节点依据本次视频及评分记录判断。无状态日志且画面未显示逐球裁判记账，达成时刻按落地/反弹近似定位；最后一球以视频 13.04 s 末帧及最终成功结果联合判定，精确瞬时接触与记账存在约 0.1 s 的定位不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个躲球节点均为真，评分器 success=1、stages 5/5、metric_dodged=5 支持；时间以落地/反弹为锚点，末帧机器人直立，无失败层，接触标签与 DAG 一致且符合画面。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:05:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ed4155172e1c81026f2af2bef36990fe9ca66afb609874ed3b75fad23b12649c",
+   "video_sha256": "143c69b2110870717a8decdd1937a1a58696667ebf1fe3271bcbd7dd9c6a5da3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1297,
+   "sim_steps": 1297,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 10.17,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 16,
+   "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": 0.639,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.24,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 25.0,
+  "frames": 325,
+  "sha256": "0c9a1d627e1f86f2f7a8ed4368021e1bd227daab1dc1b72d460ca1af7e473a50"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.16–3.12 s，机器人保持直立，沿球场横向迈步；第1球从中间发球机飞来，视频 2.72–2.88 s 从机器人侧旁经过，视频 2.96–3.04 s 落到机器人后侧地面并反弹，未见撞击机器人。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 11,
+      "text_zh": "推断：以球绕过机器人后落地为完成锚点，第1球约在视频 3.00 s 完成（视觉取时误差约0.1秒）。log step 11 明确重放最终保存的1297行动文件，基准重放器报告 dodge 1 至 dodge 5 全部达到；log step 12 第二次重放成功且终态哈希相同，评分器 reward.metric_dodged=5、stages_reached=5、replay_success=1、deterministic=1，支持本球已由裁判记账。此处时间取自视频帧，未换算 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人转向后沿球场横向行走，使身体与第1个来球错开；结合最终重放裁判记账，机器人未接触该活球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第1球期间机器人左右脚交替接触木质球场地面，支撑躯干完成移步。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频 4.64–5.76 s，第2球从远端发球机飞来，机器人继续迈步并在横向行程末端改变移动方向；视频 5.44–5.60 s 球从身体侧旁掠过，视频 5.68–5.76 s 已落到机器人侧后方地面，机器人仍直立。"
+     },
+     {
+      "t": 5.7,
+      "log_step": 11,
+      "text_zh": "推断：以球绕过机器人后落地为完成锚点，第2球约在视频 5.70 s 完成（视觉取时误差约0.1秒）。log step 11 明确重放最终保存的1297行动文件，基准重放器报告 dodge 1 至 dodge 5 全部达到；log step 12 第二次重放成功且终态哈希相同，评分器 reward.metric_dodged=5、stages_reached=5、replay_success=1、deterministic=1，支持本球已由裁判记账。此处时间取自视频帧，未换算 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人在横向行程末端换向并继续迈步，使身体与第2个来球错开；结合最终重放裁判记账，机器人未接触该活球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第2球期间机器人左右脚交替接触木质球场地面，支撑躯干完成移步。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.12–8.08 s，机器人沿前段路线反向迈步；第3球飞过机器人侧旁，���频 7.92–8.00 s 球已到机器人侧后方地面并反弹，机器人未倒地。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 11,
+      "text_zh": "推断：以球绕过机器人后落地为完成锚点，第3球约在视频 8.00 s 完成（视觉取时误差约0.1秒）。log step 11 明确重放最终保存的1297行动文件，基准重放器报告 dodge 1 至 dodge 5 全部达到；log step 12 第二次重放成功且终态哈希相同，评分器 reward.metric_dodged=5、stages_reached=5、replay_success=1、deterministic=1，支持本球已由裁判记账。此处时间取自视频帧，未换算 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人沿球场横向反向行走，使身体与第3个来球错开；结合最终重放裁判记账，机器人未接触该活球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第3球期间机器人左右脚交替接触木质球场地面，支撑躯干完成移步。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.56,
+      "log_step": null,
+      "text_zh": "观察：视频 9.60–10.64 s，机器人继续反向行走；第4球在视频 10.24–10.40 s 从身体旁经过，视频 10.48–10.56 s 球落到后侧地面并反弹，机器人保持双足行走。"
+     },
+     {
+      "t": 10.5,
+      "log_step": 11,
+      "text_zh": "推断：以球绕过机器人后落地为完成锚点，第4球约在视频 10.50 s 完成（视觉取时误差约0.1秒）。log step 11 明确重放最终保存的1297行动文件，基准重放器报告 dodge 1 至 dodge 5 全部达到；log step 12 第二次重放成功且终态哈希相同，评分器 reward.metric_dodged=5、stages_reached=5、replay_success=1、deterministic=1，支持本球已由裁判记账。此处时间取自视频帧，未换算 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人沿球场横向反向行走，使身体与第4个来球错开；结合最终重放裁判记账，机器人未接触该活球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第4球期间机器人左右脚交替接触木质球场地面，支撑躯干完成移步。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.96,
+      "log_step": null,
+      "text_zh": "观察：视频 12.00–12.96 s，机器人已再次改变横向移动方向；第5球在视频 12.72–12.88 s 从身体侧旁经过，末帧视频 12.96 s 球到达机器人后侧地面附近，机器人仍直立且脚在场内。"
+     },
+     {
+      "t": 12.96,
+      "log_step": 11,
+      "text_zh": "推断：以球绕过机器人后落地为完成锚点，第5球约在视频 12.96 s 完成（视觉取时误差约0.1秒）。log step 11 明确重放最终保存的1297行动文件，基准重放器报告 dodge 1 至 dodge 5 全部达到；log step 12 第二次重放成功且终态哈希相同，评分器 reward.metric_dodged=5、stages_reached=5、replay_success=1、deterministic=1，支持本球已由裁判记账。此处时间取自视频帧，未换算 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人再次换向后沿球场横向行走，使身体与第5个来球错开；结合最终重放裁判记账，机器人未接触该活球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第5球期间机器人左右脚交替接触木质球场地面，支撑躯干完成移步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次交付录像中，机器人先转身再沿球场横向往返迈步，五个来球依次从身体旁通过，五个躲球节点约在视频 3.0、5.7、8.0、10.5、12.96 s 达到，末帧仍保持直立。观察：log step 11–12 对最终保存文件的两次重放均成功且终态哈希相同，评分器报告躲过5球、未跌倒，故本次无失败断点；早期试跑的被球击中不属于本次交付。推断：无状态日志，远景无法独立分辨毫秒级球体接触或裁判记账时刻，因此节点时间按密集视频帧近似，最终是否完成同时依据该交付文件的裁判结果。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个躲球节点均达成、终态成功、无失败断点，与视频帧和评分器字段一致；时间取自视频帧，未换算 agent 时间；contact_actual 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": "2026-10-31T00:00:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ae5feaccec42f35af4256cddbe5d04726857e1955022b98fde8b665ff88402a1",
+   "video_sha256": "0c9a1d627e1f86f2f7a8ed4368021e1bd227daab1dc1b72d460ca1af7e473a50",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-privileged--utvvxen",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1326,
+   "sim_steps": 1326,
+   "horizon": 1550,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 10.07,
+   "bad_trajectory": 0,
+   "metric_dodged": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 35,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.445,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.249,
+   "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/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen/replay.mp4",
+  "duration_s": 13.28,
+  "fps": 25.0,
+  "frames": 332,
+  "sha256": "1abfc58e4048ec2883df0e76f0085b8c1b5da6dca8d0b08b00b4aed4b96b1d88"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64–3.00 s，第1次来球从远端飞向机器人，机器人向画面左侧移步，球从身体右侧的空处通过；视频 3.04–3.16 s，球在机器人前方近地处落下并反弹，机器人仍直立迈步。"
+     },
+     {
+      "t": 3.1,
+      "log_step": 41,
+      "text_zh": "推断：依据该球飞过、近地及后续运动的相邻帧，将第1球成为死球、完成躲避的时刻近似标为视频 3.1 s（视觉估计，约有 0.1–0.2 s 误差）。log step 41 的最终交付独立重放结果列出 dodge 1 至 dodge 5、success=true、steps=1326，评分器也报告 stages_reached=5、metric_dodged=5，支持本节点最终完成；未采用早期测试 log step 21 的逐球事件时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 2.64–3.16 s，机器人通过腿部移步与躯干转向，使第1球从身体右侧通过，未见球碰到机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.64–3.16 s，机器人双脚交替接触木质球场地面，支撑腿和躯干完成本次移步躲球。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.28–5.76 s，第2次来球经过机器人画面左侧，机器人继续小步移动，球与身体之间可见间隔；视频 5.80–5.96 s，球触地后再次升起，机器人仍用双脚支撑。"
+     },
+     {
+      "t": 5.8,
+      "log_step": 41,
+      "text_zh": "推断：依据该球飞过、近地及后续运动的相邻帧，将第2球成为死球、完成躲避的时刻近似标为视频 5.8 s（视觉估计，约有 0.1–0.2 s 误差）。log step 41 的最终交付独立重放结果列出 dodge 1 至 dodge 5、success=true、steps=1326，评分器也报告 stages_reached=5、metric_dodged=5，支持本节点最终完成；未采用早期测试 log step 21 的逐球事件时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 5.28–5.96 s，机器人通过小步移动避开第2球，球从画面左侧通过，与机器人保持间隔。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.28–5.96 s，机器人双脚交替接触木质球场地面，支撑腿和躯干完成本次移步躲球。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 7.92–8.36 s，第3次来球从远端飞到机器人的画面左侧，机器人向画面右侧移步；视频 8.40–8.56 s，球在机器人左前方触地后反弹，机器人保持直立。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 41,
+      "text_zh": "推断：依据该球飞过、近地及后续运动的相邻帧，将第3球成为死球、完成躲避的时刻近似标为视频 8.4 s（视觉估计，约有 0.1–0.2 s 误差）。log step 41 的最终交付独立重放结果列出 dodge 1 至 dodge 5、success=true、steps=1326，评分器也报告 stages_reached=5、metric_dodged=5，支持本节点最终完成；未采用早期测试 log step 21 的逐球事件时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 7.92–8.56 s，机器人向画面右侧移步，第3球在其画面左侧通过并落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.92–8.56 s，机器人双脚交替接触木质球场地面，支撑腿和躯干完成本次移步躲球。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.32–10.72 s，第4次来球在机器人画面左侧向近端飞行，机器人继续向画面右侧移动；视频 10.76–10.92 s，球落地后反弹，机器人未倒地。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 41,
+      "text_zh": "推断：依据该球飞过、近地及后续运动的相邻帧，将第4球成为死球、完成躲避的时刻近似标为视频 10.8 s（视觉估计，约有 0.1–0.2 s 误差）。log step 41 的最终交付独立重放结果列出 dodge 1 至 dodge 5、success=true、steps=1326，评分器也报告 stages_reached=5、metric_dodged=5，支持本节点最终完成；未采用早期测试 log step 21 的逐球事件时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 10.32–10.92 s，机器人向画面右侧继续移动，第4球从身体画面左侧通过并落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.32–10.92 s，机器人双脚交替接触木质球场地面，支撑腿和躯干完成本次移步躲球。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.24,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.24,
+      "log_step": null,
+      "text_zh": "观察：视频 12.80–13.20 s，第5次来球从机器人画面右侧通过，机器人向画面左侧移步；视频 13.24 s 末帧，球已降至右侧白线附近地面，机器人仍直立，球与机器人分离。"
+     },
+     {
+      "t": 13.24,
+      "log_step": 41,
+      "text_zh": "推断：依据该球飞过、近地及后续运动的相邻帧，将第5球成为死球、完成躲避的时刻近似标为视频 13.24 s（视觉估计，约有 0.1–0.2 s 误差）。log step 41 的最终交付独立重放结果列出 dodge 1 至 dodge 5、success=true、steps=1326，评分器也报告 stages_reached=5、metric_dodged=5，支持本节点最终完成；未采用早期测试 log step 21 的逐球事件时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 12.80–13.24 s，机器人向画面左侧移步，第5球从身体画面右侧通过，末帧两者仍分离。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.80–13.24 s，机器人双脚交替接触木质球场地面，支撑腿和躯干完成本次移步躲球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次评分视频中，机器人通过连续移步、转身依次避开五次来球，视频 13.24 s 末帧仍直立；评分器报告五阶段全部完成、dodged=5，log step 41 的最终交付重放也成功。推断：五个躲球事件分别约在视频 3.1、5.8、8.4、10.8、13.24 s 完成，均保持至结束，无失败断点。证据缺口：没有逐帧状态日志，远景中的球较小且没有裁判阶段叠字，因此触地及逐球记账时间是相邻帧结合最终裁判结果的近似判断；成功参考视频仅用于识别场景及落地反弹外观。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个躲球节点均 final=true，评分器 stages_reached=5、metric_dodged=5 支持；抽查帧与标注一致，无失败断点，contact_actual 合理，时间标注为视觉近似且已声明。",
+    "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": "2026-10-31T00:04:49Z",
+  "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/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac78a3f0fef4bd29fd72173ed44b48b0125b92273147a7c8bfcd3db3321e15e6",
+   "video_sha256": "1abfc58e4048ec2883df0e76f0085b8c1b5da6dca8d0b08b00b4aed4b96b1d88",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--3u5mjks",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1281,
+   "sim_steps": 3102,
+   "calls": 74,
+   "rows": 3102,
+   "resets": 2,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1363.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.341,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.041,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks/replay.mp4",
+  "duration_s": 12.84,
+  "fps": 25.0,
+  "frames": 321,
+  "sha256": "d531620e48b49966a5fd88d8cf95d4d2eb4ff161b683d0fb18a2e316ebd4dd61"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64—2.88 s，第1个红球从远端飞向机器人，机器人向画面左侧移步，球从其画面右侧通过；视频 2.96—3.12 s，球继续向近端下降并出现贴地、反弹画面，机器人仍直立在场内。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 62,
+      "text_zh": "推断：依据视频 2.64—3.20 s 的球路、落地画面与机器人继续行走，将第1球躲避完成锚定在视频约 3.0 s（落地时刻误差约 0.2 s）；不是将球刚从身旁飞过算作完成。log step 62 的第3回合服务返回 stages_reached=5、stages_total=5、reason=success，log step 64 的服务状态再次确认为 episode=3、done=True、reason=success，支持本球已依序获裁判记账；日志未逐球报告记账时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 2.64—3.20 s，机器人以腿部移步并改变躯干朝向，向画面左侧移动，与第1个飞来红球错开；未见机器人与该活球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.64—3.20 s，机器人双脚交替在木质球场地面落脚，支撑身体完成第1球的躲避。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.12—5.44 s，第2个红球飞近机器人，机器人向画面右侧移步，球从其画面左侧通过；视频 5.52—5.84 s，球贴近地面后弹起并远离，机器人继续在场内行走。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 62,
+      "text_zh": "推断：依据视频 5.12—5.84 s 的球路、落地画面与机器人继续行走，将第2球躲避完成锚定在视频约 5.5 s（落地时刻误差约 0.2 s）；不是将球刚从身旁飞过算作完成。log step 62 的第3回合服务返回 stages_reached=5、stages_total=5、reason=success，log step 64 的服务状态再次确认为 episode=3、done=True、reason=success，支持本球已依序获裁判记账；日志未逐球报告记账时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 5.12—5.84 s，机器人以腿部移步并改变躯干朝向，向画面右侧移动，与第2个飞来红球错开；未见机器人与该活球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.12—5.84 s，机器人双脚交替在木质球场地面落脚，支撑身体完成第2球的躲避。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.60—7.84 s，第3个红球从机器人画面右侧通过，机器人向画面左侧移动；视频 7.92—8.08 s，球下降至木地板并反弹，机器人未倒地。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 62,
+      "text_zh": "推断：依据视频 7.60—8.32 s 的球路、落地画面与机器人继续行走，将第3球躲避完成锚定在视频约 8.0 s（落地时刻误差约 0.2 s）；不是将球刚从身旁飞过算作完成。log step 62 的第3回合服务返回 stages_reached=5、stages_total=5、reason=success，log step 64 的服务状态再次确认为 episode=3、done=True、reason=success，支持本球已依序获裁判记账；日志未逐球报告记账时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 7.60—8.32 s，机器人以腿部移步并改变躯干朝向，向画面左侧移动，与第3个飞来红球错开；未见机器人与该活球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.60—8.32 s，机器人双脚交替在木质球场地面落脚，支撑身体完成第3球的躲避。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.08—10.32 s，第4个红球从机器人画面左侧通过，机器人向画面右侧移动；视频 10.40—10.64 s，球接近地面后弹起，机器人继续站立行走。"
+     },
+     {
+      "t": 10.4,
+      "log_step": 62,
+      "text_zh": "推断：依据视频 10.08—10.80 s 的球路、落地画面与机器人继续行走，将第4球躲避完成锚定在视频约 10.4 s（落地时刻误差约 0.2 s）；不是将球刚从身旁飞过算作完成。log step 62 的第3回合服务返回 stages_reached=5、stages_total=5、reason=success，log step 64 的服务状态再次确认为 episode=3、done=True、reason=success，支持本球已依序获裁判记账；日志未逐球报告记账时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 10.08—10.80 s，机器人以腿部移步并改变躯干朝向，向画面右侧移动，与第4个飞来红球错开；未见机器人与该活球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.08—10.80 s，机器人双脚交替在木质球场地面落脚，支撑身体完成第4球的躲避。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 12.40—12.72 s，第5个红球飞近并从机器人画面右侧通过，机器人向画面左侧移步；视频 12.80 s，球已到机器人近端的地板处，机器人仍在场内直立。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 62,
+      "text_zh": "推断：依据视频 12.40—12.80 s 的球路、落地画面与机器人继续行走，将第5球躲避完成锚定在视频约 12.8 s（落地时刻误差约 0.2 s）；不是将球刚从身旁飞过算作完成。log step 62 的第3回合服务返回 stages_reached=5、stages_total=5、reason=success，log step 64 的服务状态再次确认为 episode=3、done=True、reason=success，支持本球已依序获裁判记账；日志未逐球报告记账时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 12.40—12.80 s，机器人以腿部移步并改变躯干朝向，向画面左侧移动，与第5个飞来红球错开；未见机器人与该活球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.40—12.80 s，机器人双脚交替在木质球场地面落脚，支撑身体完成第5球的躲避。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "最终判分的第3回合中，机器人在场内持续移步、转向，五个红球依次从身体旁通过并落地，五个躲球节点分别约在视频 3.0、5.5、8.0、10.4、12.8 s 达成，终态为5/5。log step 62 的服务结果为 stages_reached=5、stages_total=5、reason=success，log step 64 再次确认第3回合成功；先前两次失败回合不计入本轨迹。无状态日志及逐球裁判记账时间，节点时刻按视频落地画面近似标注；reward 未单独报告 dodged 数值，原生指标保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第3回合成功（log step 62/64 服务返回 5/5、reason=success），视频 12.84 s 内五球躲避时刻（约3.0/5.5/8.0/10.4/12.8 s）与发球节奏（2.0/4.5/7.0/9.5/12.0 s + 约0.75 s 飞行）吻合，帧中机器人始终直立、无接触，终态 5/5，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": "2026-10-31T00:07:08Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7daa96cf83731eb5e883f4941853c399eebf8c97640a6ddfe53dd4ff8c9ae90c",
+   "video_sha256": "d531620e48b49966a5fd88d8cf95d4d2eb4ff161b683d0fb18a2e316ebd4dd61",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1302,
+   "sim_steps": 1302,
+   "calls": 133,
+   "rows": 1302,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 96.7,
+   "video_rendered": 1,
+   "first_success": 1,
+   "first_reason_code": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.143,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.3,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq/replay.mp4",
+  "duration_s": 13.04,
+  "fps": 25.0,
+  "frames": 326,
+  "sha256": "ef70d3e72e0ff5cf9ea2b8f40614559f6b86b53767dce238a24ee13a33f20419"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64–3.28 s，第1个红球从远端飞向机器人，视频 2.88–3.04 s 从其身旁经过，随后在视频约 3.04–3.12 s 触地反弹；机器人侧身迈步且保持站立。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 8,
+      "text_zh": "推断：log step 8 的在线服务裁判结果为五个阶段全部通过，且 inputs/run.json 的 reward 记录 success=1、resets=0；结合本球连续画面，按首次触地估计本节点完成锚点，时间约有 0.1 s 误差。逐球裁判记账没有单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第1球经过时，机器人以双腿驱动侧身行走，身体与来球错开；未见活球击中，裁判确认该球通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第1球期间，机器人双脚交替落在木质球场地面，支撑直立躯干并完成移步。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.68,
+      "log_step": null,
+      "text_zh": "观察：视频 5.16–5.80 s，第2个红球飞来，视频 5.40–5.56 s 从机器人身旁经过，视频约 5.68 s 触地并反弹；机器人仍在场内迈步。"
+     },
+     {
+      "t": 5.68,
+      "log_step": 8,
+      "text_zh": "推断：log step 8 的在线服务裁判结果为五个阶段全部通过，且 inputs/run.json 的 reward 记录 success=1、resets=0；结合本球连续画面，按首次触地估计本节点完成锚点，时间约有 0.1 s 误差。逐球裁判记账没有单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第2球经过时，机器人以双腿驱动侧身行走，身体与来球错开；未见活球击中，裁判确认该球通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第2球期间，机器人双脚交替落在木质球场地面，支撑直立躯干并完成移步。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.08,
+      "log_step": null,
+      "text_zh": "观察：视频 7.40–8.28 s，第3个红球飞来，视频 7.88–8.04 s 从机器人身旁经过，视频约 8.08 s 触地并反弹；机器人保持直立并开始反向行走。"
+     },
+     {
+      "t": 8.08,
+      "log_step": 8,
+      "text_zh": "推断：log step 8 的在线服务裁判结果为五个阶段全部通过，且 inputs/run.json 的 reward 记录 success=1、resets=0；结合本球连续画面，按首次触地估计本节点完成锚点，时间约有 0.1 s 误差。逐球裁判记账没有单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第3球经过时，机器人以双腿驱动侧身行走，身体与来球错开；未见活球击中，裁判确认该球通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第3球期间，机器人双脚交替落在木质球场地面，支撑直立躯干并完成移步。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.56,
+      "log_step": null,
+      "text_zh": "观察：视频 9.92–10.80 s，第4个红球飞来，视频 10.32–10.48 s 从机器人身旁经过，视频约 10.56 s 触地并反弹；机器人继续在场内侧身行走。"
+     },
+     {
+      "t": 10.56,
+      "log_step": 8,
+      "text_zh": "推断：log step 8 的在线服务裁判结果为五个阶段全部通过，且 inputs/run.json 的 reward 记录 success=1、resets=0；结合本球连续画面，按首次触地估计本节点完成锚点，时间约有 0.1 s 误差。逐球裁判记账没有单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第4球经过时，机器人以双腿驱动侧身行走，身体与来球错开；未见活球击中，裁判确认该球通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第4球期间，机器人双脚交替落在木质球场地面，支撑直立躯干并完成移步。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": 8,
+      "text_zh": "观察：视频 12.00–13.00 s，第5个红球从远端飞来，视频 12.80–12.96 s 从机器人身旁下降，末帧视频 13.00 s 球已到地面附近，机器人仍直立迈步；log step 8 的机器人在线服务返回 outcome=success、stages_reached=5、stages_total=5，log step 9 确认同一 episode=1 已结束。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 8,
+      "text_zh": "推断：结合末帧视频 13.00 s 的球与地面位置以及同一在线回合裁判的 5/5 成功结果，第5球已合法躲过；完成锚点取视频约 13.00 s。视频结束于触地附近，精确接触和记账时刻不能仅凭远景分辨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：第5球经过时，机器人以双腿驱动侧身行走，身体与来球错开；未见活球击中，裁判确认该球通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第5球期间，机器人双脚交替落在木质球场地面，支撑直立躯干并完成移步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人转为侧身，在场内往返行走，依次避开五次来球，五个事件节点全部完成；log step 8 的在线服务裁判返回 success、5/5，且本回合没有重置。完成锚点约为视频 3.04、5.68、8.08、10.56、13.00 s；前四球的触地反弹可见，第5球以末帧及裁判结果共同确认。没有状态日志或逐球记账明细，远景不能精确分辨瞬时接触；评分字段未单列原生 dodged 指标，故其值留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "五个躲球节点全部达成、无失败断点，与 log step 8 的 outcome=success、stages 5/5 及视频一致；各球落地时间与帧相符，contact_actual（避开/支撑）合理，观察与推断标注正确。",
+    "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": "2026-10-31T00:10:45Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89b8c454d4422739e47c2c692714be5b815be13502b5c497c27a985d8eebc2bf",
+   "video_sha256": "ef70d3e72e0ff5cf9ea2b8f40614559f6b86b53767dce238a24ee13a33f20419",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1308,
+   "sim_steps": 1607,
+   "calls": 11,
+   "rows": 1607,
+   "resets": 1,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 113.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.309,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.826,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd/replay.mp4",
+  "duration_s": 13.12,
+  "fps": 25.0,
+  "frames": 328,
+  "sha256": "ca1e7105798e2da9d861a147a56cdfb0f7837a352fecafb8d9a91de43454c75a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.9 s 机器人原地转身，随后向画面左侧行走；视频 2.52–3.00 s 第1球接近并从机器人画面右侧通过，视频 3.00–3.24 s 球降至地面附近并反弹，机器人继续直立行走。"
+     },
+     {
+      "t": 3.1,
+      "log_step": 24,
+      "text_zh": "推断：结合第1球通过后的落地及反弹画面与 log step 24 的基准裁判终局记录（outcome=success，stages_reached=5，stages_total=5），第1次躲球已被接受；节点达成锚点取视频约 3.1 s，落地及记账时刻有约 0.2 s 的视觉估计误差，未把单纯从身旁经过当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人先转身，再向画面左侧行走，使身体移离第1球的飞行路径；推断：结合本回合裁判五球成功记录，机器人与该球在活球期间没有被判接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第1次来球期间，机器人以双脚交替接触木质球场地面支撑身体并行走，末帧仍保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.7,
+      "log_step": null,
+      "text_zh": "观察：视频 4.56–5.88 s 机器人继续向画面左侧行走，第2球从远端飞来并落在机器人后方；视频 5.64–6.00 s 球经过脚旁后降至地面附近并反弹，机器人仍直立。"
+     },
+     {
+      "t": 5.7,
+      "log_step": 24,
+      "text_zh": "推断：结合第2球通过后的落地及反弹画面与 log step 24 的基准裁判终局记录（outcome=success，stages_reached=5，stages_total=5），第2次躲球已被接受；节点达成锚点取视频约 5.7 s，落地及记账时刻有约 0.2 s 的视觉估计误差，未把单纯从身旁经过当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧行走，使身体移离第2球的飞行路径；推断：结合本回合裁判五球成功记录，机器人与该球在活球期间没有被判接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第2次来球期间，机器人以双脚交替接触木质球场地面支撑身体并行走，末帧仍保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.00 s 起机器人反向向画面右侧行走；视频 7.44–8.04 s 第3球从画面左上方接近并越过机器人左侧，视频 8.04–8.28 s 球在机器人左下方地面附近反弹，机器人继续行走。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 24,
+      "text_zh": "推断：结合第3球通过后的落地及反弹画面与 log step 24 的基准裁判终局记录（outcome=success，stages_reached=5，stages_total=5），第3次躲球已被接受；节点达成锚点取视频约 8.0 s，落地及记账时刻有约 0.2 s 的视觉估计误差，未把单纯从身旁经过当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人反向向画面右侧行走，使身体移离第3球的飞行路径；推断：结合本回合裁判五球成功记录，机器人与该球在活球期间没有被判接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第3次来球期间，机器人以双脚交替接触木质球场地面支撑身体并行走，末帧仍保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.60–10.92 s 机器人保持向画面右侧行走；视频 10.08–10.44 s 第4球接近并从机器人画面左侧通过，视频 10.56–10.80 s 球降至地面附近并反弹，机器人没有倒地。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 24,
+      "text_zh": "推断：结合第4球通过后的落地及反弹画面与 log step 24 的基准裁判终局记录（outcome=success，stages_reached=5，stages_total=5），第4次躲球已被接受；节点达成锚点取视频约 10.6 s，落地及记账时刻有约 0.2 s 的视觉估计误差，未把单纯从身旁经过当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人反向向画面右侧行走，使身体移离第4球的飞行路径；推断：结合本回合裁判五球成功记录，机器人与该球在活球期间没有被判接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第4次来球期间，机器人以双脚交替接触木质球场地面支撑身体并行走，末帧仍保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.08,
+      "log_step": null,
+      "text_zh": "观察：视频 12.60–13.08 s 第5球飞近机器人，其投影一度与机器人轮廓重叠，随后向画面左下方落下；视频 13.08 s 末帧球已在脚前方地面附近，机器人仍直立在场内。"
+     },
+     {
+      "t": 13.08,
+      "log_step": 24,
+      "text_zh": "推断：log step 24 中机器人服务返回基准裁判的终局记录 outcome=success、stages_reached=5、stages_total=5，因此第5球未被判活球击中且已完成验收。该记录属于 episode=2；control_steps=1308，log step 7 的 control_dt=0.01 s，故回合终点为仿真 13.08 s，与视频 13.08 s 末帧及落地位置核对一致，节点锚点取视频 13.08 s；远景中的轮廓重叠不足以判定三维接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人反向向画面右侧行走，使身体移离第5球的飞行路径；推断：结合本回合裁判五球成功记录，机器人与该球在活球期间没有被判接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第5次来球期间，机器人以双脚交替接触木质球场地面支撑身体并行走，末帧仍保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分视频对应重置后的第2回合：机器人先转身，再横穿场地并反向行走，依次完成五次躲球，终态为5/5；log step 24 的基准裁判返回成功及五个阶段全部达成，与视频末尾仍直立在场内的表现一致。重置前 log step 11 的被球击中属于先前回合，不作为本次轨迹的失败；原生 dodged=5 取自终局裁判 stages_reached=5/5。没有状态日志及逐球记账时间，前四个节点的时间依据视频落地、反弹画面近似定位，第五球结合视频 13.08 s 末帧与裁判终点确定，远景无法独立分辨毫秒级接触。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个节点均达成，final=5/5，与 log step 24 裁判结果（success，stages_reached=5/5）及视频末帧机器人直立、球落地一致；评分视频为重置后的第2回合（13.08 s 对应 sim 13.08 s），重置前的击中未被误用。节点时间与 contact_actual 合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:18:06Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a9b1a1561f330193777bf3ff0374851c1df008d1ebc7ca89c8cbf1ac43af5f5",
+   "video_sha256": "ca1e7105798e2da9d861a147a56cdfb0f7837a352fecafb8d9a91de43454c75a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1305,
+   "sim_steps": 3265,
+   "calls": 52,
+   "rows": 655,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2229.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.174,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.253,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7/replay.mp4",
+  "duration_s": 13.08,
+  "fps": 25.0,
+  "frames": 327,
+  "sha256": "9e2a007618e4f5b379b7f9961f75fea044ddd4ef748e78f0b0fcab57a9f079ef"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": 34,
+      "text_zh": "观察：视频 2.72–2.96 s，第1球从发球机飞到机器人身旁，机器人向画面左方侧移并侧倾，球继续向近端飞行；视频 3.00–3.12 s 球降到地面并弹起，机器人保持站立。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 34,
+      "text_zh": "推断：结合上述逐帧落地与反弹画面，以及最后评分回合的在线服务在 log step 34 返回 stages=5、reason=success，第1球已无活球击中并被裁判按顺序记账；完成锚点取视频约 3.04 s，落地与原生记账的精确时刻未逐球记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过向画面左方侧移并改变躯干倾斜避开第1球；球从身体旁通过，未见机器人触球，最终在线服务判定5球均躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第1球期间，机器人左右脚交替接触木质球场地面，支撑侧移与身体倾斜。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.64,
+      "log_step": 34,
+      "text_zh": "观察：视频 5.28–5.60 s，第2球从机器人画面右侧掠过，机器人继续向画面左方侧移；视频 5.64–5.76 s 球在机器人前方落地后弹起，机器人继续迈步。"
+     },
+     {
+      "t": 5.64,
+      "log_step": 34,
+      "text_zh": "推断：结合上述逐帧落地与反弹画面，以及最后评分回合的在线服务在 log step 34 返回 stages=5、reason=success，第2球已无活球击中并被裁判按顺序记账；完成锚点取视频约 5.64 s，落地与原生记账的精确时刻未逐球记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过向画面左方侧移并改变躯干倾斜避开第2球；球从身体旁通过，未见机器人触球，最终在线服务判定5球均躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第2球期间，机器人左右脚交替接触木质球场地面，支撑侧移与身体倾斜。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.12,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.12,
+      "log_step": 34,
+      "text_zh": "观察：视频 7.52–8.00 s，第3球靠近并从机器人身旁飞过，机器人侧移、倾身避让；视频 8.08–8.24 s 球在机器人近端落地并弹起，机器人仍由双脚支撑。"
+     },
+     {
+      "t": 8.12,
+      "log_step": 34,
+      "text_zh": "推断：结合上述逐帧落地与反弹画面，以及最后评分回合的在线服务在 log step 34 返回 stages=5、reason=success，第3球已无活球击中并被裁判按顺序记账；完成锚点取视频约 8.12 s，落地与原生记账的精确时刻未逐��记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过向画面左方侧移并改变躯干倾斜避开第3球；球从身体旁通过，未见机器人触球，最终在线服务判定5球均躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第3球期间，机器人左右脚交替接触木质球场地面，支撑侧移与身体倾斜。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": 34,
+      "text_zh": "观察：视频 10.16–10.64 s，第4球靠近机器人，机器人已向画面右方折返，球从其画面左侧通过；视频 10.72–10.88 s 球落地并弹起，机器人继续站立侧移。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 34,
+      "text_zh": "推断：结合上述逐帧落地与反弹画面，以及最后评分回合的在线服务在 log step 34 返回 stages=5、reason=success，第4球已无活球击中并被裁判按顺序记账；完成锚点取视频约 10.80 s，落地与原生记账的精确时刻未逐球记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过折返后向画面右方侧移并改变躯干倾斜避开第4球；球从身体旁通过，未见机器人触球，最终在线服务判定5球均躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第4球期间，机器人左右脚交替接触木质球场地面，支撑侧移与身体倾斜。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.05,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.04,
+      "log_step": 34,
+      "text_zh": "观察：视频 12.40–13.04 s，第5球离开发球机后从机器人画面左侧通过并降至地面，机器人向画面右方侧移；视频 13.04 s 末帧机器人仍站立于白色边线内。log step 34 的在线机器人服务返回 DONE: success success 5 5，最终 control_steps=1305；log step 36 再次查询服务，episode=6、reason=success。"
+     },
+     {
+      "t": 13.05,
+      "log_step": 34,
+      "text_zh": "推断：log step 2 的服务规格给出 control_dt=0.01 s，最后评分回合（episode=6）的 1305 个控制步对应视频约 13.05 s；这一终止时刻与视频 13.04 s 末帧第5球降至地面、视频总长 13.08 s 相符，故以视频约 13.05 s 为裁判记满5球的完成锚点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过折返后向画面右方侧移并改变躯干倾斜避开第5球；球从身体旁通过，未见机器人触球，最终在线服务判定5球均躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第5球期间，机器人左右脚交替接触木质球场地面，支撑侧移与身体倾斜。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：最后评分回合为 log step 34 的在线 episode=6，服务返回 success、stages=5/5；视频中机器人先向画面左方侧移，再折返向画面右方，五球依次从身旁通过并落地，末帧仍站立于场内，五个事件节点最终均完成。推断：侧移与躯干倾斜使机器人避开了来球，前五次失败测试不属于本段评分视频；原生指标 dodged=5 取自该回合服务的 stages=5/5。观察：本任务没有状态日志，远景球体较小且未显示逐球裁判记账，前四球时间按落地与反弹画面近似，第5球锚点结合终局服务控制步数并与视频末帧核对。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个事件节点均完成，final=5 与 outcome 一致；视频每约0.5 s抽帧可见五球依次飞过并落地、机器人始终站立；第5球时间由1305控制步×0.01 s与视频13.08 s相符；无失败层，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": "2026-10-31T00:18:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9766ec4d1f50a67023860e1ea3c9538453928727425d34ff1f993e56379ca444",
+   "video_sha256": "9e2a007618e4f5b379b7f9961f75fea044ddd4ef748e78f0b0fcab57a9f079ef",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--itdshm3.json

@@ -0,0 +1,302 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--itdshm3",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1080,
+   "sim_steps": 1080,
+   "calls": 8,
+   "rows": 1080,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 644.4,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.165,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.262,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--itdshm3/replay.mp4",
+  "duration_s": 10.84,
+  "fps": 25.0,
+  "frames": 271,
+  "sha256": "8cbc4fa6cafd079e5a1bfcaf2efb44866183b7828427fccc8dff438ff936bd3a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频 2.60–2.96 s，第1球从发球机方向飞过，机器人向画面左侧移动，球从其右侧经过；视频 3.04–3.20 s，球已远离机器人，在地面附近反弹。"
+     },
+     {
+      "t": 3.1,
+      "log_step": 14,
+      "text_zh": "推断：上述球体无接触通过并落地、机器人未倒地或触线，且后续在线服务仍返回 done=False，支持本球已完成死球验收；将首次落地附近的约视频 3.1 s 作为达成时刻。逐球裁判记账未直接显示，时间约有 0.1 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 0–3.20 s，机器人双脚交替接触木质球场地面，转身后移步；躯干及全身避开第1球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与木质球场地面交替接触，承重并支撑本次躲球移动。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.7,
+      "log_step": null,
+      "text_zh": "观察：视频 5.12–5.60 s，第2球飞近并从机器人左侧经过，机器人继续向画面右侧移动；视频 5.64–5.80 s，球与机器人分离，在地面附近反弹。"
+     },
+     {
+      "t": 5.7,
+      "log_step": 21,
+      "text_zh": "推断：上述球体无接触通过并落地、机器人未倒地或触线，且后续在线服务仍返回 done=False，支持本球已完成死球验收；将首次落地附近的约视频 5.7 s 作为达成时刻。逐球裁判记账未直接显示，时间约有 0.1 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 3.20–5.80 s，机器人双脚交替接触木质地面，以反向移步避开第2球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与木质球场地面交替接触，承重并支撑本次躲球移动。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "观察：视频 7.60–8.00 s，第3球飞近并从机器人右侧经过，机器人向画面左侧移步；视频 8.04–8.28 s，球已越过机器人，落地后反弹。"
+     },
+     {
+      "t": 8.1,
+      "log_step": 23,
+      "text_zh": "推断：上述球体无接触通过并落地、机器人未倒地或触线，且后续在线服务仍返回 done=False，支持本球已完成死球验收；将首次落地附近的约视频 8.1 s 作为达成时刻。逐球裁判记账未直接显示，时间约有 0.1 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 5.80–8.28 s，机器人双脚交替接触木质地面，换向移动，躯干及全身避开��3球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与木质球场地面交替接触，承重并支撑本次躲球移动。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.00–10.48 s，第4球从远端飞来并从机器人左侧通过，机器人向画面右侧移动；视频 10.56–10.80 s，球已远离机器人，落地反弹，机器人仍在场内直立行走。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 25,
+      "text_zh": "推断：上述球体无接触通过并落地、机器人未倒地或触线，且后续在线服务仍返回 done=False，支持本球已完成死球验收；将首次落地附近的约视频 10.6 s 作为达成时刻。逐球裁判记账未直接显示，时间约有 0.1 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "视频 8.30–10.80 s，机器人双脚交替接触木质地面，反向移步，躯干及全身避开第4球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚与木质球场地面交替接触，承重并支撑本次躲球移动。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": 25,
+      "text_zh": "观察：完整视频至 10.80 s 最后一帧只出现四次发球，第4球已在机器人前方远处反弹，第5球未发出；log step 25 的在线机器人服务返回仿真 10.8 s、done=False、reason=None，尚无终局裁判结果。"
+     },
+     {
+      "t": null,
+      "log_step": 27,
+      "text_zh": "推断：log step 27 的模型提供方过滤拦截发生在回合继续之前；第5球尚未进入本次录像，故未达到第5次躲球节点，不能把外部中断当作该球的躲避失败。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 27,
+   "where": "未知",
+   "evidence_zh": "观察：log step 25 的在线机器人服务在仿真 10.8 s 返回 done=False、reason=None，outcome 与 stages_reached 均为 None；视频 9.80–10.80 s 中机器人仍在场内直立移动，第4球经过后落地。log step 27 记录模型提供方提示“This request was blocked by Gemini's filters”，其后无动作或终局服务结果。推断：回合尚未结束即被外部过滤截断，未发现可定位到某一步的机器人失败事件，故断点未知。"
+  },
+  "unmet": {
+   "throw_1_dodged": true,
+   "throw_2_dodged": true,
+   "throw_3_dodged": true,
+   "throw_4_dodged": true,
+   "throw_5_dodged": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 无状态日志；在线服务在 log step 14、21、23、25 均未返回逐球 stages_reached 计数，评分器 reward 也未报告 dodged 数值；保留原生指标 value=null，四个已达节点和约视频 3.1、5.7、8.1、10.6 s 的时刻由逐帧球路及落地判断。log step 27 明确记录模型提供方过滤拦截，而此前 log step 25 的在线回合尚未结束。推断：这是结果尚未固定时发生的外部中断，应重测并排除出机器人失败分析；现象、根因均留空，不将未出现的第5球标成没尝试。"
+ },
+ "summary_zh": "机器人在视频约 3.1、5.7、8.1、10.6 s 依次躲过前四球，末帧仍在场内直立行走，第5球尚未发出，节点最终为 4/5。log step 25 的在线回合仍为 done=False，随后 log step 27 被模型提供方过滤拦截；目录 success=0 保留，但这次属于结果固定前的外部中断，应重测，不作机器人失败归因。无状态日志或逐球裁判计数，达成时刻依球体落地画面估计，成功参考视频仅用于辨认验收外观。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四球已躲过的节点值与时刻（视频约3.1、5.7、8.1、10.6 s）与帧一致；视频与log在仿真10.8 s、step 25后即被模型提供方过滤截断（step 27），done=False、第5球未发出，按外部中断留空现象与根因并写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": "2026-10-31T00:09:18Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--itdshm3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--itdshm3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04bd2570b8424d1ceb98123adc960d8b46fc98d7b850f25e1fb742fdef787695",
+   "video_sha256": "8cbc4fa6cafd079e5a1bfcaf2efb44866183b7828427fccc8dff438ff936bd3a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1331,
+   "sim_steps": 3281,
+   "calls": 26,
+   "rows": 3281,
+   "resets": 4,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 401.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.194,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.255,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl/replay.mp4",
+  "duration_s": 13.32,
+  "fps": 25.0,
+  "frames": 333,
+  "sha256": "bb29e5689a323c640dd7ea35f697f1f3937966b4755314bce5f63620de77da60"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64—2.96 s，第1次来球从远端发球机方向飞向机器人，机器人持续迈步并保持直立，红球从身体旁通过；视频 3.04—3.36 s，球已到机器人后侧近地面处，球体与地面阴影接近并随后弹起。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 67,
+      "text_zh": "推断：第1球约在视频 3.04 s 触地成为死球，依序完成本节点，目测时刻约有0.2秒误差；log step 67 中机器人在线服务的原生裁判结果为第5回合 outcome=success、stages_reached=5、stages_total=5，支持五球均未击中机器人且全部记账。此处裁判为仿真服务的自动判定通道。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿迈步及躯干姿态调整，让第1次来球从身体旁飞过；视频未见活球击中，原生裁判最终确认五球全部躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第1球期间，机器人左右脚交替踩木质场地承重，保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.68,
+      "log_step": null,
+      "text_zh": "观察：视频 5.28—5.60 s，第2次来球从远端发球机方向飞向机器人，机器人持续迈步并保持直立，红球从身体旁通过；视频 5.68—5.84 s，球已到机器人后侧近地面处，球体与地面阴影接近并随后弹起。"
+     },
+     {
+      "t": 5.68,
+      "log_step": 67,
+      "text_zh": "推断：第2球约在视频 5.68 s 触地成为死球，依序完成本节点，目测时刻约有0.2秒误差；log step 67 中机器人在线服务的原生裁判结果为第5回合 outcome=success、stages_reached=5、stages_total=5，支持五球均未击中机器人且全部记账。此处裁判为仿真服务的自动判定通道。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿迈步及躯干姿态调整，让第2次来球从身体旁飞过；视频未见活球击中，原生裁判最终确认五球全部躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第2球期间，机器人左右脚交替踩木质场地承重，保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.28,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.28,
+      "log_step": null,
+      "text_zh": "观察：视频 7.84—8.16 s，第3次来球从远端发球机方向飞向机器人，机器人持续迈步并保持直立，红球从身体旁通过；视频 8.24—8.32 s，球已到机器人后侧近地面处，球体与地面阴影接近并随后弹起。"
+     },
+     {
+      "t": 8.28,
+      "log_step": 67,
+      "text_zh": "推断：第3球约在视频 8.28 s 触地成为死球，依序完成本节点，目测时刻约有0.2秒误差；log step 67 中机器人在线服务的原生裁判结果为第5回合 outcome=success、stages_reached=5、stages_total=5，支持五球均未击中机器人且全部记账。此处裁判为仿真服务的自动判定通道。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿迈步及躯干姿态调整，让第3次来球从身体旁飞过；视频未见活球击中，原生裁判最终确认五球全部躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第3球期间，机器人左右脚交替踩木质场地承重，保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.72,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.72,
+      "log_step": null,
+      "text_zh": "观察：视频 10.40—10.64 s，第4次来球从远端发球机方向飞向机器人，机器人持续迈步并保持直立，红球从身体旁通过；视频 10.72—10.80 s，球已到机器人后侧近地面处，球体与地面阴影接近并随后弹起。"
+     },
+     {
+      "t": 10.72,
+      "log_step": 67,
+      "text_zh": "推断：第4球约在视频 10.72 s 触地成为死球，依序完成本节点，目测时刻约有0.2秒误差；log step 67 中机器人在线服务的原生裁判结果为第5回合 outcome=success、stages_reached=5、stages_total=5，支持五球均未击中机器人且全部记账。此处裁判为仿真服务的自动判定通道。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿迈步及躯干姿态调整，让第4次来球从身体旁飞过；视频未见活球击中，原生裁判最终确认五球全部躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第4球期间，机器人左右脚交替踩木质场地承重，保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.28,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.28,
+      "log_step": null,
+      "text_zh": "观察：视频 12.96—13.20 s，第5球接近并从直立迈步的机器人身旁通过；视频 13.28 s 末帧红球位于机器人后侧近地面处，机器人仍由双脚支撑，处于场区内部。"
+     },
+     {
+      "t": 13.28,
+      "log_step": 67,
+      "text_zh": "推断：第5球约在视频 13.3 s 落地并完成本节点，区间锚定在最接近该事件的已检查末帧视频 13.28 s；无逐球裁判时间戳，精确落地瞬间不能由远景单帧分辨。log step 67 中机器人在线服务的原生裁判返回第5回合 outcome=success、stages_reached=5/5，log step 68 再次确认 done=True、reason=success；裁判是仿真服务的自动判定通道。该回合 control_steps=1331、每步0.01秒，与视频约13.32秒长度及末球落地结束相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿迈步及躯干姿态调整，让第5次来球从身体旁飞过；视频未见活球击中，原生裁判最终确认五球全部躲过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲避第5球期间，机器人左右脚交替踩木质场地承重，保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以连续小幅移步和躯干姿态调整依次躲过五次来球，五个节点均完成，最终为5/5，未出现失败断点。评分对应 log step 67 重置后的第5回合，仿真服务裁判返回成功及 stages_reached=5/5，该裁判计数对应原生指标 dodged=5。无状态日志或逐球裁判时间戳，视频远景中的落地时刻按相邻帧近似标注；最后一秒已密查，第5球完成由末帧与裁判成功结果共同支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个节点均达成，时间与视频相符（球约在 3.0/5.7/8.3/10.7/13.3 s 落地），无失败断点，contact_actual 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": "2026-10-31T00:09:49Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e9cfa097bf2e9f09f80ac74aafa0aecec9326adfa17fc9cf86ee9f636dbf6f9c",
+   "video_sha256": "bb29e5689a323c640dd7ea35f697f1f3937966b4755314bce5f63620de77da60",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--p9rqfss",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1038,
+   "sim_steps": 4007,
+   "calls": 35,
+   "rows": 2004,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2533.0,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.336,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.331,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss/replay.mp4",
+  "duration_s": 10.4,
+  "fps": 25.0,
+  "frames": 260,
+  "sha256": "9dc83019c4b3dd54a9c93366a076f4bdcadee355dd3999e3afc48ed66ea5e2ef"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": 128,
+      "text_zh": "观察：视频 2.64–3.12 s，第1球由发球机飞向机器人，机器人转身后迈步，球从其画面左侧越过；视频 3.12–3.28 s 球在机器人后方触地、弹起，机器人继续站立。log step 128 的最后在线回合裁判返回 stages=3/5，与前三球均躲过一致；首次触地按视频约记为 3.1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人移步改变身体位置，第1球从身体旁飞过并触地，未与机器人接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第1球时，机器人双脚交替接触木质球场地面，支撑身体行走。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": 128,
+      "text_zh": "观察：视频 5.20–5.60 s，第2球飞近机器人并从其画面左侧通过，机器人双足交替移步；视频 5.60–5.84 s 球在其后方触地、弹起，机器人未倒地。log step 128 的最后在线回合裁判返回 stages=3/5；首次触地按视频约记为 5.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人移步改变身体位置，第2球从身体旁飞过并触地，未与机器人接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第2球时，机器人双脚交替接触木质球场地面，支撑身体行走。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": 128,
+      "text_zh": "观察：视频 7.76–8.24 s，第3球从机器人画面左侧越过，机器人继续迈步；视频 8.24–8.48 s 球触地后弹起并向后线移动。log step 128 的最后在线回合裁判返回 stages=3/5；首次触地按视频约记为 8.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人移步改变身体位置，第3球从身体旁飞过并触地，未与机器人接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲第3球时，机器人双脚交替接触木质球场地面，支撑身体行走。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.36,
+      "log_step": 128,
+      "text_zh": "观察：视频 9.40–10.36 s，机器人为第4球继续移步；视频 10.08–10.36 s 球逼近其头侧，末帧机器人仍站立，球尚未先行落地。log step 128 的 a6 回合由服务返回 outcome=\"hit by a live ball (rule 15.1)\"、stages=3/5、episode=6、control_steps=1038；log step 129 再次确认该回合已失败。"
+     },
+     {
+      "t": 10.36,
+      "log_step": 128,
+      "text_zh": "推断：log step 5 给出控制周期 0.01 s，最后回合的 1038 个控制步对应仿真 10.38 s，与视频 10.36 s 的末帧球到达头侧及视频总长 10.4 s 相符；因此此次评分视频对应最后 a6 回合，第4球未被躲过。此映射只核对控制步时钟，未使用 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.40–10.36 s，机器人双脚接触木质地面，交替迈步躲第4球，末帧仍直立。"
+     },
+     {
+      "who": "未知",
+      "how": "其他",
+      "note_zh": "观察：log step 128 的在线裁判确认第4球击中机器人；视频 10.32–10.36 s 球到达头侧附近，但分辨率及结束帧不足以确定具体受击部位。候选“被来球撞击”：现有接触方式没有被运动球体撞击的取值，不标成功避开。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.36,
+      "log_step": 128,
+      "text_zh": "观察：视频至 10.36 s 的末帧只出现前四次来球，第4球逼近后视频结束；log step 128 的在线裁判已因活球击中终止回合，stages=3/5。第5球的发射及躲避均未发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 3,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "throw_4_dodged",
+   "t": 10.36,
+   "log_step": 128,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.40–10.36 s，机器人正在移步躲避第4次来球，球在末段逼近其头侧；log step 128 中最后在线回合 a6 的服务裁判返回“hit by a live ball (rule 15.1)”和 stages=3/5，随后 log step 129 确认 episode=6 已失败。前三次来球均已从身体旁通过并触地，第4次躲避没有完成或后续修复。"
+  },
+  "unmet": {
+   "throw_1_dodged": true,
+   "throw_2_dodged": true,
+   "throw_3_dodged": true,
+   "throw_4_dodged": false,
+   "throw_5_dodged": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 10.36,
+    "log_step": 128,
+    "evidence_zh": "推断：视频 10.08–10.36 s，机器人虽在移步，仍未在运动中的第4球到达前移出球路；末帧球已到达头侧附近。log step 128 的本回合裁判确认活球击中并在 stages=3/5 终止，因此是来球到达时躲避不足；视频末段未见机器人失去支撑。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 123 的脚本及 log step 127 的最终修改，按固定供球时刻生成移步速度脉冲，修改后加速段为供球前 0.5 s、保持段 0.7 s，再用 0.3 s 减速；偏航只在分段间更新，段内没有依据来球图像修正躲避。视频 10.08–10.36 s 的第4球仍追至机器人头侧，log step 128 裁判确认命中，说明该速度轨迹没有形成足够的到球时净空。现有证据不足以把原因细分为实际速度跟踪、减速时刻或摆臂外廓，故停在“控制”。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或原生接触对。视频已逐帧核对最后一秒，但远景分辨率及终止采样使具体受击部位、精确接触瞬间无法分辨；前三步时间据触地和反弹约定，精度约 0.1–0.2 s，逐球记账由同回合裁判总数 3/5 佐证。agent 在 log step 131、136 对摆臂相位及所需净空的解释属于其自述，未作为已验证根因；无法进一步区分控制子类。"
+ },
+ "summary_zh": "评分采用最后在线回合 a6：机器人转身并移步，约在视频 3.1 s、5.6 s、8.2 s 依次躲过前三球，最终完成 3/5 节点。视频约 10.36 s，第4球到达头侧附近，在线裁判返回活球击中并终止，第5球未开始；固定速度脉冲的躲避控制未能在到球时形成足够净空。没有逐帧状态日志，具体受击部位及控制误差来源不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log step 128/129 的服务读数一致：前三球躲过（约 3.1/5.6/8.2 s），第4球在末帧逼近头侧，回合以 stages=3/5 终止；断点、现象和根因均有证据支持，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:09:48Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bea2ca710dd47f0309fcdf844782516cb17fe9d796023f1a0060d4d76dad7092",
+   "video_sha256": "9dc83019c4b3dd54a9c93366a076f4bdcadee355dd3999e3afc48ed66ea5e2ef",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9.json

@@ -0,0 +1,322 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard--xupzdz9",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1293,
+   "sim_steps": 3896,
+   "calls": 27,
+   "rows": 407,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 359.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.325,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.831,
+   "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/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9/replay.mp4",
+  "duration_s": 12.96,
+  "fps": 25.0,
+  "frames": 324,
+  "sha256": "f9fc7f82b67ac586750b67993f00e2c568c8326b8f83d4a9387e6483edce7d46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.24 s，第1球从发球机飞向机器人，机器人继续向画面左侧移步，球从其右侧掠过；视频 3.04–3.24 s 球到达地板并弹跳，机器人仍直立，回合继续。"
+     },
+     {
+      "t": 3.1,
+      "log_step": null,
+      "text_zh": "推断：第1球未造成机器人受击、已落地成为死球，且回合继续，故“躲过第1球”达到；用落地帧估计视频 3.1 s，时间误差约0.2秒。视频未显示裁判逐球阶段文本，记账依据为可见球路、落地及后续回合持续。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿移步使身体与第1个飞来的活球错开；球掠过后落地，未见活球接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚交替接触木质地板，支撑身体完成第1球期间的侧向移步。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.7,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–6.0 s，第2球飞向机器人，机器人继续向画面左侧移步；视频 5.60–5.96 s 球从身体旁通过，在约视频 5.7 s 落地后弹起，机器人没有倒地，回合继续。"
+     },
+     {
+      "t": 5.7,
+      "log_step": null,
+      "text_zh": "推断：第2球未造成机器人受击、已落地成为死球，且回合继续，故“躲过第2球”达到；用落地帧估计视频 5.7 s，时间误差约0.2秒。视频未显示裁判逐球阶段文本，记账依据为可见球路、落地及后续回合持续。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿移步使身体与第2个飞来的活球错开；球掠过后落地，未见活球接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚交替接触木质地板，支撑身体完成第2球期间的侧向移步。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "观察：视频 7.4–8.24 s，第3球飞向机器人；机器人仍向画面左侧移步，球从身体旁经过，在约视频 8.1 s 落地并弹跳，机器人仍站立，回合继续。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：第3球未造成机器人受击、已落地成为死球，且回合继续，故“躲过第3球”达到；用落地帧估计视频 8.1 s，时间误差约0.2秒。视频未显示裁判逐球阶段文本，记账依据为可见球路、落地及后续回合持续。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过��腿移步使身体与第3个飞来的活球错开；球掠过后落地，未见活球接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚交替接触木质地板，支撑身体完成第3球期间的侧向移步。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–11.0 s，第4球飞来，机器人在场内向画面右侧移步；视频 10.60–10.76 s 球从身体左侧掠过，约视频 10.8 s 到达地板后弹起，回合继续至第5球。"
+     },
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "推断：第4球未造成机器人受击、已落地成为死球，且回合继续，故“躲过第4球”达到；用落地帧估计视频 10.8 s，时间误差约0.2秒。视频未显示裁判逐球阶段文本，记账依据为可见球路、落地及后续回合持续。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人通过双腿移步使身体与第4个飞来的活球错开；球掠过后落地，未见活球接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚交替接触木质地板，支撑身体完成第4球期间的侧向移步。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.92,
+      "log_step": null,
+      "text_zh": "观察：视频 12.20–12.92 s，第5球离开发球机飞来；视频 12.60–12.92 s 机器人仍在小幅移步，但球与其上身轮廓的距离持续缩小，视频 12.92 s 球到达上身旁，尚未落地，随后视频结束。"
+     },
+     {
+      "t": 12.92,
+      "log_step": 36,
+      "text_zh": "推断：视频末段第5球到达机器人上身而未先触地，结合 agent 在 log step 36 自述“最后一局达到 stage 4、在回合时钟12.93秒被第5球击中”及评分字段 live_success=0、graded_by_live=1、finalized=1，判定最后一局未躲过第5球；不把其他重置回合的结果用于本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在木质地板上支撑身体并小幅移步，尝试应对第5球。"
+     },
+     {
+      "who": "未知",
+      "how": "其他",
+      "note_zh": "候选名称：被动受击。第5个活球到达机器人上身并导致回合终止；远景不能分辨具体接触的是手臂还是躯干，作用端标未知。现有方式没有被来球撞击的值，不能用“避开”代替受击事实。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "throw_5_dodged",
+   "t": 12.9,
+   "log_step": 36,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 12.60–12.92 s，机器人正在应对第5球，移动未使上身避开来球，球到达其上身旁后视频结束；agent 在 log step 36、38 自述最后一局被第5球击中，评分字段 live_success=0。前四球已分别通过并落地，故断点为“躲过第5球”。"
+  },
+  "unmet": {
+   "throw_1_dodged": true,
+   "throw_2_dodged": true,
+   "throw_3_dodged": true,
+   "throw_4_dodged": true,
+   "throw_5_dodged": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 12.9,
+    "log_step": 36,
+    "evidence_zh": "推断：视频 12.60–12.92 s，第5个运动中的球不断逼近机器人上身，机器人虽小幅移步，仍未在来球到达前移出其路径；agent 在 log step 36 自述此局在回合时钟12.93秒受击，与末帧相符。没有出现倒地，不另标平衡或把受击重复标为违反约束。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频为640×360远景，不能辨清第5球接触的具体机器人部位，也未显示原生逐球记账。log step 35 是最后一次重置运行，但输出为空；log step 32–34 的编辑未保留控制器源码，log step 36、38 只有 agent 自述，没有服务终态原文及速度命令、跟踪反馈，故无法区分换向计划不当、速度参数不当或控制执行偏差，根因留空。dodged 未在评分器 reward 字段中单独报告，原生指标值留 null；节点4/5来自视频判读。"
+ },
+ "summary_zh": "评分视频对应最后一次重置回合：机器人侧向移步，依次躲过前四球，约在视频 3.1、5.7、8.1、10.8 s 各球落地后达到4/5。第5球在视频约12.9 s 到达机器人上身，躲避未及时错开来球，回合失败，与 log step 36、38 的最终受击自述一致。远景与缺失的控制器执行数据使具体受击部位及控制或规划根因无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前四球躲过、第5球在视频约12.9 s到达机器人上身而失败，与评分字段（live_success=0、finalized=1）及 log step 36/38 一致；断点、节点值与时间均可接受。根因留空并附 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": "2026-10-31T00:20:01Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cceeb6e658dc5884ae4c3af7f42b17c3ff3fecd360caf7bf8906158fadaa80f4",
+   "video_sha256": "f9fc7f82b67ac586750b67993f00e2c568c8326b8f83d4a9387e6483edce7d46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 540,
+   "sim_steps": 3206,
+   "calls": 498,
+   "rows": 51200,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2010.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 32.055,
+   "max_lag_s": 0.0287,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 362,
+   "late_steps": 0,
+   "requests_refused": 5,
+   "request_busy_s": 0.706,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn/replay.mp4",
+  "duration_s": 5.44,
+  "fps": 25.0,
+  "frames": 136,
+  "sha256": "efd2099d89388912f4b5446403733520a3ef9a7f748f5bed73e4632ab89567a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频2.56–2.92 s中，第1球从发球机飞来并从机器人身旁通过；视频3.00–3.12 s中，球在机器人近侧落地并弹起，机器人仍站在场内，回合继续。推断：第1球未击中机器人而已成为死球，约视频3.04 s完成第1次躲球（触地时刻约有0.1 s误差）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0–3.04 s中，机器人双脚接触木质球场地面，支撑转身及小幅移步。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频2.80–3.04 s中，第1球经过机器人身旁并落地，未见球与机器人接触。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 145,
+      "text_zh": "观察：视频4.72–5.36 s中，第2球从发球机飞向机器人；机器人持续站在近乎同一位置，视频5.40 s中球与其头部附近轮廓重合，视频随即结束。log step 145的服务状态报告episode=6、control_steps=540、done=true、reason=failed。推断：第2球在成为死球前击中机器人，未完成第2次躲球；log step 4给出控制周期0.01 s，540×0.01=视频5.40 s，与末帧事件核对一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频3.04–5.40 s中，机器人双脚持续支撑身体站在木质球场内。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：视频5.36–5.40 s的第2球接近并与机器人头部附近轮廓重合，结合log step 145回合失败状态，判为来球击中机器人；候选名称“被动碰撞”，现有接触方式未涵盖身体被来球撞击，具体接触部位缺少接触日志确认。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 145,
+      "text_zh": "观察：视频0–5.40 s只出现前两次发球，第3球未见离机；视频5.40 s结束时机器人仍在场内站立，log step 145报告最后一局episode=6已失败终止。推断：本局在第3次来球前已结束，躲过第3球未达成。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 145,
+      "text_zh": "观察：视频0–5.40 s只出现前两次发球，第4球未见离机；视频5.40 s结束时机器人仍在场内站立，log step 145报告最后一局episode=6已失败终止。推断：本局在第4次来球前已结束，躲过第4球未达成。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 145,
+      "text_zh": "观察：视频0–5.40 s只出现前两次发球，第5球未见离机；视频5.40 s结束时机器人仍在场内站立，log step 145报告最后一局episode=6已失败终止。推断：本局在第5次来球前已结束，躲过第5球未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "throw_2_dodged",
+   "t": 5.4,
+   "log_step": 145,
+   "where": "操作中",
+   "evidence_zh": "观察：视频3.04 s前第1球已通过并落地；视频4.72–5.40 s的第2球飞向仍停留原处的机器人，末帧与头部附近轮廓重合。log step 145的服务状态为episode=6、control_steps=540、done=true、reason=failed。推断：第1步已完成，未修复的失败发生在第2次躲球过程中，而非后续尚未发球的步骤。"
+  },
+  "unmet": {
+   "throw_1_dodged": true,
+   "throw_2_dodged": false,
+   "throw_3_dodged": false,
+   "throw_4_dodged": false,
+   "throw_5_dodged": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 5.4,
+    "log_step": 145,
+    "evidence_zh": "观察：视频4.40–5.40 s中，机器人未随第2球的接近作出明显侧向躲避；第2球由远处飞至其头部附近，视频5.40 s与机器人轮廓重合，回合终止。推断：机器人未在来球抵达前移出球路，未躲过运动中的第2球。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 144,
+    "source_zh": "日志",
+    "note_zh": "候选名称“控制脚本异常”（DECISIONS.md D38）；agent自己的控制器异常，不是外部服务崩溃。",
+    "evidence_zh": "观察：log step 142所写控制器把yaw_target初始化为None，仅在submit返回的回合时间达到门槛后赋值；build_chunk进入行走分支时直接计算yaw_target-yaw。log step 144的最后一局运行输出在control step 78后连续8次报unsupported operand type(s) for -: NoneType and float，随后giving up；log step 145报告该episode=6最终运行到control step 540而失败。视频约1.92–5.40 s中机器人不再明显移步；log step 147的修复发生在该局结束之后。推断：未初始化的航向目标使控制器在首次行走块生成时停止提交躲球动作，导致第2球到达时没有及时侧移。"
+   }
+  ],
+  "gap_zh": "没有状态日志或最后一局结束后的逐球裁判阶段/接触记录；log step 146读取的是control step 194时的中途快照，不能当作终局裁判结果。视频远景可判断第1球通过落地与第2球抵达机器人，但第1球触地时刻约有0.1 s误差，第2球精确接触部位依相邻帧和终止状态推断；dodged未由评分字段直接报告，native_metrics.value保留null。"
+ },
+ "summary_zh": "判分的最后一局躲过第1球（约视频3.04 s），在视频约5.40 s未躲过第2球，最终完成1/5；后三球尚未发出。最后一局控制器在生成首次行走块时因未初始化的yaw_target报错并停止提交动作，机器人转身后基本停留原处，未及时移出第2球球路。无状态日志及终局逐球接触记录，精确接触部位仍有不确定性；会话早先尝试的3/5不计入本局。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、log一致：第1球约视频3.0 s已落地且机器人未被击中，第2球在视频约5.4 s抵达机器人，断点与根因（最后一局控制器因yaw_target为None报错后停止提交，log step 144/145，540×0.01=5.4 s与末帧核对）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": "2026-10-31T00:21:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a27de0f6de529105359b30890801fa83d7a22305369f083eb985366378fb7b1",
+   "video_sha256": "efd2099d89388912f4b5446403733520a3ef9a7f748f5bed73e4632ab89567a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1310,
+   "sim_steps": 1597,
+   "calls": 331,
+   "rows": 8030,
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+   "sim_startups": 1,
+   "elapsed_s": 104.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
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+   "resource_enforced": 0,
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+   "peak_processes": 0.0,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph/replay.mp4",
+  "duration_s": 13.12,
+  "fps": 25.0,
+  "frames": 328,
+  "sha256": "c15eb3f68bc7aa68afde27b3e0cd35502ccb1de48692e0b042304b1294a1c8f6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.08,
+      "log_step": null,
+      "text_zh": "观察：视频 2.32—3.16 s，第1次红球从发球机飞向机器人；视频 2.88—3.00 s，机器人继续横向步行，球从其身旁通过，未见碰撞或倒地。视频 3.04—3.12 s，球落向木地板并开始反弹，机器人仍直立在场内。"
+     },
+     {
+      "t": 3.08,
+      "log_step": 13,
+      "text_zh": "推断：log step 13 是重置后第2回合的机器人服务裁判结果（非 agent 自述），报告 outcome=success、stages_reached=5、stages_total=5；结合该球从身旁通过和触地反弹的连续帧，判定此步已记账，视频完成时间取约 3.08 s，误差约0.1 s；界面没有逐球裁判字幕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 2.32—3.16 s，机器人以双腿横向步行带动躯干移位，第1球从身体旁通过；推断：结合 log step 13 的裁判成功结果，此球活球期间未接触机器人任何部位。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.32—3.16 s，机器人左右脚交替踩在木质球场地板上支撑身体，躲球期间保持直立。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.76,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频 4.80—5.88 s，第2次红球从发球机飞向机器人；视频 5.44—5.68 s，机器人继续横向步行，球从其身旁通过，未见碰撞或倒地。视频 5.72—5.80 s，球落向木地板并开始反弹，机器人仍直立在场内。"
+     },
+     {
+      "t": 5.76,
+      "log_step": 13,
+      "text_zh": "推断：log step 13 是重置后第2回合的机器人服务裁判结果（非 agent 自述），报告 outcome=success、stages_reached=5、stages_total=5；结合该球从身旁通过和触地反弹的连续帧，判定此步已记账，视频完成时间取约 5.76 s，误差约0.1 s；界面没有逐球裁判字幕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 4.80—5.88 s，机器人以双腿横向步行带动躯干移位，第2球从身体旁通过；推断：结合 log step 13 的裁判成功结果，此球活球期间未接触机器人任何部位。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.80—5.88 s，机器人左右脚交替踩在木质球场地板上支撑身体，躲球期间保持直立。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.12,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.12,
+      "log_step": null,
+      "text_zh": "观察：视频 7.28—8.24 s，第3次红球从发球机飞向机器人；视频 7.84—8.04 s，机器人继续横向步行，球从其身旁通过，未见碰撞或倒地。视频 8.08—8.16 s，球落向木地板并开始反弹，机器人仍直立在场内。"
+     },
+     {
+      "t": 8.12,
+      "log_step": 13,
+      "text_zh": "推断：log step 13 是重置后第2回合的机器人服务裁判结果（非 agent 自述），报告 outcome=success、stages_reached=5、stages_total=5；结合该球从身旁通过和触地反弹的连续帧，判定此步已记账，视频完成时间取约 8.12 s，误差约0.1 s；界面没有逐球裁判字幕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 7.28—8.24 s，机器人以双腿横向步行带动躯干移位，第3球从身体旁通过；推断：结合 log step 13 的裁判成功结果，此球活球期间未接触机器人任何部位。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.28—8.24 s，机器人左右脚交替踩在木质球场地板上支撑身体，躲球期间保持直立。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.76—10.72 s，第4次红球从发球机飞向机器人；视频 10.32—10.52 s，机器人继续横向步行，球从其身旁通过，未见碰撞或倒地。视频 10.56—10.64 s，球落向木地板并开始反弹，机器人仍直立在场内。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 13,
+      "text_zh": "推断：log step 13 是重置后第2回合的机器人服务裁判结果（非 agent 自述），报告 outcome=success、stages_reached=5、stages_total=5；结合该球从身旁通过和触地反弹的连续帧，判定此步已记账，视频完成时间取约 10.60 s，误差约0.1 s；界面没有逐球裁判字幕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 9.76—10.72 s，机器人以双腿横向步行带动躯干移位，第4球从身体旁通过；推断：结合 log step 13 的裁判成功结果，此球活球期间未接触机器人任何部位。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.76—10.72 s，机器人左右脚交替踩在木质球场地板上支撑身体，躲球期间保持直立。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.08,
+      "log_step": null,
+      "text_zh": "观察：视频 12.32—13.08 s，第5次红球从发球机飞向机器人；视频 12.88—13.00 s，机器人继续横向步行，球从其身旁通过，未见碰撞或倒地。视频 13.08 s，球已越过机器人并降到木地板附近，机器人仍直立在场内。"
+     },
+     {
+      "t": 13.1,
+      "log_step": 13,
+      "text_zh": "推断：log step 13 的第2回合服务裁判记录 control_steps=1310、sim_time_s=13.1、outcome=success、stages_reached=5/5；log step 7 的控制周期为0.01 s，1310×0.01=13.10 s。此映射与视频 13.08 s 的末球近地画面及视频 13.12 s 结束相符，因此以视频约13.10 s作为末球记账时间，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 12.32—13.08 s，机器人以双腿横向步行带动躯干移位，第5球从身体旁通过；推断：结合 log step 13 的裁判成功结果，此球活球期间未接触机器人任何部位。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.32—13.08 s，机器人左右脚交替踩在木质球场地板上支撑身体，躲球期间保持直立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分轨迹是重置后的第2回合：机器人转为侧身，在合法场区内往返步行，依次躲过五球，五个节点最终全部成立；log step 13 的服务裁判报告 success、5/5，原生 dodged 计数据此记为5。log step 9 的首回合被击中不属于本视频的评分回合，不设失败断点。无状态日志及逐球记账记录，前四步时刻由触地反弹画面估计（约0.1 s误差）；末步由视频 13.08 s 末帧和对应回合控制步终点所确定的视频约13.10 s联合定位。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分回合为重置后的第2回合（control_steps=1310、sim_time 13.1 s 对应视频 13.12 s），五个躲球节点的时间与帧（球触地反弹、机器人直立在场内）和计划供球时刻（2.0/4.5/7.0/9.5/12.0 s + 约1 s 飞行）一致；log step 13 服务裁判 success、5/5。首回合被击中不属于视频，无失败断点，接触标注与DAG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": "2026-10-31T00:21:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9fac5f5f74037cb178b75b404b9eab4708923d6e395ed048136a517e804f9719",
+   "video_sha256": "c15eb3f68bc7aa68afde27b3e0cd35502ccb1de48692e0b042304b1294a1c8f6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa.json

@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1310,
+   "sim_steps": 1310,
+   "calls": 636,
+   "rows": 18901,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 141.4,
+   "video_rendered": 1,
+   "first_success": 1,
+   "first_reason_code": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 13.096,
+   "max_lag_s": 0.0057,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.964,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/replay.mp4",
+  "duration_s": 13.12,
+  "fps": 25.0,
+  "frames": 328,
+  "sha256": "a2471cc36634bde380b1bd47d846b42e0f9d51ad5ff156d8d11fa3e2b663b5d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–3.24 s，第1个来球从机器人身旁通过；机器人继续向画面左侧迈步，球在视频约 3.04 s 降至地面，随后反弹并远离机器人。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 的在线机器人服务返回 outcome success、stages_reached=5、stages_total=5；log step 10 返回 episode=1、done=True、reason=success，评分器字段 live_success=1、resets=0，确认本回合五球全部记账。"
+     },
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "推断：结合第1球的通过与落地画面以及本回合裁判五步全成的记录，本节点在视频约 3.04 s 达成并保持至结束；此为视觉近似时刻（误差约 0.2 s），不是逐球裁判记账时间戳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人双腿带动躯干向画面左侧持续行走，使第1个来球从身体旁通过；视频可见球与身体分离，裁判成功记录确认无活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲第1球期间，机器人双脚交替接触木质球场地面，承重并支撑直立躯干完成行走。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.76,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频 5.20–6.20 s，第2个来球穿过机器人刚经过的位置；机器人仍直立行走，球在视频约 5.76 s 触地并继续弹向画面左下方。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 的在线机器人服务返回 outcome success、stages_reached=5、stages_total=5；log step 10 返回 episode=1、done=True、reason=success，评分器字段 live_success=1、resets=0，确认本回合五球全部记账。"
+     },
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "推断：结合第2球的通过与落地画面以及本回合裁判五步全成的记录，本节点在视频约 5.76 s 达成并保持至结束；此为视觉近似时刻（误差约 0.2 s），不是逐球裁判记账时间戳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人双腿带动躯干向画面左侧持续行走，使第2个来球从身体旁通过；视频可见球与身体分离，裁判成功记录确认无活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲第2球期间，机器人双脚交替接触木质球场地面，承重并支撑直立躯干完成行走。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.04,
+      "log_step": null,
+      "text_zh": "观察：视频 7.40–8.80 s，机器人已反向向画面右侧行走，第3个来球从其左侧通过，在视频约 8.04 s 落地，随后反弹离开。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 的在线机器人服务返回 outcome success、stages_reached=5、stages_total=5；log step 10 返回 episode=1、done=True、reason=success，评分器字段 live_success=1、resets=0，确认本回合五球全部记账。"
+     },
+     {
+      "t": 8.04,
+      "log_step": null,
+      "text_zh": "推断：结合第3球的通过与落地画面以及本回合裁判五步全成的记录，本节点在视频约 8.04 s 达成并保持至结束；此为视觉近似时刻（误差约 0.2 s），不是逐球裁判记账时间戳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人双腿带动躯干反向向画面右侧持续行走，使第3个来球从身体旁通过；视频可见球与身体分离，裁判成功记录确认无活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲第3球期间，机器人双脚交替接触木质球场地面，承重并支撑直立躯干完成行走。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.64,
+      "log_step": null,
+      "text_zh": "观察：视频 10.20–10.84 s，机器人继续向画面右侧行走，第4个来球从其左侧通过，在视频约 10.64 s 降至地面，随后反弹；机器人没有倒地。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 的在线机器人服务返回 outcome success、stages_reached=5、stages_total=5；log step 10 返回 episode=1、done=True、reason=success，评分器字段 live_success=1、resets=0，确认本回合五球全部记账。"
+     },
+     {
+      "t": 10.64,
+      "log_step": null,
+      "text_zh": "推断：结合第4球的通过与落地画面以及本回合裁判五步全成的记录，本节点在视频约 10.64 s 达成并保持至结束；此为视觉近似时刻（误差约 0.2 s），不是逐球裁判记账时间戳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人双腿带动躯干反向向画面右侧持续行走，使第4个来球从身体旁通过；视频可见球与身体分离，裁判成功记录确认无活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲第4球期间，机器人双脚交替接触木质球场地面，承重并支撑直立躯干完成行走。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.08,
+      "log_step": null,
+      "text_zh": "观察：视频 12.00–13.08 s，机器人继续直立向画面右侧行走，第5个来球从其左侧通过，视频 13.08 s 球已降至地面附近，与机器人分离；这是视频最后一帧。"
+     },
+     {
+      "t": null,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 的在线机器人服务返回 outcome success、stages_reached=5、stages_total=5；log step 10 返回 episode=1、done=True、reason=success，评分器字段 live_success=1、resets=0，确认本回合五球全部记账。"
+     },
+     {
+      "t": 13.08,
+      "log_step": null,
+      "text_zh": "推断：结合第5球的通过与落地画面以及本回合裁判五步全成的记录，本节点在视频约 13.08 s 达成并保持至结束；此为视觉近似时刻（误差约 0.2 s），不是逐球裁判记账时间戳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人双腿带动躯干反向向画面右侧持续行走，使第5个来球从身体旁通过；视频可见球与身体分离，裁判成功记录确认无活球击中。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "躲第5球期间，机器人双脚交替接触木质球场地面，承重并支撑直立躯干完成行走。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次唯一在线回合依次躲过五球，五个节点最终均达成；机器人先向一侧行走，再反向行走，使来球从身体旁通过并保持站立。log step 9 的在线服务返回 success、阶段 5/5，log step 10 与评分器 live_success=1 一致，原生 dodged 数量据服务的躲球阶段计数记为 5。没有状态日志及逐球记账时间戳，节点时刻取视频落地画面的近似值；最后一球结合视频 13.08 s 末帧与裁判成功记录确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "五个躲球节点均达成，视频帧中机器人全程直立、球落地并与机器人分离，log step 9/10 的服务读数（success 5/5，done，control_steps 1310）支持；时刻为视觉近似且已如实标注，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": "2026-10-31T00:19:44Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ae30dc790ff3dfc5c06ebb4fe2670d15336bf5350d074545fa9a486ca831fe52",
+   "video_sha256": "a2471cc36634bde380b1bd47d846b42e0f9d51ad5ff156d8d11fa3e2b663b5d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1346,
+   "sim_steps": 4586,
+   "calls": 15,
+   "rows": 6200,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 438.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 45.847,
+   "max_lag_s": 0.2078,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.312,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc/replay.mp4",
+  "duration_s": 13.48,
+  "fps": 25.0,
+  "frames": 337,
+  "sha256": "74ea6e8b0808f6ebb79b6b650ba52d3f613055c15f8ef774219398f8591c9175"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频2.40–3.44 s，第1球从远端飞向机器人，机器人持续移步；球从其身旁掠过，视频3.04 s附近降到地面，随后弹起并远离，机器人继续直立行走。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 34,
+      "text_zh": "推断：log step 33记录重置后启动episode 4，log step 34的机器人在线服务（返回裁判结果的基准接口）报告该回合success且stages_reached=5、stages_total=5；评分器reward也给出live_success=1、graded_by_live=1。结合视频中第1球的连续轨迹，认定本步完成；视频时刻取上述落地画面附近，非agent时间换算，逐球记账的精确瞬间未单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过双腿移步带动躯干改变位置，使第1次来球经过身体侧旁；结合最终回合裁判五阶段成功记录，判为与该活球无接触通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第1球期间，机器人双脚交替接触木质球场地面，支撑躯干持续直立移动。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.76,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频5.12–6.08 s，第2球飞来时机器人移步改变位置；球经过其侧旁，视频5.76 s附近落地，视频5.84–6.08 s又弹起并向后方远离，机器人未倒地。"
+     },
+     {
+      "t": 5.76,
+      "log_step": 34,
+      "text_zh": "推断：log step 33记录重置后启动episode 4，log step 34的机器人在线服务（返回裁判结果的基准接口）报告该回合success且stages_reached=5、stages_total=5；评分器reward也给出live_success=1、graded_by_live=1。结合视频中第2球的连续轨迹，认定本步完成；视频时刻取上述落地画面附近，非agent时间换算，逐球记账的精确瞬间未单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过双腿移步带动躯干改变位置，使第2次来球经过身体侧旁；结合最终回合裁判五阶段成功记录，判为与该活球无接触通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第2球期间，机器人双脚交替接触木质球场地面，支撑躯干持续直立移动。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.32,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.32,
+      "log_step": null,
+      "text_zh": "观察：视频7.76–8.72 s，第3球从远端斜向飞来，机器人继续移步；视频8.24 s球在机器人侧旁下降，视频8.32 s附近触地，随后反弹并远离，机器人保持直立。"
+     },
+     {
+      "t": 8.32,
+      "log_step": 34,
+      "text_zh": "推断：log step 33记录重置后启动episode 4，log step 34的机器人在线服务（返回裁判结果的基准接口）报告该回合success且stages_reached=5、stages_total=5；评分器reward也给出live_success=1、graded_by_live=1。结合视频中第3球的连续轨迹，认定本步完成；视频时刻取上述落地画面附近，非agent时间换算，逐球记账的精确瞬间未单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过双腿移步带动躯干改变位置，使第3次来球经过身体侧旁；结合最终回合裁判五阶段成功记录，判为与该活球无接触通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第3球期间，机器人双脚交替接触木质球场地面，支撑躯干持续直立移动。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.88,
+      "log_step": null,
+      "text_zh": "观察：视频10.16–11.12 s，第4球斜向飞向机器人，机器人边移步边与球错开；视频10.88 s附近球落地，随后弹起并从另一侧远离，机器人继续行走。"
+     },
+     {
+      "t": 10.88,
+      "log_step": 34,
+      "text_zh": "推断：log step 33记录重置后启动episode 4，log step 34的机器人在线服务（返回裁判结果的基准接口）报告该回合success且stages_reached=5、stages_total=5；评分器reward也给出live_success=1、graded_by_live=1。结合视频中第4球的连续轨迹，认定本步完成；视频时刻取上述落地画面附近，非agent时间换算，逐球记账的精确瞬间未单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过双腿移步带动躯干改变位置，使第4次来球经过身体侧旁；结合最终回合裁判五阶段成功记录，判为与该活球无接触通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第4球期间，机器人双脚交替接触木质球场地面，支撑躯干持续直立移动。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.44,
+      "log_step": null,
+      "text_zh": "观察：视频12.40–13.44 s，第5球飞来，机器人移步退向后线附近但保持站立；视频13.28–13.44 s球从躯干侧旁下降，末帧球已在脚旁接近地面。远景中视频13.40 s球与机器人投影接近，不能单凭该帧区分瞬时接触。"
+     },
+     {
+      "t": 13.44,
+      "log_step": 34,
+      "text_zh": "推断：log step 33记录重置后启动episode 4，log step 34的机器人在线服务（返回裁判结果的基准接口）报告该回合success且stages_reached=5、stages_total=5；评分器reward也给出live_success=1、graded_by_live=1。结合视频中第5球的连续轨迹，认定本步完成；视频时刻取上述落地画面附近，非agent时间换算，逐球记账的精确瞬间未单独记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人通过双腿移步带动躯干改变位置，使第5次来球经过身体侧旁；结合最终回合裁判五阶段成功记录，判为与该活球无接触通过。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：躲避第5球期间，机器人双脚交替接触木质球场地面，支撑躯干持续直立移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：最终评分对应log step 33–34的episode 4，机器人在视频中持续移步，五次来球依次从身体旁经过并下降到地面，最终五个躲球节点全部达成；在线服务与评分器均确认成功。推断：前四步按视频约3.04、5.76、8.32、10.88 s的落地画面定位，第五步在视频13.44 s末帧附近完成；无状态日志和逐球裁判记账时刻，尤其末球与身体投影接近，瞬时无碰撞由最终裁判成功结果补证，时间为近似。观察：评分器reward未单列dodged数值，故该原生指标留null；log step 34另有stages_reached=5/5，前三次测试的失败不计入本轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "五个躲球节点均达成，与视频和log step 34（episode 4 success，5/5，13.44 s）一致；各球落地时间与视频相符，接触标注合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:21:48Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4fccafc1b4ad8deb7ea8f2ed50d9ec20b112842900484ffcd2ec2244bc09a82a",
+   "video_sha256": "74ea6e8b0808f6ebb79b6b650ba52d3f613055c15f8ef774219398f8591c9175",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 574,
+   "sim_steps": 3820,
+   "calls": 29,
+   "rows": 9300,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1428.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 38.205,
+   "max_lag_s": 0.2344,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.365,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c/replay.mp4",
+  "duration_s": 5.76,
+  "fps": 25.0,
+  "frames": 144,
+  "sha256": "d07a7fa60f50106d15a1c7c9b83c837fde9211acad00a64cee3fda9bf78aff18"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频2.80–3.04 s，第1球从持续侧移且站立的机器人身旁通过，未见接触；视频3.04 s球体与地面阴影靠拢，随后视频3.12–3.28 s再次离地，呈首次触地后的反弹。首次触地时刻约为视频3.04 s，精度约0.1 s。"
+     },
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "观察：log step 37中基准在线服务返回最终回合stages_reached=1、stages_total=5及活球击中判负，确认已依次记入第1次躲球；视频3.04 s以后第1球弹跳远离，机器人继续站立侧移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0–3.04 s，机器人双脚交替接触木质球场地面，支撑身体侧向移动。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频2.80–3.04 s，机器人移步使第1球从身体旁通过，球未接触机器人而先触地。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "观察：视频5.20–5.72 s，第2球从远端飞向侧移中的机器人，视频5.68–5.72 s接近身体轮廓；视频在其继续安全通过或触地前结束。log step 37中在线服务返回“hit by a live ball (rule 15.1)”、stages_reached=1和control_steps=574，因此第2球未躲过。"
+     },
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "推断：本次视频对应log step 37的最后一次在线回合，而非log step 26或36中躲过2球的会话重试；最终回合574个控制步乘以任务规定的0.01 s等于仿真5.74 s，与视频5.72 s最后一帧球接近身体、视频总长5.76 s相吻合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频4.40–5.72 s，机器人双脚仍交替接触木地板支撑侧移，未见跌倒。"
+     },
+     {
+      "who": "未知",
+      "how": "其他",
+      "note_zh": "推断：候选“被动碰撞”；log step 37的原生裁判判定第2个活球击中机器人，视频5.68–5.72 s球已接近身体。远景不能辨清具体被击部位；球撞上身体不属于抓握、推/扫或压/擦，不标为成功避开。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "观察：完整视频0–5.72 s仅出现前两次来球，末帧机器人仍在场内站立，第3球未发出；log step 37的原生裁判已以活球击中结束最后一次回合，stages_reached=1。任务DAG规定第3球计划供球为仿真7.0 s，本回合未进入该���躲球。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "观察：完整视频0–5.72 s仅出现前两次来球，末帧机器人仍在场内站立，第4球未发出；log step 37的原生裁判已以活球击中结束最后一次回合，stages_reached=1。任务DAG规定第4球计划供球为仿真9.5 s，本回合未进入该次躲球。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.72,
+      "log_step": 37,
+      "text_zh": "观察：完整视频0–5.72 s仅出现前两次来球，末帧机器人仍在场内站立，第5球未发出；log step 37的原生裁判已以活球击中结束最后一次回合，stages_reached=1。任务DAG规定第5球计划供球为仿真12.0 s，本回合未进入该次躲球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 1,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "throw_2_dodged",
+   "t": 5.72,
+   "log_step": 37,
+   "where": "操作中",
+   "evidence_zh": "观察：视频5.20–5.72 s，机器人仍在移步躲避，第2球持续逼近其身体，未见安全通过；log step 37中基准在线裁判以“hit by a live ball (rule 15.1)”判负且仅记1/5阶段，故失败步骤为躲过第2球。"
+  },
+  "unmet": {
+   "throw_1_dodged": true,
+   "throw_2_dodged": false,
+   "throw_3_dodged": false,
+   "throw_4_dodged": false,
+   "throw_5_dodged": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 5.72,
+    "log_step": 37,
+    "evidence_zh": "推断：视频5.20–5.72 s显示机器人虽侧移但未能在第2球到达前移出球路；末帧来球接近身体，log step 37的原生裁判确认活球击中。该次动态躲避未及时形成无接触通过，期间机器人仍站立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 6的控制程序提前提交固定速度序列，log step 31、34及37将最终回合设为walk_agile侧移、在仿真5.5 s切换方向并同步改变腰部侧倾，期间没有根据来球或身体位置更新控制的分支。视频5.20–5.72 s与log step 37的击中判罚表明这套运动控制未提供第2球所需的躲避余量；证据不足以进一步区分轨迹设计、步态跟踪或参数问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有状态日志；本次视频仅有场地远景，没有逐球离机、接触部位或裁判阶段变化的逐帧记录。第1球首次触地时刻依据反弹估计约为视频3.04 s；第2球命中由log step 37的最终回合原生裁判确认，视频最后一帧在命中前后相邻时刻，不能辨清具体受击部位或控制误差的细分来源。"
+ },
+ "summary_zh": "最后一次在线评分回合躲过第1球，约在视频3.04 s首次触地后达到1/5；机器人继续侧移，在视频约5.7 s躲第2球时被活球击中，第3至第5球尚未发出。固定侧移及侧倾控制未能及时避开第2球，原生裁判在log step 37确认仅完成1个阶段；此前重试的2球进度不计入本回合。无状态日志，远景无法辨清具体受击部位及控制问题的细分原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频0–5.76 s与log step 37一致：第1球约3.0 s触地未碰机器人，第2球在约5.7 s接近身体并被裁判判活球击中，1/5、断点在第2球均成立；时钟用视频时间，控制步映射已说明并与末帧吻合。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": "2026-10-31T00:22:00Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a59a8dcba083451c74feb0a962d1682f94142fe76c1dc0cf1906656d6264c816",
+   "video_sha256": "d07a7fa60f50106d15a1c7c9b83c837fde9211acad00a64cee3fda9bf78aff18",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1337,
+   "sim_steps": 3213,
+   "calls": 2256,
+   "rows": 45630,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1413.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 32.125,
+   "max_lag_s": 0.251,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 33,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 1.687,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky/replay.mp4",
+  "duration_s": 13.4,
+  "fps": 25.0,
+  "frames": 335,
+  "sha256": "1eac8d266914b4519585627a36d7c4663a82d18b33058a7b586c23282220db40"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.04,
+      "log_step": null,
+      "text_zh": "观察：视频 2.52–2.88 s，第1球从发球机飞至机器人旁，机器人一边转身一边向画面左侧移步；视频 3.00–3.04 s 球在机器人前方贴近地面，视频 3.08–3.20 s 已弹起远离机器人。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 80,
+      "text_zh": "推断：log step 80 的机器人服务状态（基准在线接口返回的裁判结果）确认最后第4回合 outcome=success、stages_reached=5、stages_total=5、control_steps=1337；结合视频中第1球经过及触地，按固定顺序确认本节点达成。完成锚点取视频约 3.04 s，逐球裁判记账时刻未单独显示，约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧移步并转身，使身体避开第1次来球；画面中未见主动触球，最终裁判成功记录支持活球未接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲第1球期间双脚交替踏在木质球场地面，腿部支撑躯干完成上述移步，未见手膝撑地或倒地。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.64,
+      "log_step": null,
+      "text_zh": "观察：视频 5.04–5.60 s，第2球从另一台发球机飞来并从机器人身旁通过，机器人继续向画面左侧行走；视频 5.64 s 球在脚旁的地面处落下，视频 5.72–5.84 s 球反弹离开，机器人仍直立迈步。"
+     },
+     {
+      "t": 5.64,
+      "log_step": 80,
+      "text_zh": "推断：log step 80 的机器人服务状态（基准在线接口返回的裁判结果）确认最后第4回合 outcome=success、stages_reached=5、stages_total=5、control_steps=1337；结合视频中第2球经过及触地，按固定顺序确认本节点达成。完成锚点取视频约 5.64 s，逐球裁判记账时刻未单独显示，约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人继续向画面左侧行走，使身体避开第2次来球；画面中未见主动触球，最终裁判成功记录支持活球未接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲第2球期间双脚交替踏在木质球场地面，腿部支撑躯干完成上述移步，未见手膝撑地或倒地。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.08,
+      "log_step": null,
+      "text_zh": "观察：视频 7.32–8.00 s，第3球飞向机器人原来的位置，机器人向画面右侧移步，球从其画面左侧通过；视频 8.04–8.08 s 球降至地面，视频 8.16–8.28 s 可见球反弹，机器人继续站立。"
+     },
+     {
+      "t": 8.08,
+      "log_step": 80,
+      "text_zh": "推断：log step 80 的机器人服务状态（基准在线接口返回的裁判结果）确认最后第4回合 outcome=success、stages_reached=5、stages_total=5、control_steps=1337；结合视频中第3球经过及触地，按固定顺序确认本节点达成。完成锚点取视频约 8.08 s，逐球裁判记账时刻未单独显示，约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面右侧移步，使身体避开第3次来球；画面中未见主动触球，最终裁判成功记录支持活球未接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲第3球期间双脚交替踏在木质球场地面，腿部支撑躯干完成上述移步，未见手膝撑地或倒地。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.20–10.72 s，第4球飞来时机器人向画面左侧移步，球经过其身旁；视频 10.76–10.80 s 球降至机器人旁的地面，视频 10.88–10.96 s 球与地面阴影再次分离，机器人继续迈步。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 80,
+      "text_zh": "推断：log step 80 的机器人服务状态（基准在线接口返回的裁判结果）确认最后第4回合 outcome=success、stages_reached=5、stages_total=5、control_steps=1337；结合视频中第4球经过及触地，按固定顺序确认本节点达成。完成锚点取视频约 10.80 s，逐球裁判记账时刻未单独显示，约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面左侧移步，使身体避开第4次来球；画面中未见主动触球，最终裁判成功记录支持活球未接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲第4球期间双脚交替踏在木质球场地面，腿部支撑躯干完成上述移步，未见手膝撑地或倒地。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.36,
+      "log_step": null,
+      "text_zh": "观察：视频 12.48–13.20 s，第5球飞近时机器人向画面右侧移步；视频 13.24–13.36 s 球从其画面左侧落下，末帧球已贴近地面，机器人仍由双脚支撑直立。"
+     },
+     {
+      "t": 13.36,
+      "log_step": 80,
+      "text_zh": "推断：log step 80 的机器人服务状态（基准在线接口返回的裁判结果）确认最后第4回合 outcome=success、stages_reached=5、stages_total=5、control_steps=1337，故第5球已成为死球且躲球计数完成。log step 14 给出控制步长0.01秒，1337步对应视频约13.37 s，与已检查的视频 13.36 s 末帧球落地、机器人直立的事件吻合；取视频 13.36 s 为近似完成锚点，毫秒级触地和记账未直接显示。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：机器人向画面右侧移步，使身体避开第5次来球；画面中未见主动触球，最终裁判成功记录支持活球未接触机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人躲第5球期间双脚交替踏在木质球场地面，腿部支撑躯干完成上述移步，未见手膝撑地或倒地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "最终受评的是第4个在线回合，机器人转身后往返移步，依次躲过五球，五个事件节点均完成；log step 80 的基准服务返回 success、5/5，与视频中的连续站立及来球经过一致。完成时刻按视频约 3.04、5.64、8.08、10.80、13.36 s 的首次触地取近似锚点，前面三次测试失败不计入本次轨迹。没有状态日志或逐球裁判叠字，细小球体的瞬时接触及精确记账时刻由相邻帧和最终裁判结果共同确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个事件节点均达成与裁判 success 5/5 及视频一致；时间锚点合理，contact_actual 为避开+支撑，无失败层，控制步长换算（1337步×0.01秒≈视频13.37秒）有证据说明。",
+    "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": "2026-10-31T00:20:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89d521ee0f9415945e4ad5b156d1bdeb344ffecca2ea615c37f498f9a885de28",
+   "video_sha256": "1eac8d266914b4519585627a36d7c4663a82d18b33058a7b586c23282220db40",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu",
+ "taskKey": "embodied-olympics-fun/dodgeball",
+ "dag_sha256": "a13a84ada7b474ef0b05b1dd7e90325e49ac88a53ef3656b957cb843db7034f2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 11,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 662.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 0.0,
+   "max_lag_s": 0.0,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.257,
+   "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "b6abf95b2cf24115ee0745a9246fe3af727ba08c680b1586c51ed77f965685ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "throw_1_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.00 s 的唯一一帧显示机器人直立于场内，五台发球机位于远端，没有离机来球；log step 10 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器亦记录 sim_steps=0、n_actions=0。推断：回合未启动，第1球尚未发出，未达到本节点的躲球验收条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付运动轨迹：机器人服务始终暂停，零控制步；仅有初始画面，无本步骤的执行接触。"
+     }
+    ]
+   },
+   "throw_2_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.00 s 的唯一一帧显示机器人直立于场内，五台发球机位于远端，没有离机来球；log step 10 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器亦记录 sim_steps=0、n_actions=0。推断：回合未启动，第2球尚未发出，未达到本节点的躲球验收条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付运动轨迹：机器人服务始终暂停，零控制步；仅有初始画面，无本步骤的执行接触。"
+     }
+    ]
+   },
+   "throw_3_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.00 s 的唯一一帧显示机器人直立于场内，五台发球机位于远端，没有离机来球；log step 10 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器亦记录 sim_steps=0、n_actions=0。推断：回合未启动，第3球尚未发出，未达到本节点的躲球验收条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付运动轨迹：机器人服务始终暂停，零控制步；仅有初始画面，无本步骤的执行接触。"
+     }
+    ]
+   },
+   "throw_4_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.00 s 的唯一一帧显示机器人直立于场内，五台发球机位于远端，没有离机来球；log step 10 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器亦记录 sim_steps=0、n_actions=0。推断：回合未启动，第4球尚未发出，未达到本节点的躲球验收条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付运动轨迹：机器人服务始终暂停，零控制步；仅有初始画面，无本步骤的执行接触。"
+     }
+    ]
+   },
+   "throw_5_dodged": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.00 s 的唯一一帧显示机器人直立于场内，五台发球机位于远端，没有离机来球；log step 10 的机器人服务状态为 control_steps=0、rows=0、running=false，评分器亦记录 sim_steps=0、n_actions=0。推断：回合未启动，第5球尚未发出，未达到本节点的躲球验收条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付运动轨迹：机器人服务始终暂停，零控制步；仅有初始画面，无本步骤的执行接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "dodged",
+   "value": null,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 14,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 14 的最后消息为“This request was blocked by Gemini's filters”，之后无工具调用；log step 10 的机器人服务报告 control_steps=0、rows=0、running=false，评分器记录 n_actions=0、sim_steps=0、clock_s=0。视频 0.00 s 为机器人在场内直立的唯一画面。推断：模型提供方过滤在首步启动、形成运动交付之前中断会话，无法定位机器人失败的语义步骤。"
+  },
+  "unmet": {
+   "throw_1_dodged": false,
+   "throw_2_dodged": false,
+   "throw_3_dodged": false,
+   "throw_4_dodged": false,
+   "throw_5_dodged": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：输入视频存在，但仅含视频 0.00 s 的初始一帧，总时长为 0.04 s；无状态日志，评分器未报告 dodged 原生计数。log step 14 记录 Gemini 过滤中断，且此前服务仍为零控制步、暂停状态，没有已完成或已验证的运动交付。推断：按外部因素规则，此次应重试并排除出机器人失败分析；现象和根因均留空，不将外部中断标为“没尝试”，也不据此推断规划或控制缺陷。"
+ },
+ "summary_zh": "本次回合未启动，五个躲球节点均未达到，终态为 0/5；视频 0.00 s 的唯一画面为机器人在场内直立，服务与评分器均记录零控制步。log step 14 显示模型提供方 Gemini 过滤中断，发生在运动交付前，按外部因素处理，断点为 unknown／首步前，现象和根因留空。视频仅有初始一帧且无状态日志，无法评价躲球策略的实际执行，dodged 原生计数未报告。",
+ "conf": 10,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：log 仅在 step 14 被 Gemini 过滤中断，此前 control_steps=0、n_actions=0、sim_steps=0，未交付任何运动，视频仅一帧（0.04 s）；五节点 false、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合外部因素规则。",
+    "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": "2026-10-31T00:19:44Z",
+  "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/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25972c32cbe5a8d7a2f740442c91e2b320c59e0cb3eef8457871da4c559e1930",
+   "video_sha256": "b6abf95b2cf24115ee0745a9246fe3af727ba08c680b1586c51ed77f965685ab",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7.json

@@ -0,0 +1,495 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5385,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 8331,
+   "sim_steps": 8331,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 0.5385,
+   "stages_reached": 7,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 42.11,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 1.87,
+   "metric_planes_ball": 8.0,
+   "metric_planes_robot": 7.0,
+   "metric_touches": 13.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 154,
+   "agent_resets": 0,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.853,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.848,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7/replay.mp4",
+  "duration_s": 83.32,
+  "fps": 25.0,
+  "frames": 2083,
+  "sha256": "f06607c64fff7b2a4015fa90c9ca58db5ac25deda85b9c52f23a0b0fb7f5cd7c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–9.12 s，白球先从第1锥黄色标记侧（开局左侧）向前滚过，机器人随后沿同侧越过；视频 8.64–9.12 s 可见其经过锥旁。两者通过的联合时刻估为视频 8.8 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 1.6–2.0 s，机器人脚部接触白球后球向前滚动。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–14.88 s，机器人在第1锥后调到球旁、触球并跟进；视频 15.36–16.32 s，白球已在第2锥前方，机器人从第2锥黄色标记侧（开局右侧）通过。联合通过时刻估为视频 15.8 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 9.6–10.0 s，机器人脚部在白球旁触球，使球转向开局右侧；视频 13.2–13.6 s 再向前踢动白球。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.7,
+      "log_step": null,
+      "text_zh": "观察：视频 16.32–17.28 s，白球从第3锥黄色标记侧（开局左侧）先越面；视频 18.24–19.2 s，机器人跟随沿同侧通过。联合通过时刻估为视频 18.7 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相���；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 13.2–13.6 s 的脚部触球让白球继续向第2、第3锥前进；机器人随后跟随球移动。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.4,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–24.6 s，机器人在第3锥后改变球的横向位置并前踢；视频 25.92–28.32 s，白球先过第4锥，机器人随后从黄色标记侧（开局右侧）越面。联合时刻估为视频 27.4 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 24.0–24.6 s，机器人脚部接近并踢动白球，球随后向第4锥前方滚动。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      46.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 46.7,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–44.0 s，机器人将球移到第5锥开局左侧并跟进，骨盆先越面，球停在锥旁后方；视频 46.4–47.04 s 的再次脚部触球使球从该侧越过第5锥。较晚的球越面决定联合完成时刻，估为视频 46.7 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 34.0–38.0 s，机器人用脚在第5锥前将球拨向开局左侧；视频 46.4–46.8 s 再次脚部触球后白球向前滚出。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.1,
+      "log_step": null,
+      "text_zh": "观察：视频 55.6–57.12 s，机器人前踢白球，白球从第6锥黄色标记侧（开局右侧）先越面；视频 57.6–58.8 s，机器人沿同侧跟随通过。联合通过时刻估为视频 58.1 s。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 55.6–56.16 s，机器人脚部触球，白球随后越过第6锥向远端滚动。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      81.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 81.8,
+      "log_step": null,
+      "text_zh": "观察：视频 64.0–78.0 s，机器人在远端接近白球、侧向触球并转身；视频 80.88–82.08 s，球和机器人从第6锥开局左侧沿返程方向越面，估计至视频 81.8 s 两者均通过。log step 528 的最终交付文件两次重放均包含 back 6 阶段。"
+     },
+     {
+      "t": null,
+      "log_step": 528,
+      "text_zh": "观察：log step 525 对已保存交付轨迹发起两次独立重放，log step 528 的两次裁判结果均列出去程六锥及 back 6，且终态哈希相同；该结果与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 65.0–68.0 s，机器人脚部接触白球后，球向远端另一侧及返程方向滚动；视频 81.6–81.92 s 脚部再次触球，球继续向回程第5锥滚动。候选：击打；现有接触方式没有踢球或击打专项，不据小尺寸画面区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：上述视频片段中，机器人双脚交替接触草地，支撑身体沿该段运球路线行走或跑动。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：视频 82.08–83.28 s，白球向第5锥开局右侧滚去，机器人仍在锥的开局左侧并向起点方向跑过；截至最后一帧，未出现球与骨盆均从正确侧通过。log step 528 的交付轨迹两次重放均报告 the robot passed a cone on the wrong side，planes_ball=8、planes_robot=7，已达阶段止于 back 6，故本联合节点未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 81.6–81.92 s，机器人脚部在第6锥返程侧触球，随后视频 82.08–83.28 s 白球向第5锥滚动。候选：击打；踢球没有专用接触方式条目。该次触球同时衔接回程第6锥与第5锥。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 82.08–83.28 s，机器人双脚交替接触草地追球，骨盆路线仍处于第5锥开局左侧。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：完整视频中机器人去程至远端后返程，视频 83.2–83.28 s 仍在第5锥附近，尚未到达回程第4锥的返程完成位置；log step 528 的最终交付重放在回程第5锥错误侧越面处终止，阶段止于 back 6。本节点未达，且其前置节点未完成。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：完整视频中机器人去程至远端后返程，视频 83.2–83.28 s 仍在第5锥附近，尚未到达回程第3锥的返程完成位置；log step 528 的最终交付重放在回程第5锥错误侧越面处终止，阶段止于 back 6。本节点未达，且其前置节点未完成。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：完整视频中机器人去程至远端后返程，视频 83.2–83.28 s 仍在第5锥附近，尚未到达回程第2锥的返程完成位置；log step 528 的最终交付重放在回程第5锥错误侧越面处终止，阶段止于 back 6。本节点未达，且其前置节点未完成。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：完整视频中机器人去程至远端后返程，视频 83.2–83.28 s 仍在第5锥附近，尚未到达回程第1锥的返程完成位置；log step 528 的最终交付重放在回程第5锥错误侧越面处终止，阶段止于 back 6。本节点未达，且其前置节点未完成。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.28,
+      "log_step": 528,
+      "text_zh": "观察：完整视频中机器人去程至远端后返程，视频 83.2–83.28 s 仍在第5锥附近，尚未到达带球返回起点线后的返程完成位置；log step 528 的最终交付重放在回程第5锥错误侧越面处终止，阶段止于 back 6。本节点未达，且其前置节点未完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": 1.87,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "back_5_passed",
+   "t": 83.2,
+   "log_step": 528,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 81.6–83.28 s，机器人触球后朝回程第5锥跑动，球滚向规定的开局右侧，但机器人骨盆仍从开局左侧越面；log step 528 对保存轨迹的两次独立重放均以 the robot passed a cone on the wrong side 终止，阶段为去程六锥及 back 6。评分器最大球距为1.87米，未超过2米；agent 在 log step 527 的球距超限自述被最终重放结果及其 log step 540 的更正取代。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 83.2,
+    "log_step": 528,
+    "evidence_zh": "观察：视频 82.08–83.28 s，机器人保持足部支撑向起点方向跑动，却未随球横移到第5锥规定的开局右侧，骨盆在另一侧经过；两次交付重放在 log step 528 均报告机器人越锥侧错误，评分器 fell=0。行进路线偏离要求，未见跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 10 明确识别球与骨盆须分别交替过锥，log step 467 的返程修改依据球横向速度切换跑步转向命令，log step 521 将此生成器保存为交付轨迹；视频 81.6–83.28 s 显示踢球后球到了回程第5锥正确侧，骨盆却来不及横移到同侧，log step 528 两次重放均稳定复现这一错误。证据支持球路与身体路线协调控制失败，不能进一步确定是接触几何、轨迹跟踪还是具体参数导致，故保留控制大类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；远景中的球和骨盆较小，节点联合越面时刻为连续抽帧的视觉估计，约有0.5秒误差，无法恢复毫秒级插值位置或逐次接触力。最终重放给出明确阶段及错误侧判负，但没有可核对的完整关节跟踪误差，根因不细分控制子类；log step 540 的骨盆 y=+0.647米是 agent 自述，不作为独立测量。",
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": true,
+   "out_4_passed": true,
+   "out_5_passed": true,
+   "out_6_passed": true,
+   "back_6_passed": true,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  }
+ },
+ "summary_zh": "评分轨迹完成去程六锥及回程第6锥，最终为7/13；回程第5锥处球先到正确侧，机器人骨盆却从错误侧越面，视频末段与最终交付文件两次确定性重放一致。失败现象为步态路线偏离，根因保守归为球与身体路线协调控制失败，最大球距1.87米并未超限。没有逐帧状态日志，越面时刻约有0.5秒视觉误差，无法细分控制子类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分结果7/13（去程六锥+back 6）与视频末段一致：回程第5锥球在右侧而骨盆在左侧，断点 back_5_passed、现象步态、根因控制均有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:10:42Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "10c51198dfcc1e8691ed4f636f886807c5a72b7edd5d085728b2c51aebfd180f",
+   "video_sha256": "f06607c64fff7b2a4015fa90c9ca58db5ac25deda85b9c52f23a0b0fb7f5cd7c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k.json

@@ -0,0 +1,394 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2308,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 4604,
+   "sim_steps": 4604,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 0.2308,
+   "stages_reached": 3,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 67.8,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 1.19,
+   "metric_planes_ball": 3.0,
+   "metric_planes_robot": 3.0,
+   "metric_touches": 11.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 75,
+   "agent_resets": 39,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.714,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k/replay.mp4",
+  "duration_s": 46.08,
+  "fps": 25.0,
+  "frames": 1152,
+  "sha256": "966023f828d5845677d46443f8e2aa61f7e09d0719b3ef2a17851bd095da180d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": 129,
+      "text_zh": "观察：视频13.6–15.8 s，足球先从第1锥黄色标记一侧（开局左侧，y>0）向前滚过，机器人骨盆随后从同侧越过，约视频15.4 s两者均通过。log step 103 的已保存运行原生阶段列表包含 out 1；log step 129 最终交付重放再次确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频12.8–14.0 s，机器人脚部接近并踢动白色足球，球随后从脚前向前滚出；候选：击打，现有怎么碰条目没有踢球/击打，不属于抓握。画面不能可靠区分每次使用的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频12.8–14.0 s及该节点行进过程中，机器人双脚交替接触草地支撑身体、步行随球前进。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.8,
+      "log_step": 129,
+      "text_zh": "观察：视频28.4–30.2 s，机器人在第2锥黄色标记一侧（开局右侧，y<0）踢球前进，球先通过、骨盆约视频29.8 s随后通过。log step 125 生成最终交付后报告 out 2，log step 129 的正式重放亦保留该阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频28.4–29.2 s，机器人脚部接近并踢动白色足球，球随后从脚前向前滚出；候选：击打，现有怎么碰条目没有踢球/击打，不属于抓握。画面不能可靠区分每次使用的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频28.4–29.2 s及该节点行进过程中，机器人双脚交替接触草地支撑身体、步行随球前进。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42.4,
+      "log_step": 129,
+      "text_zh": "观察：视频32.4–36.0 s足球经第3锥开局左侧（y>0）向前滚过，机器人停步调整后于视频42.32–42.48 s从同侧越过，联合通过约视频42.4 s。log step 125 与 log step 129 的最终交付结果均包含 out 3。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频32.4–33.2 s，机器人脚部接近并踢动白色足球，球随后从脚前向前滚出；候选：击打，现有怎么碰条目没有踢球/击打，不属于抓握。画面不能可靠区分每次使用的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频32.4–33.2 s及该节点行进过程中，机器人双脚交替接触草地支撑身体、步行随球前进。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频43.2–44.4 s机器人向前踢球，视频45.12–46.04 s球滚至第4锥横截面时仍在画面上侧、与黄色标记相反的一侧（开局左侧，y>0），机器人骨盆尚在该锥之前，未完成正确侧联合通过。log step 125 最终交付生成的原生裁判事件指定 out 4、越面y=+0.596；log step 129 正式重放判为 the ball passed a cone on the wrong side，仅有 out 1–3。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频43.2–44.4 s，机器人脚部接近并踢动白色足球，球随后从脚前向前滚出；候选：击打，现有怎么碰条目没有踢球/击打，不属于抓握。画面不能可靠区分每次使用的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频43.2–44.4 s及该节点行进过程中，机器人双脚交替接触草地支撑身体、步行随球前进。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球最远只到去程第4锥附近，未到达第5锥；视频46.04 s末帧仍如此。log step 129 正式重放已在去程第4锥越错侧后终止，阶段列表止于 out 3。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球最远只到去程第4锥附近，未到达第6锥；视频46.04 s末帧仍如此。log step 129 正式重放已在去程第4锥越错侧后终止，阶段列表止于 out 3。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第6锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第5锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第4锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第3锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第2锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0–46.04 s机器人和球一直处于去程，未绕第6锥折返，也未完成回程第1锥的规定方向越面；视频46.04 s末帧仍位于去程第4锥附近。log step 129 正式重放的阶段仅为 out 1、out 2、out 3。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.04,
+      "log_step": 129,
+      "text_zh": "观察：视频0 s机器人与球位于起点线后，随后沿去程前进；视频46.04 s末帧两者仍在去程第4锥附近，从未在完成十二次绕锥后返回起点���。log step 129 正式重放仅完成前三个去程阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": 1.19,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_4_passed",
+   "t": 46.0,
+   "log_step": 129,
+   "where": "操作中",
+   "evidence_zh": "观察：视频43.2–44.4 s机器人已在为通过去程第4锥踢球前进；视频45.12–46.04 s足球向该锥平面滚去，却一直留在黄色标记的相反侧，末帧机器人尚未跟过。log step 125 的交付生成事件将失败定位为 out 4、球越面y=+0.596，log step 128 恢复这份4604行轨迹，log step 129 正式重放确认越错侧结束且仅完成前三锥。"
+  },
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": true,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 46.0,
+    "log_step": 125,
+    "evidence_zh": "观察：视频44.4–46.04 s，机器人踢出的足球虽向第4锥前进，横向调整却未把球送到黄色标记所在的开局右侧（y<0）；球在错误的开局左侧越过该固定锥筒平面。log step 125 的裁判事件报告越面y=+0.596，log step 129 正式交付重放同样判球越错侧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 44.4,
+    "log_step": 100,
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付脚本的跨锥航点选择会让收球策略覆盖必需的换侧。log step 100 的 gate_target 在 |球y|>0.70 时优先返回 [球x+0.9, 同侧y=±0.25]，然后才检查下一锥是否应换侧；log step 103 同一已保存运行在球平面计数为3时打印球位置(8.22,+0.99)，对应第4锥应走y<0，这一分支却选出(9.12,+0.25)，连目标本身也在第4锥平面之后的错误侧。log step 123、128 核对生成器与该控制器一致，log step 125 重生成并由 log step 129 正式重放确认同一三阶段结果；视频44.4–46.04 s也显示足球沿错误侧向前滚越。该航点策略未保证先换侧再越面，解释了本次失败。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；视频为640×360的远景，脚球接触时存在短暂遮挡，不能逐次确定左右脚或毫秒级越面时刻。节点时刻按所查连续帧取约值；根因由交付控制器的航点规则、对应运行输出和视频行为结合推断，未进一步断言底层步态跟踪或接触力参数异常。"
+ },
+ "summary_zh": "本次交付完成去程第1、2、3锥，联合通过时刻约为视频15.4、29.8、42.4 s，最终进度3/13。视频约46.0 s足球在第4锥错误侧越面，正式交付重放确认因此终止；交付脚本优先选择同侧向前收球航点，推断其跨锥规划未确保先换侧再越面。无逐帧状态日志，远景限制左右脚身份与精确接触时刻的判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时刻与日志裁判事件（15.308/29.81/42.362 s，失败46.039 s，视频时钟与仿真时钟一致）吻合；断点out_4、位姿不准现象与规划根因有日志支持且标为推断，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": "2026-10-31T00:07:45Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e508809aa49321226efafe0b18f64df2a556ed63aa18f56158c27ac56f19b39",
+   "video_sha256": "966023f828d5845677d46443f8e2aa61f7e09d0719b3ef2a17851bd095da180d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq.json

@@ -0,0 +1,632 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 8937,
+   "sim_steps": 8937,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 13,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 54.72,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 1.399,
+   "metric_planes_ball": 12.0,
+   "metric_planes_robot": 12.0,
+   "metric_touches": 22.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 114,
+   "agent_resets": 16,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq/replay.mp4",
+  "duration_s": 89.4,
+  "fps": 25.0,
+  "frames": 2235,
+  "sha256": "20e753fbfba5aee8f41cc4d1b7856b9c438a4b2c989cd3349cf6a7e22e309d2d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 13,
+  "final": 13,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.3,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–7.75 s，白球先从第1锥黄色标记所在的远侧（开局左侧）滚过，机器人随后向右行进，骨盆约在视频 7.3 s 越过同一横截面。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.25–2.25 s，机器人迈步以脚接触原本静止的白球，球随后向前滚离脚边。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 1.25–2.25 s，机器人迈步以脚接触原本静止的白球，球随后向前滚离脚边。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.5–16.25 s，白球先从第2锥黄色标记所在的近侧（开局右侧）通过，机器人向近侧转向后跟随越面；骨盆约在视频 15.5 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.25–14.0 s，机器人追上白球并用脚短距离拨踢，调整到第2锥近侧。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 8.25–14.0 s，机器人追上白球并用脚短距离拨踢，调整到第2锥近侧。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": null,
+      "text_zh": "观察：视频 23.0–25.75 s，机器人和白球在第3锥黄色标记所在的远侧（开局左侧）；白球被踢出后先过横截面，骨盆约在视频 25.1 s 跟随通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 24.25,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–24.5 s，白球由机器人脚旁开始向右明显加速滚动，机器人继续跟随。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 24.0–24.5 s，白球由机器人脚旁开始向右明显加速滚动，机器人继续跟随。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.9,
+      "log_step": null,
+      "text_zh": "观察：视频 25.25–29.25 s，白球延续前一脚的滚动，从第4锥近侧（开局右侧、黄色标记一侧）越面；机器人沿同侧追球，骨盆约在视频 28.9 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.25–24.75 s，机器人脚部击出的白球继续向右滚动，视频 26.25–27.0 s 经过第4锥近侧；机器人随后才跟上。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 24.25–24.75 s，机器人脚部击出的白球继续向右滚动，视频 26.25–27.0 s 经过第4锥近侧；机器人随后才跟上。 现有接触方式没有踢球条目，不属抓握或持续推压。 推断：同一脚击球使足球连续经过两个锥面，本步的送球与前一步机器人追球部分重叠；不虚构追随途中另一次触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.2,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–39.75 s，白球与机器人转到第5锥远侧（开局左侧、黄色标记一侧），白球先过面，骨盆约在视频 39.2 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0–38.75 s，机器人脚部贴近白球后将其向右踢出，白球离脚滚动。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 38.0–38.75 s，机器人脚部贴近白球后将其向右踢出，白球离脚滚动。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5–43.0 s，白球延续滚动，从第6锥近侧（开局右侧、黄色标记一侧）先通过；机器人沿同侧追随，骨盆约在视频 42.5 s 通过，之后开始绕末锥。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.25–38.75 s，机器人脚部击球后，白球先经过第5锥并继续滚向第6锥；视频 40.5–41.25 s 可见球从第6锥近侧通过。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 38.25–38.75 s，机器人脚部击球后，白球先经过第5锥并继续滚向第6锥；视频 40.5–41.25 s 可见球从第6锥近侧通过。 现有接触方式没有踢球条目，不属抓握或持续推压。 推断：同一脚击球使足球连续经过两个锥面，本步的送球与前一步机器人追球部分重叠；不虚构追随途中另一次触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42.75–54.0 s，机器人带球绕到第6锥外端并转向返回；视频 54.0–56.75 s，白球先从第6锥远侧（开局左侧、黄色标记相反侧）向左通过，骨盆约在视频 56.0 s 跟随越面。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 43.0–54.0 s，机器人围绕末锥转向，脚部多次靠近白球；视频 53.75–54.75 s，脚旁白球被踢向左侧，开始回程。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 43.0–54.0 s，机器人围绕末锥转向，脚部多次靠近白球；视频 53.75–54.75 s，脚旁白球被踢向左侧，开始回程。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      63.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.2,
+      "log_step": null,
+      "text_zh": "观察：视频 61.0–64.0 s，机器人与白球沿第5锥近侧（开局右侧、黄色标记相反侧）向左返回；白球先过面，骨盆约在视频 63.2 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 61.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.25–62.0 s，机器人脚部赶上白球并将其向左踢出，球向第5锥近侧滚动。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 61.25–62.0 s，机器人脚部赶上白球并将其向左踢出，球向第5锥近侧滚动。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支���骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 66.4,
+      "log_step": null,
+      "text_zh": "观察：视频 63.5–67.0 s，白球继续向左滚动，从第4锥远侧（开局左侧、黄色标记相反侧）先过面；机器人追随，骨盆约在视频 66.4 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 61.75,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–62.0 s 的脚部击球后，白球连续滚过第5锥和第4锥；视频 64.0–65.0 s 可见球经过第4锥远侧，机器人尚在右侧追赶。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 61.5–62.0 s 的脚部击球后，白球连续滚过第5锥和第4锥；视频 64.0–65.0 s 可见球经过第4锥远侧，机器人尚在右侧追赶。 现有接触方式没有踢球条目，不属抓握或持续推压。 推断：同一脚击球使足球连续经过两个锥面，本步的送球与前一步机器人追球部分重叠；不虚构追随途中另一次触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      78.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 78.1,
+      "log_step": null,
+      "text_zh": "观察：视频 77.0–79.0 s，机器人将白球从第3锥近侧（开局右侧、黄色标记相反侧）向左送过，随后骨盆约在视频 78.1 s 越过同一横截面。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 77.5,
+      "log_step": null,
+      "text_zh": "观察：视频 77.0–77.75 s，机器人脚边原本缓慢移动的白球被向左踢出，随后与机器人拉开距离。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 77.0–77.75 s，机器人脚边原本缓慢移动的白球被向左踢出，随后与机器人拉开距离。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      83.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 83.1,
+      "log_step": null,
+      "text_zh": "观察：视频 81.0–84.0 s，机器人与白球在第2锥远侧（开局左侧、黄色标记相反侧）向左返回；白球先过面，骨盆约在视频 83.1 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 82.5,
+      "log_step": null,
+      "text_zh": "观察：视频 81.75–82.75 s，机器人脚部靠近白球后将球向左踢出，球滚离脚边。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 81.75–82.75 s，机器人脚部靠近白球后将球向左踢出，球滚离脚边。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机��人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      86.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 86.3,
+      "log_step": null,
+      "text_zh": "观察：视频 83.5–86.75 s，白球继续滚过第1锥近侧（开局右侧、黄色标记相反侧），机器人随后向左追上，骨盆约在视频 86.3 s 通过。 推断：以球与骨盆中后通过者作为该联合检查点的完成时刻，视觉估时误差约 0.5 s。"
+     },
+     {
+      "t": 82.5,
+      "log_step": null,
+      "text_zh": "观察：视频 82.25–82.75 s 的脚部击球后，白球连续滚过第2锥和第1锥；视频 84.25–85.0 s 可见球先经过第1锥近侧，机器人随后跟随。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的官方交付重放结果列出全部13个按序完成的 stages；inputs/run.json 的评分器字段 planes_ball=12、planes_robot=12（字段名带 metric_ 前缀）、stages_reached=13，支持本检查点最终为真。会话中其他测试的越面读数不用于本节点计时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 82.25–82.75 s 的脚部击球后，白球连续滚过第2锥和第1锥；视频 84.25–85.0 s 可见球先经过第1锥近侧，机器人随后跟随。 现有接触方式没有踢球条目，不属抓握或持续推压。 推断：同一脚击球使足球连续经过两个锥面，本步的送球与前一步机器人追球部分重叠；不虚构追随途中另一次触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      89.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 89.36,
+      "log_step": null,
+      "text_zh": "观察：视频 88.4–89.36 s，白球在起点白线附近并先返回线后，机器人继续向左跟进；末帧机器人仍直立，球和骨盆均已返回起点线后。 观察：log step 111 的官方交付重放结果 success=true、stages 含 finish；inputs/run.json 的评分器字段 stages_reached=13、replay_success=1。推断：视频末帧的返线结果成立，完成时间取末帧视频 89.36 s。"
+     },
+     {
+      "t": 87.0,
+      "log_step": null,
+      "text_zh": "观察：视频 86.5–87.25 s，机器人追上白球，用脚继续向起点方向踢控；随后白球先向左滚至起点线，机器人跟随。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打；视频 86.5–87.25 s，机器人追上白球，用脚继续向起点方向踢控；随后白球先向左滚至起点线，机器人跟随。 现有接触方式没有踢球条目，不属抓握或持续推压。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑骨盆沿本检查点的绕锥路线行进。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": 1.399,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：交付视频显示机器人以脚踢控白球，按交替侧完成六锥去程、绕末锥折返和六锥回程，最终于视频 89.36 s 的末帧带球返回起点线后，13/13 个事件节点最终成立；评分器记录 success=1、两者各过12个锥面、22次触球、最大球距1.399 m。观察：log step 111–112 表明最终交付文件通过两次官方重放且终态哈希一致，早先会话测试的失败不属于该交付视频。推断：没有失败断点；本次没有状态日志或独立参考视频，节点时刻按视频近似判读，微小球体、骨盆投影和瞬时接触不能由该远景精确到物理步。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分器 success=1、13/13 阶段，视频抽查与标注一致；各节点时刻合理，无失败断点，接触标注符合 S16。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:06:19Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f55244afd882ab80cc5b1a480f146161e851bb1ec062f1984cc4198d8bea2d2",
+   "video_sha256": "20e753fbfba5aee8f41cc4d1b7856b9c438a4b2c989cd3349cf6a7e22e309d2d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj.json

@@ -0,0 +1,356 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 800,
+   "sim_steps": 800,
+   "horizon": 9000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 6.77,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 1.904,
+   "metric_planes_ball": 0.0,
+   "metric_planes_robot": 0.0,
+   "metric_touches": 2.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 57,
+   "agent_resets": 160,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.746,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.24,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj/replay.mp4",
+  "duration_s": 8.04,
+  "fps": 25.0,
+  "frames": 201,
+  "sha256": "30dbd01a7658c627d736b6dec886ee68d37e8504bf07419945355a9a994be86f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频3.4–5.6 s，机器人在白色起点线附近向前迈步，脚碰动白球；视频5.9–8.0 s，球向画面下方滚开，机器人仍在起点线附近，两者均未到达第1锥横截面。评分器同时报告 metric_planes_ball=0、metric_planes_robot=0、stages_reached=0。"
+     },
+     {
+      "t": null,
+      "log_step": 50,
+      "text_zh": "观察：log step 50 的交付生成脚本只执行300步站立及500步 walk_agile 直走；log step 77 重新生成800行，log step 80 重放结果为 success=False、failed=None，log step 89 确认最终文件仍为800行。会话其他绕锥测试不属于本次评分视频。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人和白球始终停留或移动于第1锥之前，未接近去程第2锥，更未分别从规定侧越过其横截面；最后视频8.0 s仍如此。评分器的球与骨盆越面计数均为0。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人和白球始终停留或移动于第1锥之前，未接近去程第3锥，更未分别从规定侧越过其横截面；最后视频8.0 s仍如此。评分器的球与骨盆越面计数均为0。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人和白球始终停留或移动于第1锥之前，未接近去程第4锥，更未分别从规定侧越过其横截面；最后视频8.0 s仍如此。评分器的球与骨盆越面计数均为0。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人和白球始终停留或移动于第1锥之前，未接近去程第5锥，更未分别从规定侧越过其横截面；最后视频8.0 s仍如此。评分器的球与骨盆越面计数均为0。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人和白球始终停留或移动于第1锥之前，未接近去程第6锥，更未分别从规定侧越过其横截面；最后视频8.0 s仍如此。评分器的球与骨盆越面计数均为0。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第6锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第5锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第4锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第3锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第2锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–8.0 s，机器人仅在起点线附近向前走并碰动足球，没有到达远端折返，也没有沿回程经过第1锥；视频8.0 s两者仍在第1锥之前。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s机器人与足球起初在起点线后，随后仅短距离前进；视频8.0 s仍未绕过第1锥，没有完成十二次绕锥后的返回越线。开局在线后不是本节点要求的返回事件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.904
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_1_passed",
+   "t": null,
+   "log_step": 50,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 50 的交付生成脚本仅执行300步站立和500步 walk_agile [0.4,0,0] 直走，未接入运球控制器；log step 77 重生成800行，log step 80 重放 success=False、failed=None，log step 89 确认最终仍为800行。视频0.0–8.0 s机器人先站立，随后只在白色起点线附近直走；视频约5.9–8.0 s白球离脚向画面下方滚开，两者均未到达第1锥。推断：结合交付脚本，这些触球是直走占位动作中的偶然接触，未启动针对第1锥的运球绕锥；没有可定位的运球失败起始时刻。"
+  },
+  "unmet": {
+   "out_1_passed": false,
+   "out_2_passed": false,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 50,
+    "evidence_zh": "观察：log step 50 的交付脚本只有300步站立和500步直走，log step 77/80/89确认该800行文件被重新生成、重放并保留，log step 92也自述最终交付为站立加直走占位。视频0.0–8.0 s机器人仅在起点线附近站立、迈步，视频约5.9–8.0 s球离脚滚开，始终未到第1锥。推断：直走时的偶然触球不构成针对第1锥的运球尝试；评分交付从未启动绕锥运球。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：仅依据会话测试，运球控制未能稳定推进完整绕锥路线，是交付仍保留占位轨迹的技术背景。log step 51 的测试输出显示球在仿真5.228 s从第1锥错误侧越面（y=-0.803 m），无阶段完成；log step 88、90 的测试虽然完成前两锥，但在仿真44–88 s或52–88 s，球位置仅由约(5.89,0.02)变为(5.90,0.07) m，控制模式在push、escape、kick间切换，最终仅2/13阶段完成。log step 50 的脚本说明未接入未能完成全程的控制器，log step 92自述因此保留占位文件。此根因来自会话测试输出及交付说��，不是评分轨迹中运球控制失败的观察，也不是由“没尝试”或零进度反推；现有证据不足以区分控制子类。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志，640×360场馆远景不足以分辨每次触球的左右脚及毫秒级接触时刻；两次触球总数由评分器字段补充。评分轨迹仅8.04 s，交付脚本是站立加直走占位，偶然触球不表示启动了第1锥运球，因此不把这些接触归为该节点的操作。会话测试中的触锥、越错侧、球旁停滞及已通过两锥均不属于评分轨迹的进度或现象；保留的控制根因仅为会话测试输出与交付说明支持的推断，具体控制子类无法确定。"
+ },
+ "summary_zh": "评分轨迹是800步的站立后直走占位动作，虽偶然触球，但直到视频8.0 s球与骨盆均未到达第1锥，最终完成0/13节点。断点为去程过1锥／首步前，现象为没尝试；控制根因仅由会话测试中的错误侧越面与前两锥后的推进停滞推断，相关测试未交付。无状态日志，具体触球脚及控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点全部未达、时钟无问题；但交付的是「站立300步+walk_agile直走500步」的占位基线，从未尝试运球绕锥（log step 34、50、80、92）。断点 where 应为首步前、现象应为没尝试，现标的操作中/步态把直走占位当成一次瞄准的行走失败。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "13 个节点全未达与视频一致（8.0 s 前机器人和球都在第1锥之前，评分器越面计数为0）；断点 out_1_passed／首步前、现象没尝试、根因控制（仅会话证据推断，已标明）均有依据，第1轮问题已正确处理。",
+    "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": "2026-10-31T00:22:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d380c401622757a965443efd093f2b0a136eeea0c69a62b8dc2b290cd42ee745",
+   "video_sha256": "30dbd01a7658c627d736b6dec886ee68d37e8504bf07419945355a9a994be86f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544.json

@@ -0,0 +1,545 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6923,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 9000,
+   "sim_steps": 9000,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 0.6923,
+   "stages_reached": 9,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 52.46,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 1.924,
+   "metric_planes_ball": 9.0,
+   "metric_planes_robot": 9.0,
+   "metric_touches": 32.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1467,
+   "agent_resets": 4,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 31.542,
+   "peak_processes": 28,
+   "peak_disk_gb": 1.054,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544/replay.mp4",
+  "duration_s": 90.04,
+  "fps": 25.0,
+  "frames": 2251,
+  "sha256": "ba00e4c582ff2eecc08f74c8c9922151ff270a610f0837c8008cfe42791014dc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 9,
+  "final": 9,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–9.4 s，白球先到第1锥前方，机器人随后从黄色标记侧（开局左侧，y>0）越过第1锥平面。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 5.2–6.4 s，机器人脚部踢动白球，球向第1锥滚出，机器人随后追球。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.6–9.4 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.3,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–15.6 s，机器人在第2锥黄色标记侧（开局右侧，y<0）接近并踢球；白球先越面，骨盆随后越面。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 14.4–15.2 s，机器人脚部触球后白球明显向前滚离脚边。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 14.0–15.6 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频 19.0–21.0 s，白球与机器人从第3锥黄色标记侧（开局左侧，y>0）先后向前通过，随后一起进入第3、4锥之间。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 19.0–20.6 s，机器人在第3锥旁以脚部短促碰踢白球，使球从脚前向前移动。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 19.0–21.0 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：视频 25.0–26.6 s，机器人与白球从第4锥黄色标记侧（开局右侧，y<0）向前通过，白球随后滚向第5锥。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 25.6–26.4 s，机器人脚部踢碰白球，球随即从脚边滚向第5锥。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.0–26.6 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.8,
+      "log_step": null,
+      "text_zh": "观察：视频 31.6–33.4 s，机器人和白球经第5锥黄色标记侧（开局左侧，y>0）向前通过，随后球向第6锥方向滚出。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 32.4–33.4 s，白球紧贴机器人脚前，随后经脚部碰踢向前滚出。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 31.6–33.4 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      38.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.4,
+      "log_step": null,
+      "text_zh": "观察：视频 37.0–38.8 s，白球已沿第6锥黄色标记侧（开局右侧，y<0）向前滚出，机器人跟随越过第6锥，开始绕行折返。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 37.0–37.8 s，机器人在第6锥附近脚部触球，白球明显滚向场地远端。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 37.0–38.8 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 64.6,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0–64.0 s，机器人在第6锥远端绕球转向，白球曾向返程方向滚动后又被踢回远端；视频 63.0–65.0 s，球与骨盆最终在第6锥黄色标记的相反侧（开局左侧，y>0）沿返程方向越面。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 43.2–44.4 s、52.0–53.2 s 及 59.6–61.2 s，机器人脚部先后碰踢白球，追球并调整折返方向。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 40.0–64.0 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      75.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.6,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–76.4 s，白球先行，机器人随后在第5锥黄色标记的相反侧（开局右侧，y<0）向起点方向越过该锥平面。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 74.0–74.8 s，机器人脚部踢球后白球朝返程第5锥方向滚出。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 74.0–76.4 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      81.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 81.5,
+      "log_step": null,
+      "text_zh": "观察：视频 80.0–82.0 s，白球先越过第4锥，骨盆随后在黄色标记的相反侧（开局左侧，y>0）沿返程方向通过，球与机器人接着向第3锥移动。越面时刻按前后帧目测，约有 0.5 s 误差。"
+     },
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终重新生成的交付文件进行官方重放，stages 明确包含本节点对应阶段；评分器记录 stages_reached=9、planes_ball=9、planes_robot=9，与视频顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 77.2–78.8 s，机器人脚部踢动白球，球向第4锥返程侧滚出，机器人在后方追赶。候选：击打；此处为脚踢球，现有接触方式没有对应的击打条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 80.0–82.0 s，机器人双脚交替接触草地，支撑身体沿该段路线行走。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 82.0–84.8 s，机器人追上第3锥远端的白球；视频 85.0–90.0 s，机器人在第3锥附近以小步调整并带球向画面下侧移动，尚未把白球与骨盆都带到开局右侧（y<0）沿返程方向越面的位置；结尾仍在第3锥附近。"
+     },
+     {
+      "t": 90.0,
+      "log_step": 237,
+      "text_zh": "观察：视频 89.0–90.0 s，机器人仍站立，球在脚前，第3锥尚未完成返程；log step 237 的交付文件官方重放在 time_s=90.0 时报告 failed=\"time\"，stages 止于 back 4，球和机器人均只通过9个锥平面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "推/扫",
+      "note_zh": "观察：视频 85.0–89.8 s，机器人脚部贴近并拨动白球，白球在脚前随小步缓慢向画面下侧移动；这段未见此前那样明显踢远后追球的动作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 82.0–90.0 s，机器人双脚交替接触草地，追球、转向并在第3锥旁继续迈小步。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 237,
+      "text_zh": "观察：视频 82.0–90.0 s，机器人与白球始终还在第3锥附近，未继续返回第2锥；log step 237 的最终交付重放阶段止于 back 4，没有本节点。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 237,
+      "text_zh": "观察：视频 82.0–90.0 s，机器人与白球始终还在第3锥附近，未继续返回第1锥；log step 237 的最终交付重放阶段止于 back 4，没有本节点。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 237,
+      "text_zh": "观察：视频 89.0–90.0 s，机器人和白球仍在第3锥附近，明显未返回左端白色起点线；log step 237 的最终交付重放没有 finish 阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": 1.924,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "back_3_passed",
+   "t": 85.0,
+   "log_step": 237,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 81.4–82.0 s，机器人已随球完成回程第4锥；视频 84.0–90.0 s，机器人在第3锥附近追上球并小步带球、调整侧向位置，未完成第3锥的规定返程越面，直到录像结束。log step 237 的最终交付重放阶段止于 back 4，终止原因是回合时间达到90秒；没有更早未修复的节点失效。"
+  },
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": true,
+   "out_4_passed": true,
+   "out_5_passed": true,
+   "out_6_passed": true,
+   "back_6_passed": true,
+   "back_5_passed": true,
+   "back_4_passed": true,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 85.0,
+    "log_step": 237,
+    "evidence_zh": "观察：视频 84.0–90.0 s，机器人保持站立，在第3锥附近缓慢调整并带球，球和骨盆未继续完成返程越面；视频 89.0–90.0 s 仍无跌倒。推断：该段行进和带球的推进速度不足，属于步态未满足路线推进要求；log step 237 报告的90秒回合终止是结果，不另作为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 82.0–85.0 s，机器人先追到球旁，再在视频 85.0–90.0 s 以临球小步调整侧向位置，出球和跟随未形成连续、足够快的返程推进；与日志中先到球后方、再前冲踢球的控制结构一致（log step 124、131、188；log step 204 将该结构写入交付生成脚本，log step 205、237 重放均仅完成9个阶段）。因此将运球推进效率不足归于控制；未获得足以细分到某个增益、轨迹求解或反馈环的证据。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，白球较小且部分帧被脚遮挡，越面时刻依前后视频帧估计，约有0.5秒误差；具体左右脚及瞬时接触力无法确定，控制根因不细分。agent 在 log step 240 自述单次折返标志已把折返缩短至约11.6秒，但视频 38.4–64.6 s 仍呈现约26.2秒的折返，且 log step 237 最终交付重放仍为9/13；该改善来自会话中的其他试验，不计入本次进度。"
+ },
+ "summary_zh": "评分轨迹完成去程六锥和回程第6、5、4锥，共9/13个节点；视频约81.5 s达到最后一个已完成节点。随后机器人在第3锥附近追球、调整并缓慢带球，视频90.0 s结束时尚未完成该锥返程，断点为回程过3锥，现象为步态推进过慢，根因归于运球控制效率不足。无逐帧状态和控制模式日志，越面时间约有0.5秒误差，具体控制子类不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "9/13 节点与评分器 stages_reached=9 一致，断点 back_3_passed、步态（D25(c) 过慢）与控制根因符合规则，推断已标注；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": "2026-10-31T00:04:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d6182ae9634e3e67b0566765deac7192aac1fac46c95f88803837a741b8fe834",
+   "video_sha256": "ba00e4c582ff2eecc08f74c8c9922151ff270a610f0837c8008cfe42791014dc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx.json

@@ -0,0 +1,574 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 8889,
+   "sim_steps": 8889,
+   "horizon": 9000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 13,
+   "stages_total": 13,
+   "fell": 0,
+   "replay_s": 61.92,
+   "bad_trajectory": 0,
+   "metric_max_ball_distance_m": 0.674,
+   "metric_planes_ball": 12.0,
+   "metric_planes_robot": 12.0,
+   "metric_touches": 37.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.152,
+   "peak_processes": 17,
+   "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/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx/replay.mp4",
+  "duration_s": 88.92,
+  "fps": 25.0,
+  "frames": 2223,
+  "sha256": "85f97c433bbf2a87b9943c705b47e5e79fbb0d1ad3ca01a02e4329629f0ecad2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 13,
+  "final": 13,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–8.0 s，机器人用脚带动白球，二者从第1锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第1锥平面的联合完成时刻约为视频 7.2 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 4.80–8.00 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.80–8.00 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 11.2–14.4 s，机器人用脚带动白球，二者从第2锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第2锥平面的联合完成时刻约为视频 12.8 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 11.20–14.40 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 11.20–14.40 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 16.4–19.6 s，机器人用脚带动白球，二者从第3锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第3锥平面的联合完成时刻约为视频 18.4 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 16.40–19.60 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 16.40–19.60 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.6,
+      "log_step": null,
+      "text_zh": "观察：视频 23.2–26.0 s，机器人用脚带动白球，二者从第4锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 25.6,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第4锥平面的联合完成时刻约为视频 25.6 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 23.20–26.00 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.20–26.00 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 29.6–32.8 s，机器人用脚带动白球，二者从第5锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第5锥平面的联合完成时刻约为视频 32.0 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 29.60–32.80 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 29.60–32.80 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.6,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–39.2 s，机器人用脚带动白球，二者从第6锥的黄色短标记所在侧去程沿 +x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 37.6,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第6锥平面的联合完成时刻约为视频 37.6 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 36.00–39.20 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯���",
+      "how": "支撑",
+      "note_zh": "观察：视频 36.00–39.20 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      48.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频 46.4–49.6 s，机器人用脚带动白球，二者从第6锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第6锥平面的联合完成时刻约为视频 48.4 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 46.40–49.60 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 46.40–49.60 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.4–57.6 s，机器人用脚带动白球，二者从第5锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第5锥平面的联合完成时刻约为视频 56.0 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 54.40–57.60 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 54.40–57.60 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 64.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.0–65.2 s，机器人用脚带动白球，二者从第4锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 64.0,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第4锥平面的联合完成时刻约为视频 64.0 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 62.00–65.20 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 62.00–65.20 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      70.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 70.4,
+      "log_step": null,
+      "text_zh": "观察：视频 69.2–72.4 s，机器人用脚带动白球，二者从第3锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 70.4,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第3锥平面的联合完成时刻约为视频 70.4 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 69.20–72.40 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 69.20–72.40 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      78.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 78.8,
+      "log_step": null,
+      "text_zh": "观察：视频 77.2–80.4 s，机器人用脚带动白球，二者从第2锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 78.8,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局左侧（y > 0）越过第2锥平面的联合完成时刻约为视频 78.8 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 77.20–80.40 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 77.20–80.40 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 85.2,
+      "log_step": null,
+      "text_zh": "观察：视频 83.2–86.0 s，机器人用脚带动白球，二者从第1锥的黄色短标记相反侧回程沿 -x通过；球先前进，机器人随后跟上，锥筒保持直立。"
+     },
+     {
+      "t": 85.2,
+      "log_step": null,
+      "text_zh": "推断：结合连续帧中球的位置、骨盆相对地面的投影及锥位，球心和骨盆均从开局右侧（y < 0）越过第1锥平面的联合完成时刻约为视频 85.2 s；小球和脚局部重叠，时刻误差约半秒。评分器 reward 的 stages_reached=13、metric_planes_ball=12、metric_planes_robot=12 支持本检查点最终已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 83.20–86.00 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 83.20–86.00 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      88.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 88.88,
+      "log_step": null,
+      "text_zh": "观察：视频 87.84–88.88 s，白球先沿返回方向越过白色起点线，机器人继续跟随；视频 88.88 s 末帧中白球整体位于线后，机器人保持站立且已返回线后。"
+     },
+     {
+      "t": 88.88,
+      "log_step": null,
+      "text_zh": "推断：结合视频 88.80–88.88 s 的骨盆位置与评分器 reward 的 success=1、stages_reached=13，将带球返回起点记为约视频 88.88 s 完成；录像不能分辨球心 x < 0.89 m、骨盆 x < 1.0 m 的毫秒级边界。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 87.84–88.88 s，机器人脚端接近并踢拨白色足球，白球随脚的动作向前滚动；候选：击打，现有怎么碰条目没有踢球。画面不足以可靠区分每次触球的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 87.84–88.88 s，机器人双脚交替落在草地上支撑身体，随白球行走并调整朝向。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": 0.674,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成去程六锥、末端折返、回程六锥和带球返回起点，最终为13/13；视频 88.88 s 末帧及评分器 success=1、stages_reached=13 相互支持。机器人以脚踢拨白球并交替落脚支撑，评分器报告最大球心—骨盆水平距离为0.674 m。没有逐帧状态日志，小球偶被脚遮挡，各锥联合越面时刻为连续画面估计、误差约半秒，毫秒级越面和接触边界依赖评分器最终结果。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "13个节点时间与视频一致（机器人/球在各时刻位于对应锥附近，末帧回到起点线），评分器 13/13 支持；成功运行无失败断点，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:05:47Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0204115b09345f541ac9e7b9a1ddb0793090b4f24b2360786db4817df082b419",
+   "video_sha256": "85f97c433bbf2a87b9943c705b47e5e79fbb0d1ad3ca01a02e4329629f0ecad2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa.json

@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 641,
+   "sim_steps": 21345,
+   "calls": 463,
+   "rows": 10554,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1472.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.184,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.255,
+   "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/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa/replay.mp4",
+  "duration_s": 6.44,
+  "fps": 25.0,
+  "frames": 161,
+  "sha256": "7d4513060a8a923a0f4b36025ef2f70eafc0262d266dfd651f18340df6a0823c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，足球基本停在白色起点线后原处，机器人在球后踏步，随后向后退离；足球与骨盆均未到达第1橙锥的横截面。log step 38 的机器人服务终局返回 stages_reached=0、stages_total=13。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.4–6.4 s，机器人双脚在草地上交替落地支撑踏步及后退；足球留在起点线后，未见可确认的踢球击打，故不追加击打接触。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球全程位于第1锥之前，未沿去程越过第2锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球全程位于第1锥之前，未沿去程越过第3锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球全程位于第1锥之前，未沿去程越过第4锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球全程位于第1锥之前，未沿去程越过第5锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球全程位于第1锥之前，未沿去程越过第6锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第6锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第5锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第4锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第3锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第2锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，机器人和足球始终在起点附近，未到达远端第6锥，也没有沿回程越过第1锥；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–6.4 s，足球一直在起点线后附近，机器人逐渐退离；没有去程、绕末锥折返或回程过程。推断：开局已在线后不构成完成十二次绕锥后的返线，故此事件未达成；log step 38 的服务终局阶段数为0/13。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_1_passed",
+   "t": 0.52,
+   "log_step": 38,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.5 s 起，机器人在足球后踏步而球未推进，之后仍未建立有效运球接触；视频约 4.0 s 后持续后退，至视频 6.4 s 球仍留在起点线后，未到第1锥。log step 35 最后一次 reset 启动 episode 6，log step 36 启动 FINAL 控制器，log step 38 的该回合服务结果为 failed，outcome 为“the ball got away from the robot”，阶段0/13。推断：首次未修复的失败发生在去程过1锥的运球尝试，视频 0.52 s 为早期未推进的粗略导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 0.52,
+    "log_step": 38,
+    "evidence_zh": "观察：视频 0.0–6.4 s，足球一直留在起点线后原处，机器人从球边踏步但未将球踢动，视频约 4.0 s 后持续后退远离；视频 0.52 s 已可见脚边的球未随踏步推进，末段视频 5.4–6.4 s 逐帧检查亦未见击球。log step 38 的 FINAL 遥测中球估计坐标始终约为 (0.387, 0.112)。推断：未建立运球所需的有效脚球接触；不以此断言不存在无明显位移的短暂轻触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "log_step": 35,
+    "evidence_zh": "推断：前进控制未能推进或触球，随后停滞反馈触发后退助跑，回合结束前未完成击球恢复。log step 38 的 FINAL 遥测在控制器仿真 1.0–3.0 s 记录 vx 指令约 +0.37 至 +0.61，但机器人估计 x 从 0.147 降至 0.034，估计 dball 从 0.265 增至 0.516，球估计坐标不变，stall 从 0.5 累积至 2.5；log step 35 的脚本在 stall>1.6 时置 kick=1 并随后命令 vx=-0.45 后退，沿球方向距离 along>0.95 才置 kick=2。log steps 36–38 显示控制器仿真 6.0 s 才记 kick=2，该条仍为后退指令，下一条控制器仿真 6.5 s 为 ALIGN，未记录 strike hard 的 vx=0.8。观察：视频约 0.5 s 起踏步未推进球，视频约 4.0–6.4 s 后退而球静止，与该失败过程相符。上述仿真秒来自控制器 est.t 的累计时间（log steps 15、33），不是视频钟，也未将其换算为视频时间；坐标与球距为控制器视觉估计，不作原生状态读数。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或原生接触记录，场馆远景不能排除开局脚边无明显球位移的短暂轻触；“没建立接触”指未建立推进球所需的有效接触，实际接触仅记录可确认的双足支撑，无法报告最大球距的精确数值。log steps 42、45 中 agent 自述“以0.8 m/s击球把球踢远”，但视频 5.4–6.4 s 逐帧显示足球基本不动、机器人后退；该自述不作为评分轨迹事实。服务终局明确报告球距失控，但控制器视觉估计的 dball 不是原生距离，不据此替代阈值读数；本次节点时间与断点���接取自视频，控制器仿真秒只用于说明控制过程，不与视频钟换算。",
+  "unmet": {
+   "out_1_passed": false,
+   "out_2_passed": false,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  }
+ },
+ "summary_zh": "评分回合在起点附近踏步而未推进足球，随后后退，最终13个节点均未达成，断点为去程第1锥。视频约 0.5 s 起未建立运球所需的有效接触；FINAL 日志支持前进未奏效后触发停滞恢复后退助跑、回合结束前未完成击球，根因为反馈控制失败，服务以球脱离控制判负。无原生状态与接触日志，开局是否有短暂轻触及最大球距精确值无法确认；控制器仿真时间未换算为视频时间。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "13个节点均未达成、最终0分与断点 out_1_passed 正确。但现象「步态」不成立：视频与日志显示机器人按指令正常后退，足球自始至终未被触碰、一动未动，应为「没建立接触」；根因证据也应写明失败自约 0.5 s 起（前进指令下骨盆未靠近球、stall 累积），而非只从 4.0 s 后退算起。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "13个节点均未达成、断点 out_1_passed、现象「没建立接触」、根因「反馈控制」及时钟处理均与视频和日志一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:23:17Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "65df2af995faf25730969be63b7f07182d1d327d4b725f1fd2de9d36939cad32",
+   "video_sha256": "7d4513060a8a923a0f4b36025ef2f70eafc0262d266dfd651f18340df6a0823c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1128,
+   "sim_steps": 120992,
+   "calls": 2588,
+   "rows": 120992,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3500.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.41,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.601,
+   "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/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg/replay.mp4",
+  "duration_s": 11.32,
+  "fps": 25.0,
+  "frames": 283,
+  "sha256": "8954000ce9c1d7b32fae11a917b5c01e77913934767110c53d9f2ebeb3116b67"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10.8 s，机器人在起点附近调整后用脚踢动白球，逐步追至第1锥附近；视频 10.0–10.8 s 白球从黄色标记所在侧越过第1锥，机器人仍在其后。"
+     },
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 10.96–11.28 s 机器人在首锥附近失衡，骨盆明显下坠，未见站稳完成过锥；log step 182 的本回合服务裁判结果为 failed、fell、stages_reached=0、stages_total=13。推断：球单独通过不满足球与骨盆联合检查点，去程第1锥未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 3.6–5.4 s、8.4–9.6 s，机器人脚部靠近并踢动白色足球，球离脚向前滚动；候选：击打。现有怎么碰条目没有踢球或击打，故用其他；画面不支持可靠区分每次接触的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–10.8 s，机器人双脚在草地上交替支撑、调整站位并追随足球；视频 10.96–11.28 s 失去稳定支撑、骨盆塌低。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人和白球仅前进到第1锥附近，未接近或通过第2锥；视频末段机器人在第1锥处失衡下坠。log step 182 的本回合裁判结果为 fell、0/13，未完成去程第2锥。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人和白球仅前进到第1锥附近，未接近或通过第3锥；视频末段机器人在第1锥处失衡下坠。log step 182 的本回合裁判结果为 fell、0/13，未完成去程第3锥。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人和白球仅前进到第1锥附近，未接近或通过第4锥；视频末段机器人在第1锥处失衡下坠。log step 182 的本回合裁判结果为 fell、0/13，未完成去程第4锥。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人和白球仅前进到第1锥附近，未接近或通过第5锥；视频末段机器人在第1锥处失衡下坠。log step 182 的本回合裁判结果为 fell、0/13，未完成去程第5锥。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人和白球仅前进到第1锥附近，未接近或通过��6锥；视频末段机器人在第1锥处失衡下坠。log step 182 的本回合裁判结果为 fell、0/13，未完成去程第6锥。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第6锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第5锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第4锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第3锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第2锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人只在起点至第1锥间前进，末段在第1锥附近失衡；没有绕到第6锥后折返，未出现回程通过第1锥的动作。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.28,
+      "log_step": 182,
+      "text_zh": "观察：视频 0–11.28 s，机器人把球从起点附近带向第1锥，末段失衡下坠，没有完成往返绕锥或带球沿返回方向越回白色起点线；开局在线后不算返回。log step 182 的本回合裁判结果为 fell、0/13。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_1_passed",
+   "t": 11.0,
+   "log_step": 182,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 10.0–10.8 s 白球先从第1锥黄色标记侧通过，机器人追在球后；视频 10.96–11.28 s 机器人双腿支撑失稳、骨盆迅速塌低。log step 182 的本回合服务裁判返回 failed、fell、0/13，首个球与骨盆联合过锥步骤尚未完成即结束。"
+  },
+  "unmet": {
+   "out_1_passed": false,
+   "out_2_passed": false,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 11.0,
+    "log_step": 182,
+    "evidence_zh": "观察：视频 10.96–11.28 s，机器人在第1锥旁追球时腿部散开、身体下坠，骨盆降至接近地面，未恢复直立；log step 182 的服务裁判明确返回 fell，阶段为0/13。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 11.0,
+    "log_step": 172,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 172 中 agent 的控制脚本把有球测量时的前进推球速度项改为0.65；log step 182 运行该版本继续最后一个实时回合，服务裁判返回 fell。视频 10.0–11.28 s 显示机器人追随已踢出的球前进，随后支撑失稳、骨盆塌低。推断：该运球控制未能在追球过程中维持全身稳定，��为控制；现有证据不足以将跌倒单独归因于某个速度参数或具体反馈环节。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法复核跌倒的关节、接触力及真实速度；log step 183、191 关于追球速度和加速致跌倒的说法是 agent 自述，未作为已验证的参数因果结论。inputs/run.json 的评分器字段未报告 max_ball_distance_m，故原生指标留 null。log step 183–185 的减速及稳定性限幅修改未在新回合执行成功，log step 186–187 明确显示服务拒绝继续提交，不能用修改后的脚本代替本次评分轨迹。"
+ },
+ "summary_zh": "评分回合中机器人用脚踢动足球并追至第1锥，球先从规定侧通过，但机器人在完成首个联合过锥检查点前失衡下坠，最终0/13节点完成（视频 10.0–11.28 s；log step 182 裁判 fell、0/13）。断点为去程过1锥的操作中，现象为全身平衡失败，根因保留在控制层；此前会话测试及之后未执行成功的稳定性修改均不计入进度。没有逐帧状态日志，无法进一步验证具体失稳机制，评分器也未报告最大球距指标。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频和 log 一致：视频 10.5 s 球过第1锥面（log step 182 plane 1 crossed），机器人在视频约 11.0–11.28 s 失衡，裁判 fell、0/13；out_1 未完成、断点 out_1_passed 操作中、全身·平衡、控制根因均有证据且表述克制。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:14:25Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "504e22676665585e581d26bca36b6fe0adf6e86b07148730f27edc679723155e",
+   "video_sha256": "8954000ce9c1d7b32fae11a917b5c01e77913934767110c53d9f2ebeb3116b67",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf.json

@@ -0,0 +1,344 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1608,
+   "sim_steps": 62477,
+   "calls": 2424,
+   "rows": 62477,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 2757.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.395,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.158,
+   "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/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf/replay.mp4",
+  "duration_s": 16.12,
+  "fps": 25.0,
+  "frames": 403,
+  "sha256": "16bfad2cac7b20c924bcdc3e7a32da9179c81c559dfa07e07e44658b0b558c5e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 182,
+      "text_zh": "观察：视频 2.0–3.5 s，机器人脚部触碰并拨动白球，白球从开局脚前位置滚向白色起点线；球仍远在第1锥之前。"
+     },
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 5.0–15.9 s，白球留在起点线附近；机器人先向第1锥行走、转圈返回，再次走向第1锥，球始终未越过第1锥平面。log step 188 的服务读数确认最终为 episode 51、stages 0、outcome 为 the ball got away from the robot。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频约 2.0–3.5 s，机器人脚/小腿触碰白色足球，使球向起点线附近移动；候选：击打，现有接触方式没有踢球条目。球与腿有短暂遮挡，不能可靠区分左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.5–15.9 s，机器人双脚交替接触草地，支撑前行、转身及再次接近白球的运动。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，机器人仅在起点线至第1锥附近活动，白球最终停在起点线附近，没有到达第2锥，更没有球心与骨盆共同完成该锥去程越面；log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，机器人仅在起点线至第1锥附近活动，白球最终停在起点线附近，没有到达第3锥，更没有球心与骨盆共同完成该锥去程越面；log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，机器人仅在起点线至第1锥附近活动，白球最终停在起点线附近，没有到达第4锥，更没有球心与骨盆共同完成该锥去程越面；log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，机器人仅在起点线至第1锥附近活动，白球最终停在起点线附近，没有到达第5锥，更没有球心与骨盆共同完成该锥去程越面；log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，机器人仅在起点线至第1锥附近活动，白球最终停在起点线附近，没有到达第6锥，更没有球心与骨盆共同完成该锥去程越面；log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第6锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第5锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第4锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第3锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第2锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 0.0–15.9 s，白球没有越过去程第1锥，机器人未带球到达第6锥折返；没有第1锥的回程越面。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": 188,
+      "text_zh": "观察：视频 15.9 s，白球在起点线附近，机器人在第1锥附近；整段视频没有六锥去程、折返和六锥回程。推断：返线节点要求的十二个前置检查点均未完成，因此开局或中途接近起点线不构成完成返线。log step 188 的最终服务读数为 stages 0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_1_passed",
+   "t": 5.5,
+   "log_step": 186,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.0–7.5 s，白球留在起点线附近，机器人从球侧面继续向第1锥走去，未将球带过首锥；视频约 10.5–12.5 s 机器人回到球旁，但随后再次走开，直到视频 15.9 s 仍未完成首锥。log step 186、188 的最后回合服务结果均为 the ball got away from the robot、0/13。推断：第一步运球未被修复，球距超限只是该步的终止事件。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.5,
+    "log_step": 186,
+    "evidence_zh": "观察：视频 5.0–8.5 s，机器人双脚行走路线从静止白球的侧面经过并向前远离，白球仍在起点线附近；视频 11.0–13.0 s 机器人绕回球旁后也没有把脚对到球后继续向首锥拨球，视频 13.5–15.9 s 再次与白球拉开距离。log step 188 的原生服务结果为球脱离控制，机器人未跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 186,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 156 所写、log step 178 恢复的控制律主要依据球和骨盆在参考曲线上的投影计算 walk 速度与朝向，只在球距较大时改为追球；log step 186 在最终实时回合运行该脚本，持续输出前向 walk 指令。结合视频 5.0–8.5 s 和 11.0–15.9 s 两次从球旁走开的行为，该控制器没有把机体行走与脚对球的续踢接触协调起来，因而球留在起点线附近而机器人继续前进；证据支持控球控制失败，但不足以细分为接触设计或轨迹跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触对，视频中的球很小且触球时局部被腿遮挡，不能精确确认每次触球的左右脚及接触力。评分记录只报告球脱离控制，没有给出 max_ball_distance_m 的原生数值，故该指标留 null；不能仅凭画面精确确定2米阈值的触发帧。",
+  "unmet": {
+   "out_1_passed": false,
+   "out_2_passed": false,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  }
+ },
+ "summary_zh": "最终受评的是第51回合，视频中机器人碰踢白球后让球停在起点线附近，始终未带球通过首锥，13个节点均未完成；此前会话中达到的1/13属于其他回合。去程过1锥在操作中失败：机器人反复从球旁走开，未协调行走与续踢接触，最终服务判球脱离控制。没有逐帧状态日志，具体触球侧、接触力及历史最大球距无法精确确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "13个节点均未达成、breakpoint 在 out_1_passed（操作中）与视频和服务读数（stages 0、球脱离控制）一致；接触标签与时间可由帧核实。根因「控制」有 log 和视频支撑，未发现必须修改的错误。",
+    "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": "2026-10-31T00:19:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "819faaa79200ade78379a3edb858496f8eea1274bbc246dc7c65b52bc8bcdcee",
+   "video_sha256": "16bfad2cac7b20c924bcdc3e7a32da9179c81c559dfa07e07e44658b0b558c5e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt.json

@@ -0,0 +1,394 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 5135,
+   "sim_steps": 129810,
+   "calls": 6458,
+   "rows": 6394,
+   "resets": 29,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 7193.1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.242,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.699,
+   "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/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt/replay.mp4",
+  "duration_s": 51.36,
+  "fps": 25.0,
+  "frames": 1284,
+  "sha256": "65f5993bf086ca11568070a1cef4fcd9d26df21f808c688ef51b4cf910c36d44"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.3,
+      "log_step": null,
+      "text_zh": "观察：视频 9.2–11.6 s，白球先从第1锥黄色标记所在侧（开局左侧）越过，机器人骨盆随后越过同一横截面；视频 11.6–12.0 s 两者均已在该锥前方。球和骨盆越面先后不同，联合完成时刻取视频约 11.3 s，误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 4.0–11.6 s，机器人足部数次踢碰白球，使球向第1锥左侧滚动；候选：击打，现有方式条目没有踢球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走和绕球侧移。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.4–17.2 s，白球绕到第2锥黄色标记所在侧（开局右侧）并先越面；机器人沿球路跟进，视频 18.4–19.2 s 骨盆越过该锥横截面，两者都在规定侧。联合完成时刻取视频约 18.8 s，误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 12.4–19.2 s，机器人足部踢碰白球并跟随球从第2锥右侧通过；候选：击打，现有方式条目没有踢球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走和绕球侧移。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.7,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–29.6 s，机器人跟随白球从第2锥右侧绕向第3锥左侧；视频 30.0 s 白球已从第3锥黄色标记侧越面，视频 30.4–31.2 s 骨盆也沿 +x 越过该锥横截面。联合完成时刻取视频约 30.7 s，误差约半秒；这是历史事件，之后回撤不取消已完成节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 22.0–30.8 s，机器人足部重新碰球，带球向第3锥左侧行进；候选：击打，现有方式条目没有踢球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走和绕球侧移。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.2–34.8 s，机器人和白球在第3、第4锥之间转向，机器人绕球调整方向；视频 35.2–38.4 s 又随球回撤至第3锥附近，未到第4锥横截面。"
+     },
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 38.4–51.32 s，白球基本停在第3锥旁、机器人脚边，机器人保持站立且几乎没有向第4锥推进；最后一秒及末帧中，两者仍未越过第4锥。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 31.2–38.4 s，机器人足部碰球，球在第三、第四锥之间改变方向并回到第三锥旁；候选：击打，现有方式条目没有踢球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走和绕球侧移。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：整段视频 0–51.32 s 中，机器人和白球最远只到第3、第4锥之间，未到达第5锥，更未从规定侧越过该锥横截面；末帧两者在第3锥旁。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：整段视频 0–51.32 s 中，机器人和白球最远只到第3、第4锥之间，未到达第6锥，更未从规定侧越过该锥横截面；末帧两者在第3锥旁。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第6锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第5锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第4锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第3锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第2锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s 未见机器人或白球到达第6锥并绕到其另一侧折返，末帧两者仍在第3锥旁。推断：第6锥折返及有序回程尚未开始，回程过第1锥的前置条件和联合越面事件均未完成。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.32,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.32 s，机器人与白球离开起点后未完成六锥往返，也未带球越回左端白色起点线；末帧两者在第3锥旁。开局在线后不构成完成往返后的返线事件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_4_passed",
+   "t": 38.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 30.7 s 球和骨盆已完成去程第3锥，随后机器人在第三、第四锥之间绕球转向，却在视频 35.2–38.4 s 随球回撤；视频 38.4–51.32 s 基本停在第3锥旁，第4锥的联合越面始终未发生。推断：��次未修复的步骤是去程过4锥，断点锚定回撤后开始持续停滞的位置。"
+  },
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": true,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 38.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 31.2–38.4 s，机器人站立绕球、侧移后又回撤，视频 38.4–51.32 s 身体和脚边白球几乎不再前进，始终没有走到第4锥；未见机器人跌倒。推断：此处行进与运球推进停滞，步态未产生完成下一绕锥段所需的位移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 159 中，agent 为最后一次重置回合选用视觉反馈侧脚运球程序，并加入机器人与锥筒之间的距离修正；log step 160 是该程序前段的控制输出。视频 31.2–38.4 s 可见机器人持续调整与球的相对位置，却回到第3锥旁，视频 38.4–51.32 s 无有效推进。推断：将绕球调整、足部触球与行进衔接成持续向第4锥推进的控制未奏效；证据只支持控制大类，不能确定具体子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志；场馆远景中的足球和骨盆较小，三个联合越面时刻存在约半秒不确定性。log step 159 的最后一次重置与 log step 160 的 final_attempt 输出对应本次视频；log step 71 的8/13阶段是先前回合，不能计入本次进度。最后回合的后半段没有逐步命令、原生阶段数及裁判终止原因，无法确认末段停滞是否涉及细微触锥、位置误估或具体控制机制，因此不标碰撞或感知根因。评分器未报告 max_ball_distance_m，原生指标值留空。"
+ },
+ "summary_zh": "观察：本次评分视频中，机器人与白球约在视频 11.3 s、18.8 s、30.7 s 完成去程前3锥，最终为3/13；log step 71 的8/13属于先前试验，不计入本次。观察：机器人随后在第三、第四锥之间调整并回撤，视频 38.4–51.32 s 停滞在第3锥旁；推断：断点为去程过4锥，现象为步态推进不足，根因仅支持控制大类。观察：没有逐帧状态日志及最后回合尾段裁判明细，无法确认更细的接触或控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽帧核对：球与骨盆越过第1/2/3锥的时刻（约11.3/18.8/30.7 s）及正确侧均成立，第4锥未越过，38–51 s 停滞在第3锥旁，断点 out_4_passed 与控制根因（仅大类）有证据支持。log step 156/158 的 stages_reached=2 属先前回合，标注已排除；step 160 尾部与视频 21.6 s 位置一致。",
+    "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": "2026-10-31T00:17:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cc31724eb22cb3a1a6741a9e254820799a556287a314331d7f84348088230144",
+   "video_sha256": "65f5993bf086ca11568070a1cef4fcd9d26df21f808c688ef51b4cf910c36d44",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4.json

@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1700,
+   "sim_steps": 63202,
+   "calls": 606,
+   "rows": 13412,
+   "resets": 29,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 7473.1,
+   "video_rendered": 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/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4/replay.mp4",
+  "duration_s": 17.04,
+  "fps": 25.0,
+  "frames": 426,
+  "sha256": "1d43da6ff83702c937c1ce388e2667785bb4256610cc5fd351aae464cc39116f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 599,
+      "text_zh": "观察：视频 0.0–6.0 s，机器人双脚行走并用脚触碰白色足球，球越过白色起点线、向第1锥靠近；该段仍在进行第1锥运球。log step 599 记录最后一次 reset 为 episode 30，随后执行 walk_falcon；此前回合不计入本段进度。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–9.0 s，机器人从球的画面上方走过，球逐渐停在第1锥靠起点的一侧；未出现球心和骨盆均从黄色标记侧越过第1锥的画面。"
+     },
+     {
+      "t": 17.0,
+      "log_step": 601,
+      "text_zh": "观察：视频 9.0–17.0 s，机器人有后退和侧移，但白球仍留在第1锥前；视频 16.0–17.0 s 逐帧检查未见再次踢动球，故第1个联合检查点未完成。log step 601 是末次两段后退侧移动作，未返回可读终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：击打。视频 0.0–6.5 s 可见机器人脚部接近并踢动白色足球，使球向第1锥滚动；无法可靠区分每次由左脚还是右脚触球。现有怎么碰取值没有踢球或击打。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 0.0–17.0 s，机器人双脚交替接触草地，支撑其前进、后退和侧移以尝试通过第1锥。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人和白球只在起点线至第1锥附近活动，白球最终仍在第1锥前，未到达第2锥，更未完成第2锥规定侧的联合越面。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人和白球只在起点线至第1锥附近活动，白球最终仍在第1锥前，未到达第3锥，更未完成第3锥规定侧的联合越面。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人和白球只在起点线至第1锥附近活动，白球最终仍在第1锥前，未到达第4锥，更未完成第4锥规定侧的联合越面。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人和白球只在起点线至第1锥附近活动，白球最终仍在第1锥前，未到达第5锥，更未完成第5锥规定侧的联合越面。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人和白球只在起点线至第1��附近活动，白球最终仍在第1锥前，未到达第6锥，更未完成第6锥规定侧的联合越面。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第6锥的联合越面。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第5锥的联合越面。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第4锥的联合越面。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第3锥的联合越面。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第2锥的联合越面。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.0 s，机器人未带球完成去程，也未到第6锥折返；球停在第1锥前，未发生回程第1锥的联合越面。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 球与机器人位于起点线后；视频 17.0 s 白球已在起点线前方、第1锥之前，且全程没有完成去程或回程绕锥。开局在线后不构成完成十二次绕锥后的返线，本节点未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_1_passed",
+   "t": 7.5,
+   "log_step": 599,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.0–8.5 s，机器人继续向前及侧向迈步，脚部从白球旁走过，白球停在第1锥前；随后视频 9.0–17.0 s 的后退和侧移未将球重新带走。第1锥运球已经开始，但该联合检查点一直未完成。"
+  },
+  "unmet": {
+   "out_1_passed": false,
+   "out_2_passed": false,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.5,
+    "log_step": 599,
+    "evidence_zh": "观察：视频 7.0–9.0 s，机器人的落脚位置逐渐偏到白球的画面上方，球留在脚后侧并停止前进；视频 9.0–17.0 s，机器人在球旁前后移动，未重新将脚落到能够推进球的位置，球始终未越过第1锥。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 599 中，agent 脚本用预设的前进、左前进、后退、左前进四段速度驱动 walk_falcon，段间只打印时间与状态，没有依据球位置调整动作；log step 601 又执行固定的后退右移动作。结合视频 7.0–17.0 s 机器人脚步绕过白球而未恢复有效推进，可归因于足部与球相对运动的控制未实现持续运球；缺乏足端轨迹、接触力及控制误差信息，不能进一步区分控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法精确核对每次脚球接触、骨盆越面位置及最大球距；run.json 的 reward 未报告 max_ball_distance_m。末次调用 log step 601 没有可读结果，因而不指定原生裁判的具体终止条目；这些缺口不影响白球未过第1锥及后续节点未达的视觉判断。"
+ },
+ "summary_zh": "本次评分对应 log step 599 最后一次重置后的实时回合，视频 0.0–17.0 s 中机器人已用脚推进足球至第1锥前，但没有完成任何联合绕锥检查点，最终为0/13。断点为去程过1锥：视频约 7.5 s 起机器人从球旁走过，随后未恢复有效触球推进，现象为位姿不准，根因归为控制。没有状态日志或末次调用的可读终态，无法确认精确接触时刻、最大球距及具体裁判终止条目。",
+ "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 0–17 s 与 log step 599/601 的指令总长（3+6+2+4 s + 2 s）吻合，球停在第1锥前，0/13，断点 out_1_passed 与现象/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": "2026-10-31T00:14:47Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "55dba98eca224685cea5f89cd3354c2336571fd2e7940709dc36477706733e9c",
+   "video_sha256": "1d43da6ff83702c937c1ce388e2667785bb4256610cc5fd351aae464cc39116f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr.json

@@ -0,0 +1,510 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 6576,
+   "sim_steps": 53956,
+   "calls": 2098,
+   "rows": 26981,
+   "resets": 13,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 6688.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.257,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.27,
+   "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/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr/replay.mp4",
+  "duration_s": 65.8,
+  "fps": 25.0,
+  "frames": 1645,
+  "sha256": "5ac463a35586ba78dd3e053b0c1420ac9a6b7cd84aa95124471b3bbd52c9d23f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–16.8 s，机器人在第1锥前用脚连续拨踢白球；视频 17.2–18.4 s，球已在锥面前方，机器人骨盆随后从黄色标记侧越过。"
+     },
+     {
+      "t": 17.2,
+      "log_step": 177,
+      "text_zh": "推断：结合连续帧中球与骨盆相对第1锥的位置，去程第1锥已在左侧（y>0）通过；联合完成时刻取视频约 17.2 s，受远景分辨率及骨盆投影影响约有 0.5–1 s 不确定性。log step 177 最终实时回合的服务结果 stages_reached=5，与录像所见前五锥完成相符；未将脚已过面当成骨盆已过面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：去程第1锥的运球段，机器人脚部反复触碰白色足球，使球短距离向前或侧向滚动。候选：击打（踢球）；现有方式条目未包含脚踢，不指定画面无法稳定区分的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：去程第1锥的运球段，机器人双脚交替接触草地承重并带动骨盆行进。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.2,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–33.2 s，机器人将白球带向第2锥黄色标记侧；视频 33.4–34.6 s，白球先过面，机器人骨盆随后向前越面。"
+     },
+     {
+      "t": 34.2,
+      "log_step": 177,
+      "text_zh": "推断：结合连续帧中球与骨盆相对第2锥的位置，去程第2锥已在右侧（y<0）通过；联合完成时刻取视频约 34.2 s，受远景分辨率及骨盆投影影响约有 0.5–1 s 不确定性。log step 177 最终实时回合的服务结果 stages_reached=5，与录像所见前五锥完成相符；未将脚已过面当成骨盆已过面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：去程第2锥的运球段，机器人脚部反复触碰白色足球，使球短距离向前或侧向滚动。候选：击打（踢球）；现有方式条目未包含脚踢，不指定画面无法稳定区分的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：去程第2锥的运球段，机器人双脚交替接触草地承重并带动骨盆行进。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.2,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–44.4 s，机器人在第3锥黄色标记侧控球前进；视频 44.4–45.6 s，白球先越过第3锥横截面，骨盆随后越过。"
+     },
+     {
+      "t": 45.2,
+      "log_step": 177,
+      "text_zh": "推断：结合连续帧中球与骨盆相对第3锥的位置，去程第3锥已在左侧（y>0）通过；联合完成时刻取视频约 45.2 s，��远景分辨率及骨盆投影影响约有 0.5–1 s 不确定性。log step 177 最终实时回合的服务结果 stages_reached=5，与录像所见前五锥完成相符；未将脚已过面当成骨盆已过面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：去程第3锥的运球段，机器人脚部反复触碰白色足球，使球短距离向前或侧向滚动。候选：击打（踢球）；现有方式条目未包含脚踢，不指定画面无法稳定区分的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：去程第3锥的运球段，机器人双脚交替接触草地承重并带动骨盆行进。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.0,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–51.4 s，白球在第4锥黄色标记侧向前滚动，机器人跟进；视频 51.6–52.4 s，机器人骨盆跟随白球越面。"
+     },
+     {
+      "t": 52.0,
+      "log_step": 177,
+      "text_zh": "推断：结合连续帧中球与骨盆相对第4锥的位置，去程第4锥已在右侧（y<0）通过；联合完成时刻取视频约 52.0 s，受远景分辨率及骨盆投影影响约有 0.5–1 s 不确定性。log step 177 最终实时回合的服务结果 stages_reached=5，与录像所见前五锥完成相符；未将脚已过面当成骨盆已过面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：去程第4锥的运球段，机器人脚部反复触碰白色足球，使球短距离向前或侧向滚动。候选：击打（踢球）；现有方式条目未包含脚踢，不指定画面无法稳定区分的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：去程第4锥的运球段，机器人双脚交替接触草地承重并带动骨盆行进。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      63.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": null,
+      "text_zh": "观察：视频 60.0–64.4 s 连续帧中，白球先于机器人通过第5锥；视频约 60.8–61.2 s 白球越面，视频 61.6–62.4 s 机器人骨盆仍在锥前，视频约 63 s 骨盆随后从黄色标记侧越面。"
+     },
+     {
+      "t": 63.0,
+      "log_step": 177,
+      "text_zh": "推断：结合连续帧中球与骨盆相对第5锥的位置，去程第5锥已在左侧（y>0）通过；按两者均已越面的判据，联合完成时刻取视频约 63.0 s，受远景分辨率及骨盆投影影响约有 ±0.5–1 s 不确定性。log step 177 最终实时回合的服务结果 stg=5，与录像所见前五锥完成相符；未将球或脚先过面当成骨盆已过面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：去程第5锥的运球段，机器人脚部反复触碰白色足球，使球短距离向前或侧向滚动。候选：击打（踢球）；现有方式条目未包含脚踢，不指定画面无法稳定区分的左右脚。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：去程第5锥的运球段，机器人双脚交替接触草地承重并带动骨盆行进。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 61.6–65.76 s，机器人和白球沿锥列远离镜头的一侧向前移动；白球始终未被带回第6锥黄色标记所在侧，末帧白球仍在相反侧且已向前越过该锥横截面。log step 177 为 log step 174 启动的最后一次实时回合的输出，末行服务结果为 done=True、out=the ball passed a cone on the wrong side、stg=5；其仿真结束时刻 65.76 s 与录像末帧的场面一致。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：第6锥要求去程从 y<0 侧越面，而白球从 y>0 侧越面，故去程过6锥未完成；视频 65.76 s 机器人骨盆也尚未越过第6锥。该判断依据可见球路及原生裁判结果，不依据总分为零。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 60.8–65.2 s 的第6锥尝试中，机器人调整站位时脚部继续碰动白球，球随脚步向远离镜头的一侧滚动。候选：击打（脚部踢碰）；现有方式条目未包含踢球，非抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 60.8–65.76 s，机器人用双脚交替支撑并��随白球行进至第6锥前，保持站立。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第6锥的动作，回程过6锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第5锥的动作，回程过5锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第4锥的动作，回程过4锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第3锥的动作，回程过3锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第2锥的动作，回程过2锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.0–65.76 s 的机器人和白球只进行了去程，在第6锥前后错误侧结束，未绕到第6锥外侧折返；末帧仍在场地右端，log step 177 的最后回合服务结果 stages_reached=5。"
+     },
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "推断：录像未出现机器人骨盆与白球沿 -x 从规定侧回越第1锥的动作，回程过1锥未尝试且未达到；前置去程过6锥也未完成。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.76,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 机器人和白球位于左端起点线后；之后仅向右端推进，视频 65.76 s 结束时仍在第6锥附近，未携球折返或返回左端白线。"
+     },
+     {
+      "t": 65.76,
+      "log_step": 177,
+      "text_zh": "推断：没有完成十二次绕锥后的返回越线事件，故带球返回起点未达到；初始在线后不算返回。log step 177 的最终回合服务结果仅有五个阶段完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_6_passed",
+   "t": 65.5,
+   "log_step": 177,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 60.8–65.76 s，机器人正控球准备通过第6锥，球与机器人却继续向 y>0 侧偏移；视频 65.4–65.76 s 白球从该锥远离黄色标记的一侧向前越面，机器人尚在锥面前。log step 177 的最后实时回合由服务裁判以“the ball passed a cone on the wrong side”结束，stages_reached=5；前五锥已完成，第6锥未修复。"
+  },
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": true,
+   "out_4_passed": true,
+   "out_5_passed": true,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 65.5,
+    "log_step": 177,
+    "evidence_zh": "观察：视频 61.6–65.76 s，机器人使白球持续沿第6锥的 y>0 侧滚动，未将球转移至要求的 y<0 侧；最后一秒白球继续向前越面。log step 177 的服务裁判同时报告球从错误侧通过，说明偏差在球的通过位置和球路；机器人直到末帧保持站立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 169 的控制脚本阶段表明确把去程第6锥设为 (13.0,1,-1)，并用脚球对齐、踢球和机器人避锥反馈控制；log step 174 启动该版本，log step 177 最终输出仍处于 ALIGN、sb=5、sr=5，服务却已判球从错误侧通过。视频 60.8–65.76 s 可见机器人调整站位时继续碰动白球，将球带向错误侧并跟随前进。推断：脚球对齐与移动控制未能实现已设定的正确侧目标，也未在越面前纠正偏移，支持控制层面失败；现有证据不能进一步确定具体控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本次无状态日志；场馆远景中足球与脚部较小且偶有遮挡，各联合过锥时刻约有 0.5–1 s 误差，无法恢复毫秒级脚球接触或精确骨盆高度。控制脚本日志的部分中间输出已被截短；缺少接触力、足端轨迹及可靠逐帧真值，不能区分接触几何设计与反馈跟踪误差，因此根因仅标“控制”。评分器字段未报告 max_ball_distance_m，指标保留 null；其他重置回合属于会话测试，不计入本次进度。"
+ },
+ "summary_zh": "本次评分录像对应最后一次实时回合：机器人以脚部运球并交替绕过前五锥，最终完成 5/13 个节点，未开始回程。视频约 65.5 s，白球在第6锥错误侧向前越面，原生裁判以错误侧通过判负；脚球对齐及移动控制未能把球带到已设定的正确侧。无状态日志且远景分辨率有限，过锥时刻约有 0.5–1 s 不确定性，控制失败的具体子类无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "前五锥、第6锥断点与根因大体成立，但 out_5_passed 的完成时刻写为视频 60.8 s 与帧不符：球约 60.8–61.2 s 过面，骨盆（联合完成的后者）约 63 s 才过面。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前五锥完成时刻（含上一轮修正的第5锥约63 s）、第6锥断点、位姿不准现象与控制根因均与视频及 log step 177 的坐标和服务裁判结果相符，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": "2026-10-31T00:22:44Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57e4e0af8c256878277a453a1ea321aa5c0e2de61289e1a298bed084be48af41",
+   "video_sha256": "5ac463a35586ba78dd3e053b0c1420ac9a6b7cd84aa95124471b3bbd52c9d23f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--zinaspq.json

@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dribble-slalom-i00-standard--zinaspq",
+ "taskKey": "embodied-olympics-fun/dribble_slalom",
+ "dag_sha256": "f4cfa2a0be22cf22f3ad536a52e6a1b08a34617ec27db20275bd0d73953e16cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 5930,
+   "sim_steps": 132424,
+   "calls": 8853,
+   "rows": 66222,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 5970.5,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.664,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dribble-slalom-i00-standard--zinaspq/replay.mp4",
+  "duration_s": 59.32,
+  "fps": 25.0,
+  "frames": 1483,
+  "sha256": "3dc8cd4a0e23424683820df1e8d083c0a2d9506865cbafe646acd9083653ad10"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 13,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "out_1_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.25,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.5 s，白球先从第1锥的黄色短标记一侧（开局左侧）向前越过，机器人骨盆随后在同侧越过；视频约 10.2 s 两者均已通过。越面时间由连续画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–3.0 s，机器人脚部接近白球后白球向前滚离；视频 9.0–9.5 s 再次在脚边改变位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 2.5–3.0 s、9.0–9.5 s，机器人用脚踢动白球，球向第1锥前方移动；候选：击打。脚踢足球属于瞬时击打，现有接触方式没有专门的踢球条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走、转向和控球调整。"
+     }
+    ]
+   },
+   "out_2_passed": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42.25,
+      "log_step": null,
+      "text_zh": "观察：视频 35.0–42.5 s，机器人将球从第1、2锥之间带到第2锥黄色短标记一侧（开局右侧）；球先通过第2锥横截面，骨盆随后通过，视频约 42.3 s 两者均在规定侧越过。越面时间由连续画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–39.5 s，机器人脚部多次贴近白球，白球随步进向第2锥右侧滚动；双脚交替承重。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 36.0–41.5 s，机器人以脚部踢控白球，逐步送过第2锥右侧；候选：击打。脚踢足球属于瞬时击打，现有接触方式没有专门的踢球条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走、转向和控球调整。"
+     }
+    ]
+   },
+   "out_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.25,
+      "log_step": null,
+      "text_zh": "观察：视频 44.0–50.5 s，机器人和球进入第2、3锥之间，机器人在球旁转向、调整站位；视频 51.0–53.0 s 脚边的球转而向画面左方滚回第2锥附近，未沿去程送过第3锥。"
+     },
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–59.28 s，机器人走回第2锥旁，球随后被脚部和锥筒附近区域遮住；机器人骨盆始终没有沿去程越过第3锥，第三个联合检查点未完成。"
+     },
+     {
+      "t": null,
+      "log_step": 668,
+      "text_zh": "观察：log step 665 启动第51回合控制器；log step 668 的机器人服务状态为 episode=51、control_steps=5930、done=True、reason=failed，评分器字段 graded_by_live=1、n_actions=5930，确认这是最终评分回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 50.5–51.5 s，机器人脚部碰动白球，白球从其脚边反向滚回第2锥附近；候选：击打。脚踢足球属于瞬时击打，现有接触方式没有专门的踢球条目。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双脚交替接触草地，支撑行走、转向和控球调整。"
+     }
+    ]
+   },
+   "out_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与白球的活动范围止于第2、3锥之间，最后回到第2锥旁，均未沿去程越过第4锥；去程第4锥检查点未完成。"
+     }
+    ]
+   },
+   "out_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与白球的活动范围止于第2、3锥之间，最后回到第2锥旁，均未沿去程越过第5锥；去程第5锥检查点未完成。"
+     }
+    ]
+   },
+   "out_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与白球的活动范围止于第2、3锥之间，最后回到第2锥旁，均未沿去程越过第6锥；去程第6锥检查点未完成。"
+     }
+    ]
+   },
+   "back_6_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第6锥检查点未发生。"
+     }
+    ]
+   },
+   "back_5_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第5锥检查点未发生。"
+     }
+    ]
+   },
+   "back_4_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第4锥检查点未发生。"
+     }
+    ]
+   },
+   "back_3_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第3锥检查点未发生。"
+     }
+    ]
+   },
+   "back_2_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第2锥检查点未发生。"
+     }
+    ]
+   },
+   "back_1_passed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人与球没有到达远端第6锥并绕其折返，也没有进入完成去程后的回程绕锥序列；回程第1锥检查点未发生。"
+     }
+    ]
+   },
+   "finish_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.28,
+      "log_step": null,
+      "text_zh": "观察：视频 0–59.28 s，机器人和球只完成前两锥去程，未完成十二次绕锥，也未在完成绕锥后返回左端白色起点线后；末帧机器人仍在第2锥旁。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_ball_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "out_3_passed",
+   "t": 51.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 42.5 s 后机器人已离开第2锥，正在第3锥前调整运球方向；视频 51.0–53.0 s，白球从机器人脚边反向滚回第2锥，机器人随后回追，至视频 59.28 s 结束仍未完成第3锥。log step 668 的服务状态确认最终第51回合已经失败；该状态未给出具体犯规名称。"
+  },
+  "unmet": {
+   "out_1_passed": true,
+   "out_2_passed": true,
+   "out_3_passed": false,
+   "out_4_passed": false,
+   "out_5_passed": false,
+   "out_6_passed": false,
+   "back_6_passed": false,
+   "back_5_passed": false,
+   "back_4_passed": false,
+   "back_3_passed": false,
+   "back_2_passed": false,
+   "back_1_passed": false,
+   "finish_crossed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 51.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 50.5–51.5 s，机器人在第2、3锥之间调整脚步时，白球从脚边向画面左方滚出；视频 52.0–54.5 s 球回到第2锥附近，而第3锥位于画面右方。球没有沿本步所需的去程方向绕向第3锥。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 659 的控制器目标仍按下一锥规定侧设置，log step 661 使用行走、转向和横移来调整触球站位；最终该脚本由 log step 665 启动。视频 44.0–50.5 s 机器人在球旁调整，视频 51.0–53.0 s 却把球碰向与去程相反的方向，之后回追也未完成第3锥，支持运球过程的脚步与触球控制失败。没有逐步命令、估计误差或接触力记录，不能进一步区分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，越面时间按画面估计，不能复核毫秒级接触。最终回合的服务状态（log step 668）只有 failed，未提供具体终止犯规；视频 58.4–59.28 s 球、脚与第2锥附近相互遮挡，无法确认最后由哪一对物体接触触发终止。inputs/run.json 的 reward 未报告 max_ball_distance_m，故该原生指标为 null；也缺少最终回合逐步感知及控制输出，根因仅判断到控制层。"
+ },
+ "summary_zh": "最终评分为第51回合：机器人和白球在视频约 10.2 s、42.3 s 依次完成去程第1、2锥，共完成2/13节点。尝试第3锥时，视频约 51.2 s 的脚部触球将白球反向送回第2锥附近，回追后仍未完成第3锥，支持运球控制失败。末尾球与脚、锥附近区域遮挡，且服务仅报告 failed，不能确定具体终止犯规。",
+ "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 out_1（约10.2 s）、out_2（约42.3 s）与 out_3 未达成均与视频一致；断点 out_3_passed、位姿不准现象、控制根因（停在控制层并标为推断）有帧和日志支持。视频末段球在第2锥旁、机器人贴近第2锥，具体终止规则确实无法确定，文件已如实写明。",
+    "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": "2026-10-31T00:18:20Z",
+  "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/embodied-olympics-fun-dribble-slalom-i00-standard--zinaspq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dribble-slalom-i00-standard--zinaspq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8c0e322ded6ec513d0edefe17794bb7f45c61826034919e862f405c8b6dd95f",
+   "video_sha256": "3dc8cd4a0e23424683820df1e8d083c0a2d9506865cbafe646acd9083653ad10",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 6000,
+   "sim_steps": 6000,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 0.5,
+   "stages_reached": 2,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 69.53,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.001,
+   "metric_max_backward_deg": 15.7,
+   "metric_max_forward_deg": 26.8,
+   "metric_travel_deg": 41.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 108,
+   "agent_resets": 956,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.213,
+   "peak_processes": 24,
+   "peak_disk_gb": 0.273,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua/replay.mp4",
+  "duration_s": 60.04,
+  "fps": 25.0,
+  "frames": 1501,
+  "sha256": "43e8ae550336602f6857ecd223d475308d9520a9ea0a1059cde5d05b85bd7aca"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.24–0.84 s 机器人从棕色块上屈膝、伸腿起跳；视频 0.88–1.20 s 双脚与块面出现间隙，双手留在银色横杠上，身体悬挂并开始屈髋摆动。抓杠时刻约为视频 0.9 s，手部细节受分辨率限制。"
+     },
+     {
+      "t": null,
+      "log_step": 185,
+      "text_zh": "观察：log step 185 对最终交付轨迹的两次独立重放均返回 stages=[jumped, caught the bar]，执行 6000 行且评分字段一致；log step 188 恢复了该已验证文件。该阶段结果与视频离块后悬挂的画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手同时合拢握住固定横杠并承重；起跳前双脚先蹬棕色块，随后离块，未将先后发生的脚部支撑列为同时接触。双手合格抓杠由视频悬挂画面及最终重放的 caught the bar 阶段共同确认。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–8.0 s 的连续抽帧中，机器人双手挂杠，反复屈髋提腿、再伸腿回落，躯干和髋部始终在横杠下；视频 0–58 s 每隔约 2 s 检查亦未见身体绕至杠上方。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 185,
+      "text_zh": "观察：视频 59.04–60.00 s 密集抽帧直到最后一帧，机器人仍在杠下往返摆动，没有过顶或完成整圈。最终评分器 metric_travel_deg=41.3、metric_max_forward_deg=26.8、metric_max_backward_deg=15.7，log step 185 的最终文件重放同样只有 jumped 和 caught the bar 两阶段；成功参考视频约 8–9 s、13–14 s 可见的大幅过顶运动在本次视频中未出现。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右手持续闭合握住横杠，共同承载身体，双腿和躯干在空中屈伸蓄摆；视频未见脱手，最终评分器记录最大单手离杠间隔 0.001 s。手指、掌部逐帧接触分布无法直接分辨。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 41.3
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.001
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 26.8
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 15.7
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 4.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.9 s 已跃起抓杠；视频 2.0–8.0 s 机器人反复屈伸蓄摆，视频 4.4 s 提腿后仍只在杠下往返。该表现持续至视频 60.00 s，未修复为过顶或整圈；最终评分器有效行程仅 41.3°。断点以视频 4.4 s 的一次无效扩摆为导航锚点。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "其他",
+    "t": 4.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.0–8.0 s 机器人双手仍挂杠，双腿周期性提起和放下，髋部、躯干没有随之摆到杠上方；视频 10–58 s 的抽帧及视频 59.04–60.00 s 的密集末段画面重复这一模式。",
+    "note_zh": "候选现象：悬垂摆幅不足。机器人未失去支撑，故不属平衡；此处为挂杠全身摆动，并非步态定义中的行走、跑步或跳跃，使用全身·其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 4.4,
+    "log_step": 177,
+    "evidence_zh": "推断：agent 脚本以屈髋、甩腿和滑行循环驱动蓄摆（log step 93、166 的控制代码及 log step 177 的最终参数），log step 178 生成该 6000 行轨迹，log step 185 重放确认有效行程停在 41.3°。结合视频 2.0–8.0 s、59.04–60.00 s 的反复屈伸与杠下小幅往返，控制器未能把肢体运动转化为足够的整体绕杠摆动；仅能定位到控制能力，不能据此锁定某个参数或反馈环节。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志。远景视频可判断离块、悬挂和未过顶，但无法逐指核对接触、分辨 0.05 s 容差或测量质心至双腕距离；抓杠合格性由最终重放阶段佐证。缺少本次轨迹的关节跟踪、力矩及摆动能量时序，无法进一步区分相位切换、力矩不足或跟踪误差；会话其他试验的脱手、踢杠不作为本次现象。"
+ },
+ "summary_zh": "机器人约在视频 0.9 s 跃起后双手抓杠，完成 1/2 个 DAG 节点。此后持续在杠下屈伸蓄摆，直至视频 60.00 s 仍未过顶或完成大回环，最终有效行程为 41.3°；证据支持控制未能扩大整体摆幅。无状态日志，具体控制环节及逐指接触细节无法进一步核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "bar_caught 约 0.9 s 达成、giant_circle_completed 未达成与视频及评分器字段（stages 2/4，travel 41.3°）一致；断点、接触与根因表述有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:08:29Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2a343f5175127826b89c0ee365372346025e538711bb296c42781c531349529f",
+   "video_sha256": "43e8ae550336602f6857ecd223d475308d9520a9ea0a1059cde5d05b85bd7aca",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 5999,
+   "sim_steps": 5999,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.5,
+   "stages_reached": 2,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 69.21,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.003,
+   "metric_max_backward_deg": 92.4,
+   "metric_max_forward_deg": 111.4,
+   "metric_travel_deg": 195.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 79,
+   "agent_resets": 1295,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.694,
+   "peak_processes": 30,
+   "peak_disk_gb": 0.986,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 25.0,
+  "frames": 1500,
+  "sha256": "261028aa38f8eba9d6ce896e6efc305281cae355b6784ce1109bed2aa5a5aab7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.48 s，机器人在棕色起跳块上屈腿后蹬伸；视频 0.56–0.72 s，双脚已离块，两手停在银色横杠处，身体随后悬在杠下。首次抓杠记为视频约 0.6 s，画面时间精度约 0.1 s。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 238,
+      "text_zh": "观察：视频 1.0 s 机器人双手挂杠、双脚悬空；log step 238 对已交付轨迹的重放结果记录 jumped、caught the bar 两个原生裁判阶段，且与本次评分器 stages_reached=2 一致。该读数支持双手均形成合格抓杠，手指接触细节无法从远景逐一分辨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.6 s 起，左、右灵巧手同时抓住银色固定横杠并悬挂身体；log step 238 的原生裁判阶段确认双手合格抓杠。此前双脚在棕色起跳块上支撑、蹬伸，离块后才建立双手抓杠。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.4,
+      "log_step": null,
+      "text_zh": "观察：全片视频 0.0–59.0 s 每秒抽帧以及视频 28.0–31.8 s 每 0.2 s 画面中，机器人双手挂杠并反复屈伸髋腿，摆到两侧后折返；视频 29.4 s 身体向一侧近水平伸出，视频 29.8–30.0 s 又回到杠下并摆向另一侧，没有连续越顶绕回。"
+     },
+     {
+      "t": 59.96,
+      "log_step": 238,
+      "text_zh": "观察：视频 58.96–59.96 s 逐帧仍显示机器人挂杠往复摆动，未完成大回环；评分器 metric_travel_deg=195.6、metric_max_forward_deg=111.4、metric_max_backward_deg=92.4，原生阶段仅到 caught the bar。log step 238 的交付轨迹重放同样没有 over the top 或 full circle，success=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 28.0–31.8 s 和视频 58.96–59.96 s，机器人左、右手同时环挂横杠，双臂承载身体，髋腿在空中往复摆动；评分器最大单手脱杠间隔为 0.003 s。没有证据显示改成仅以手指勾挂的另一接触方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 195.6
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.003
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 111.4
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 92.4
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 29.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 28.0–31.8 s，机器人正在双手挂杠蓄摆，视频 29.4 s 摆至一侧后回落、反向，后续直到视频 59.96 s 仍重复往复摆动，没有绕杠越顶完成整圈。评分器只登记起跳、抓杠两个原生阶段，有效单向行程最大 195.6°。推断：失败发生在完成大回环的持续尝试中；视频约 29.4 s 取作摆高后折返的导航锚点，并非突然失效或首次不可逆事故。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "其他",
+    "t": 29.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 28.0–31.8 s，机器人身体在横杠两侧摆高后回落，视频 29.4 s 近水平伸出后折返；视频 58.96–59.96 s 仍是这一往复动作，双手保持挂杠，没有形成越顶整圈。",
+    "note_zh": "候选名称：悬垂摆动幅度不足。可见问题是挂杠摆高后反复回落；全身类现有步态专指行走、跑跳不足，平衡指失去支撑或翻倒，均不能准确表达本次持续悬挂但未能越顶的运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 227,
+    "evidence_zh": "推断：agent 的摆动控制未能把可维持的往复摆动推进为越顶整圈。log step 183 的生成脚本以横杠至质心连线的角速度反馈驱动双髋，log step 227 将最终参数定为 A=1.6、W0=3.0；log step 228 生成的交付轨迹及 log step 238、246 的独立重放均止于有效行程 195.6°，与视频 28.0–31.8 s、58.96–59.96 s 的摆高折返一致。log step 225 的多组控制参数试验也记录了有限摆幅或脱杠，支持控制能力不足，但不能据此确定某个参数或接触设计必然错误。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "观察：本作业没有状态日志，外部远景无法逐项确认手指接触、精确质心轨迹、双腕半径或每个周期的关节功和摩擦损耗。推断：可确定挂杠摆动未形成整圈并归到控制层，但无法进一步区分驱动力、相位、关节跟踪与接触耗散的贡献；agent 在 log step 254、257 关于能量平衡的解释仍是自述，未作为已证实的具体根因。"
+ },
+ "summary_zh": "机器人在视频约 0.6 s 完成跃起双手抓杠，最终完成 1/2 个语义节点。之后持续挂杠往复摆动，后段摆高后仍反复折返，至视频 59.96 s 未完成大回环；交付轨迹重放与评分器均报告有效单向行程 195.6°，支持摆动控制不足的归因。没有状态日志，精确接触、双腕半径和能量损耗机制无法进一步核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抓杠约视频0.6 s离块、双手挂杠成立；大回环未完成，评分器travel 195.6°与画面往复摆动一致；断点、现象（全身·其他）和根因（控制，子类不明停在控制）有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:10:16Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "831226d1e23d2ea49a9b3d76e6b5e9b95157df2064ed30cca7c66bf0fc859aef",
+   "video_sha256": "261028aa38f8eba9d6ce896e6efc305281cae355b6784ce1109bed2aa5a5aab7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1622,
+   "sim_steps": 1622,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 22.69,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.002,
+   "metric_max_backward_deg": 110.6,
+   "metric_max_forward_deg": 519.1,
+   "metric_time_s": 16.22,
+   "metric_travel_deg": 360.2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 83,
+   "agent_resets": 730,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.209,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.241,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc/replay.mp4",
+  "duration_s": 16.24,
+  "fps": 25.0,
+  "frames": 406,
+  "sha256": "74dd404a1743e6f4976d59e07c2d8faec3123dced37a774b273a7b9c1fedcca7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.52,
+      "log_step": null,
+      "text_zh": "观察：视频 0.24–0.36 s 机器人从棕色起跳块上屈膝伸腿，视频 0.40–0.48 s 双脚与块顶出现间隙、双手上伸至银色横杠；视频 0.52–0.80 s 双手闭合扣住杠，身体悬在杠下并开始摆动。将完成抓杠定位在视频约 0.52 s，精度受帧率和手部尺寸限制。"
+     },
+     {
+      "t": null,
+      "log_step": 90,
+      "text_zh": "观察：log step 90 中 agent 打包后重新生成交付轨迹并调用验证器回放，验证器报告 jumped、caught the bar、over the top、full circle 四阶段齐全，success=true；inputs/run.json 的评分字段也报告 replay_success=1、stages_reached=4。该记录支持视频中离块后双手抓杠达到验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手同时闭合环扣银色横杠并承载身体，见视频 0.52–0.80 s；在此之前双脚先蹬棕色起跳块起跳，脚部支撑与双手合格抓杠依次发生。精细手指接触由交付回放的 caught the bar 阶段支持。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.80–10.40 s 机器人双手挂杠并反复屈伸髋膝蓄摆；视频 10.80–13.20 s 身体多次到达杠上方。视频 13.40–13.80 s 身体向杠下转动，视频 14.00–14.80 s 再向上并越过杠顶，视频 15.20–15.52 s 回到杠下，视频 15.60–16.20 s 又向杠上摆起；双手始终位于横杠处，未见脱落。上顶时部分肢体接近或越出画面上沿。"
+     },
+     {
+      "t": 16.2,
+      "log_step": 90,
+      "text_zh": "推断：视频 15.20–16.20 s 的逐帧检查显示机器人仍挂杠并沿回环方向运动至末帧；log step 90 的交付验证器报告 full circle、success=true，inputs/run.json 的最终评分为 success=1、deterministic=1、metric_travel_deg=360.2、metric_grip_break_max_s=0.002。因此有效单向整圈已完成，将节点置于视频结束附近约 16.20 s；这是末段画面结合交付评分的近似定位，未将 agent 会话时间换算成视频时间。视频本身不能精确测量 0.59 米伸展判据或毫秒级离杠间隔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手闭合扣住固定横杠，双臂同时承载并配合躯干及腿部摆动，见视频 0.80–16.20 s；未见重新松手抓取。画面不能逐一分辨回环中拇指、掌部与指腹的持续接触点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 360.2
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.002
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 519.1
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 110.6
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 16.22
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人约在视频 0.52 s 从起跳块腾空后双手抓杠，随后蓄摆并绕杠运动，至视频约 16.20 s 完成有效大回环，两个节点最终均达成。交付验证器（log step 90）与最终评分均报告成功，四个原生阶段齐全，有效行程 360.2°、最大连续离杠间隙 0.002 秒。无状态日志，固定斜侧视角下手部细节及部分过顶姿态受限，精确接触容差和伸展半径由交付评分支持；wrist_radius_m 未报告，原生指标保留 null。",
+ "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，两节点最终达成。视频 0.4–0.8 s 离块后双手抓杠，16.2 s 末帧仍挂杠绕回，与 metric_time_s=16.22、travel_deg=360.2 相符；时钟、接触、final 与 failure=null 均无误。",
+    "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": "2026-10-31T00:06:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef28cc872f0292270fe78b21745378d0733cbe449e6e36816ff33f7521ef26cc",
+   "video_sha256": "74dd404a1743e6f4976d59e07c2d8faec3123dced37a774b273a7b9c1fedcca7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d.json

@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 125,
+   "sim_steps": 125,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 0.5,
+   "stages_reached": 2,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 5.12,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.057,
+   "metric_max_backward_deg": -0.0,
+   "metric_max_forward_deg": 3.8,
+   "metric_travel_deg": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2048,
+   "agent_resets": 2327,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 24.735,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d/replay.mp4",
+  "duration_s": 1.28,
+  "fps": 25.0,
+  "frames": 32,
+  "sha256": "8ee7b25af68d97eb6d0d75e3cc597a9ac6f6acc6b9fe99e9a7f8003b2591dcb2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": 221,
+      "text_zh": "观察：逐帧检查视频0.00–1.24 s，机器人先在棕色块上屈身、伸展，再于视频1.16–1.20 s将双手移到横杠处，身体仍在杠下。log step 220生成交付轨迹，log step 221保存125行并报告阶段为 jumped、caught the bar；评分器 stages_reached=2、deterministic=1，与此一致。"
+     },
+     {
+      "t": 1.2,
+      "log_step": 221,
+      "text_zh": "推断：结合交付局已登记起跳和双手抓杠的阶段，将抓杠时刻近似锚定在视频1.20 s；手指和脚部投影太小，画面不能单独分辨瞬时合格接触。此节点为event，后续脱手不撤销已抓杠的事实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：机器人左右灵巧手短暂同时合拢抓住银色横杠；依据视频1.16–1.20 s双手位置及交付局caught the bar阶段。此前双脚在棕色起跳块上支撑、蹬伸起跳，属于先后发生的接触。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 221,
+      "text_zh": "观察：视频0.00–1.24 s全程及末段逐帧画面中，机器人身体始终在横杠下方，没有绕到杠上方或完成一圈；视频1.20–1.24 s末段仅有很小的身体倾斜。log step 221的交付局以 let go of the bar 结束；评分器 metric_travel_deg=0.0、metric_max_forward_deg=3.8、metric_grip_break_max_s=0.057，且只达到前两个原生阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：机器人双手在抓杠后短暂试图维持挂杠，但接触未保持到能够摆动回环；视频1.20–1.24 s双手在杠附近，交付日志和评分器确认随后脱手。未观察到稳定勾挂或完整回环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.057
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 3.8
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": -0.0
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 1.2,
+   "log_step": 221,
+   "where": "操作中",
+   "evidence_zh": "推断：跃起抓杠已由交付局��段记录确认，随后需要维持挂杠以完成大回环；视频约1.20–1.24 s机器人仍在杠下，未开始明显回环就结束。log step 221保存的正是以 let go of the bar 终止的125行轨迹，评分器最大连续脱杠间隔0.057 s超过0.05 s；故断点为完成大回环，而非撤销已完成的抓杠事件。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 1.2,
+    "log_step": 221,
+    "evidence_zh": "观察：视频1.16–1.24 s机器人双手上举至横杠附近，身体未绕杠运动；交付局输出（log step 221）先登记 caught the bar，随后以 let go of the bar 结束。评分器 stages_reached=2、metric_grip_break_max_s=0.057，确认是已抓杠后丢失接触，非从未抓住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 206,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 206的诊断脚本与log step 220交付脚本使用相同的站立、屈身、伸展目标、臂腕增益和距离触发闭手序列；诊断输出显示双手仅在一控制步由拇指末节及食指、中指近端同时碰杠，下一步在手指继续内屈时两手接触均消失。这支持闭手时横杠停留在指根边缘、未形成能持续承重的包络接触；log step 221交付局也随即脱杠，评分器最大脱杠间隔0.057 s与之吻合。具体可替换的抓取方案未在本次交付中验证。"
+   }
+  ],
+  "gap_zh": "无状态日志。视频仅640×360、25 fps，双手区域很小且脚部与起跳块投影重叠，无法独立辨清瞬时抓握、离块接触及0.05 s脱手阈值；抓杠完成和脱杠由交付局日志、评分器字段与画面共同判断，视频时刻为约值。根因细节来自同控制序列的会话诊断，不能将其他调参试验当成本次轨迹；评分器未报告wrist_radius_m或time_s。"
+ },
+ "summary_zh": "本次完成跃起抓杠，两个语义节点最终完成1/2；抓杠为event，随后脱手不抹去该历史进度。机器人在视频约1.20 s抓杠后未能保持接触，尚未明显蓄摆即终止，大回环未完成；同控制序列的诊断支持抓握包络不足这一控制问题。无状态日志且手指画面很小，瞬时接触细节依赖交付局日志与评分器字段，不能仅凭视频精确核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与评分器字段（stages_reached=2、metric_travel_deg=0、grip_break_max_s=0.057）及 log step 221（stages jumped/caught the bar，随后 let go of the bar，t=1.25 sim s）一致；抓杠已达成、大回环未达成、断点在大回环、现象为没保持住，均有证据支持。视频640×360且机器人极小，帧不能独立核验接触，标签已如实说明。",
+    "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": "2026-10-31T00:07:32Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3eff1217301dc7ca3ee224ce92a88ac7770db72476c8a9918a29df32c4d6167f",
+   "video_sha256": "8ee7b25af68d97eb6d0d75e3cc597a9ac6f6acc6b9fe99e9a7f8003b2591dcb2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.75,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 5000,
+   "sim_steps": 5000,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.75,
+   "stages_reached": 3,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 98.31,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.001,
+   "metric_max_backward_deg": 136.2,
+   "metric_max_forward_deg": 1640.1,
+   "metric_travel_deg": 317.9,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 230,
+   "agent_resets": 0,
+   "agent_replays": 8,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.779,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.283,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj/replay.mp4",
+  "duration_s": 50.04,
+  "fps": 25.0,
+  "frames": 1251,
+  "sha256": "9950496d0f8794deff4672e35a0d08363e6116170131a3a50e61e792bee37b12"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.56,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.44 s 机器人在棕色起跳块上下蹲，视频 0.56–0.64 s 双脚已离块并向上伸手；视频 0.68–0.84 s 双手合拢在银色横杠两处，身体离块悬挂并开始摆动，抓杠时间约为视频 0.7 s。"
+     },
+     {
+      "t": 0.84,
+      "log_step": 784,
+      "text_zh": "观察：视频 0.84–1.20 s 身体由双手挂在杠下、脚与起跳块有间隙；评分器 reward.stages_reached=3/4，与 agent 最终自述已达到 jumped、caught the bar、over the top（log step 784）一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右灵巧手分别合拢环握横杠，共同承载悬空身体；此前双脚先支撑并蹬离棕色起跳块，脚部支撑与挂杠依次发生。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.52,
+      "log_step": null,
+      "text_zh": "观察：视频 0.84–10.88 s 机器人以屈髋、屈膝和伸展动作蓄摆；视频 11.20–12.32 s 双手仍握杠，身体到杠上近倒立处停滞、回摆，随后视频 12.48–13.12 s 又回到杠下。"
+     },
+     {
+      "t": 15.84,
+      "log_step": null,
+      "text_zh": "观察：视频 14.88–19.20 s 机器人继续过顶和绕杠运动，间有明显屈髋、屈膝及身体靠近横杠的姿态；视频 49.04–50.00 s 仍挂杠摆动，最后一帧没有落地或脱手。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 784,
+      "text_zh": "推断：评分器报告 success=0、stages_reached=3/4、metric_travel_deg=317.9（有效单向行程，目标 360°），且 episode_over=0、fell=0、metric_grip_break_max_s=0.001；结合视频中的持续挂杠及顶部回摆，本次交付虽有过顶和绕杠运动，始终未完成验收要求的有效整圈。metric_max_forward_deg=1640.1 是另一角度统计，不能替代有效行程；agent 在 log step 784 的最终报告也仅列三个阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右灵巧手同时闭合握在横杠两处，承载身体蓄摆及过顶；腿与躯干在空中运动。微小手指接触变化不能由此视角分辨，未额外断言换成勾挂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 317.9
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.001
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 1640.1
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 136.2
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 12.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.20–12.32 s 机器人已挂杠摆至近倒立，却在顶部停滞回摆，视频 12.48–13.12 s 回到杠下；此后继续尝试到视频 50.00 s，评分器仍仅达到三个原生阶段，有效单向行程最高 317.9°，完成大回环节点未被修复。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.36–12.32 s 机器人在杠上近倒立姿态停滞并回摆，未顺势连续转过整圈；视频 15.84–17.12 s 又见绕杠过程中的明显折髋屈膝。推断：结合评分器有效行程最高 317.9°，其身体姿态与绕杠运动未达到合格单向大回环要求；双手持续挂杠，未见失去支撑。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：最终生成脚本（log step 762，log step 766 将其复制为交付生成器）按摆角与滤波角速度切换髋、膝、腰、肩目标，并逐关节限制目标变化率；实际视频 11.36–12.32 s 出现顶部停滞回摆，后续仍未获得合格整圈，而评分器确认抓杠持续、无摔落且有效行程只有 317.9°。这些证据支持摆动与身体伸展的协调控制未达标；不足以确定是哪一个增益、伸展时机或关节跟踪误差所致，故只标控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志，单一斜侧视角的双手较小，上顶时脚部还会被画面上沿裁切；无法逐控制步核验双手接触、质心至双腕 0.59 米伸展阈值，以及每次有效角度重计的确切原因与时刻。评分器有效行程和阶段数可确定大回环未完成，但不能把会话里其他测试的伸展不足或脱手事件当成本次交付事实；根因只定到控制大类。"
+ },
+ "summary_zh": "机器人约在视频 0.7 s 离块后双手抓杠，完成跃起抓杠节点，随后持续蓄摆、过顶并绕杠运动，最终完成 1/2 个 DAG 节点。完成大回环步骤中出现顶部停滞回摆，控制未能形成验收要求的有效整圈；评分器记录三个原生阶段、有效行程最高 317.9°，终局仍未成功。没有状态日志，无法精确区分后续各圈由反向还是伸展不足触发重计，也无法定位具体控制参数。",
+ "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（抓杠达成、大回环未达成，评分器 3/4 阶段、有效行程 317.9° <360°）、时钟与根因停在“控制”均有评分器字段支撑，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": "2026-10-31T00:09:42Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b43e6b95580f4bf95d5357762de4a8bb74d232fbff1e76de209dc57436984c35",
+   "video_sha256": "9950496d0f8794deff4672e35a0d08363e6116170131a3a50e61e792bee37b12",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda.json

@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
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+   "replay_success": 0,
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+   "n_actions": 4215,
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+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.054,
+   "metric_max_backward_deg": 46.5,
+   "metric_max_forward_deg": 80.7,
+   "metric_travel_deg": 127.2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 484,
+   "agent_resets": 204,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.28,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.847,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda/replay.mp4",
+  "duration_s": 42.16,
+  "fps": 25.0,
+  "frames": 1054,
+  "sha256": "5752d94ae53b2f8022a32af0a7094b5549a553b38329717b213b0200b08fa507"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.20 s 机器人站在棕色块上，视频 0.32–0.40 s 双脚与块面之间出现间隙，视频 0.44–0.64 s 双手合拢在银色横杠处、身体悬在杠下，已完成从块上起跳后双手抓杠；到达时间取首个抓杠后的可见帧，约有一帧误差。"
+     },
+     {
+      "t": 0.44,
+      "log_step": 542,
+      "text_zh": "观察：log step 542 对最终保存文件的两次独立重放均报告阶段 jumped、caught the bar，事件发生于仿真 0.186 s、0.426 s；执行 4215 行、各项摆角及脱杠指标与本次评分器 reward 一致。视频 0.44–0.64 s 的悬挂状态支持该文件已合格抓杠，后续脱手不撤销本 event 节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人先双脚蹬棕色起跳块后腾空，随后左、右灵巧手分别合拢环握银色横杠，共同承载悬挂身体（视频 0.44–0.64 s）；抓杠前的脚部支撑与抓杠依次发生。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.4,
+      "log_step": 542,
+      "text_zh": "观察：全片按视频每 1 s 检查，并加密检查视频 37.00–42.12 s，机器人持续在杠下往返蓄摆；视频 41.36–41.52 s 身体接近水平但仍未过顶，随后回落，末帧视频 42.12 s 仍在杠下，未绕杠一周。最终文件的重放（log step 542）只有 jumped、caught the bar 两阶段，travel_deg=127.2，max_forward_deg=80.7、max_backward_deg=46.5，与评分器字段一致。"
+     },
+     {
+      "t": 42.12,
+      "log_step": 542,
+      "text_zh": "观察：log step 542 中最终文件的两次独立重放均以 let go of the bar 结束，右手无接触超过容差，事件为仿真 42.146 s、off_s=0.051；评分器 reward 的 grip_break_max_s=0.054。视频末段只显示回摆而未完成过顶，与失败结果一致；成功参考视频 14.80–16.20 s 可见身体从杠上方绕经杠下再上摆，本次没有对应的完整回环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人两只闭合的灵巧手在横杠上共同承载，躯干和双腿在空中屈伸蓄摆；视频 1.00–41.96 s 可见双臂连接杠与身体，最终重放记录右手脱杠（log step 542）。细小指部接触和是否阶段性只靠手指勾挂无法由该视角区分。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 127.2
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.054
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 80.7
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 46.5
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 42.15
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 42.1,
+   "log_step": 542,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41.12–42.12 s 机器人正在完成大回环所需的蓄摆，近水平摆起后回落，全程未过顶；最终文件两次独立重放在 log step 542 均记录右手脱杠、let go of the bar，且 4215 行与本次评分器 n_actions 相同，各项指标也相同。推断：不可修复的失败发生在本次回环动作末段右手失去接触处，导航锚点取视频约 42.1 s；不是先前已完成的起跳抓杠步骤。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 42.1,
+    "log_step": 542,
+    "evidence_zh": "观察：视频 0.44–0.64 s 已双手挂杠，视频 37.00–41.96 s 仍在持杠摆动；log step 542 对最终保存文件的两次独立重放均记录右手在仿真 42.146 s 因持续无接触 0.051 s 判负，评分器最大脱杠间隔为 0.054 s。视频 42.12 s 为本次末帧，机器人尚未落地；失去的是已建立的手杠接触，不是未抓到杠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 529 显示 agent 的控制器在抓杠后持续给双手 grip=1.0，按摆角和角速度调节髋、膝、踝及双腕目标；log step 530、537 分别将踝相位改为 0.5、腕部摆角增益改为 1.35 并重生成最终文件。该文件在 log step 542 两次确定性重放中仍只往返蓄摆并失去右手接触，视频 37.00–42.12 s 支持这一执行结果。因此归为控制未能在蓄摆时维持承载接触；现有证据不足以区分接触几何、关节跟踪或载荷问题，也不能证明某一增益本身不当。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定外部视角中手指仅占少数像素，25 fps 无法独立量出 0.05 s 的脱杠容差，也没有接触力、逐指接触或关节跟踪误差记录，故右手与脱杠持续时间依据最终保存文件的确定性重放事件，根因只到控制类别。评分器未报告 wrist_radius_m，保留该原生指标为 null；time_s=42.15 来自 log step 542 的最终文件重放结果，不是 replay_s（重放所耗墙钟时间）。"
+ },
+ "summary_zh": "机器人在视频约 0.44 s 完成跃起双手抓杠，随后反复蓄摆，最终达到 1/2 个 DAG 节点；最大有效行程为 127.2°，未过顶或完成大回环。大回环动作在视频约 42.1 s 因右手未保持住横杠而结束，最终文件的两次独立重放与评分器指标一致，根因归控制。没有状态日志和清晰指部近景，脱杠的精细时间由最终文件重放事件确认，具体控制子因不能区分。",
+ "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、时间、断点与视频一致：0.44 s 起跳抓杠，全程在杠下往返、未过顶；末帧 42.12 s 仍在杠下，评分器 reward 与 log step 542 重放一致。右手脱杠是评分器终止规则，但标签已把它写为已建立接触的丢失并给出重放证据，可接受；根因停在控制类别也诚实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:09:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e8e839a90cd85d6e08dfa8885cd3d57ea4d0cf4f156978813fd50a7fd1737620",
+   "video_sha256": "5752d94ae53b2f8022a32af0a7094b5549a553b38329717b213b0200b08fa507",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 939,
+   "sim_steps": 939,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 22.72,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.002,
+   "metric_max_backward_deg": 117.9,
+   "metric_max_forward_deg": 493.7,
+   "metric_time_s": 9.39,
+   "metric_travel_deg": 360.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 192,
+   "agent_resets": 24,
+   "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": 3.084,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.26,
+   "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/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer/replay.mp4",
+  "duration_s": 9.4,
+  "fps": 25.0,
+  "frames": 235,
+  "sha256": "c9ca77654a759acfe5af647d7049ea04a328feb1e3657929cb8676632f63e225"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.52,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.40 s 机器人双脚由棕色起跳块支撑、屈腿后伸展；视频 0.44–0.48 s 双脚离块上升，视频 0.52–0.96 s 双手合在银色横杠两处，身体悬在杠下且双脚与块顶有间隙。抓杠达成时刻取视频约 0.52 s。"
+     },
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：视频 0.60 s 放大画面可见左右手在横杠处闭合并承载悬空身体；结合 inputs/run.json 的 replay_success=1、stages_reached=4/4，确认已满足先离块再双手抓杠的接触验收；像素不足以独立分辨各指与掌部的每个接触点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.52 s 起，左、右灵巧手分别闭合握住银色横杠，两臂共同承载身体；此前双脚先支撑并蹬离棕色起跳块，足部支撑与抓杠依次发生。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.96–6.36 s 机器人双手留在横杠处反复摆动、屈伸蓄势；视频 6.48–7.08 s 身体上升至杠上并接近倒立，视频 7.20–8.40 s 继续越过上方，视频 8.44–8.88 s 沿同一方向回到杠下，视频 8.92–9.36 s 再向另一侧上摆，双手仍在横杠处，未见跌落。"
+     },
+     {
+      "t": 9.36,
+      "log_step": null,
+      "text_zh": "推断：视频末帧 9.36 s 的绕杠姿态及此前连续运动，与评分器 replay_success=1、stages_reached=4/4、metric_travel_deg=360.5、metric_time_s=9.39 一致，确认有效整圈已在片尾完成；区间起点用已检查的末帧视频 9.36 s 作近似锚点，精度约 0.1 s。评分器 metric_grip_break_max_s=0.002 小于 0.05 s；25 fps 画面不能独立测量此间隔或杠上质心至双腕的 0.59 m 阈值，这些细节依据成功判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.60 s、4.40 s、7.60 s、8.80 s 放大画面及回环过程显示，机器人左右灵巧手分别包住横杠，两臂共同承载并使身体绕杠转动；未见主动张手释放。细小指掌接触变化无法逐一分辨。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": 360.5
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.002
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 493.7
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 117.9
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 9.39
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 0.52 s 跃起后双手抓杠，随后通过屈伸蓄摆、越过杠顶并继续绕转，在视频末段约 9.36 s 达成大回环，两个节点均完成。评分器确认重放成功、四个原生阶段齐全，有效转角为 360.5°，最大脱杠间隔为 0.002 s。无状态日志，指掌精确接触、毫秒级间隔及杠上伸展阈值无法仅靠画面独立核实，片尾达成时间为近似锚点；wrist_radius_m 未由评分字段报告。",
+ "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，两节点均达成；抓杠约0.5 s、片尾完成大回环，与评分器字段(replay_success=1, travel 360.5°, time 9.39 s)和画面一致，接触标注合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:08:31Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9395054b251323ea7d14c759e9bffbc98c053565ac7ea373724e87ac73078202",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 3910,
+   "sim_steps": 103121,
+   "calls": 19332,
+   "rows": 102604,
+   "resets": 49,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 6955.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 11.645,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.34,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv/replay.mp4",
+  "duration_s": 39.12,
+  "fps": 25.0,
+  "frames": 978,
+  "sha256": "f9c646455f6ada298a3a54541b663d8d4322260d18ce73fd5325b7a0c19c1f0b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.56 s 机器人先在棕色起跳块上屈腿再蹬伸；视频 0.60–0.64 s 双脚已离开块面，双手向银色横杠合拢。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.72–1.16 s 机器人双手固定在横杠上，双脚与起跳块之间有间隙，继而屈膝悬挂；视频 1.4–3.0 s 身体以双手为支点摆动。首次完成抓杠约为视频 0.7 s，手指接触的精确瞬间不可由此远景分辨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.7–1.2 s 左右灵巧手分别合拢在横杠上，共同承载悬空身体；此前机器人双脚蹬棕色起跳块起跳，双脚离块后才形成双手抓杠。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：已按约每 0.2 s 检查视频全程；机器人抓杠后持续收伸髋膝蓄摆，视频约 20.2 s、23.0–23.2 s 和 26.0–26.2 s 均在身体斜向上时停滞并反向落回杠下，没有继续绕过杠顶。"
+     },
+     {
+      "t": 37.4,
+      "log_step": null,
+      "text_zh": "观察：视频 36.8–37.7 s 机器人上摆后在约视频 37.3–37.4 s 转向，再沿原路下摆；视频 38.0–39.08 s 又从杠下摆向另一侧，末帧仍挂杠，未见连续单向整圈。成功参考视频约 14.4–16.2 s 可见机器人越过杠顶后沿同一方向继续回转，本次未出现该运动。"
+     },
+     {
+      "t": null,
+      "log_step": 180,
+      "text_zh": "观察：log step 180 启动最后一次在线控制脚本，参数为 gain=1.15、b0=88、b1=99、hrate=20；此后没有新的 reset。log step 182 是该次脚本的角度估计输出，log step 183 的 agent 最终自述明确承认未完成大回环；评分器 reward.success=0、graded_by_live=1。本节点主要依据视频判断，不把早期尝试的过顶或脱手记录当成本次事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.0–39.08 s 左右手同时握在固定横杠上，双臂承载身体，髋、膝和躯干在空中收伸以驱动往返摆动；没有可见的主动松手。远景不能逐帧确认每根手指或拇指的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 37.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 37.3–37.4 s，机器人双手仍挂在横杠上，身体上摆到杠的一侧后再次折返；视频 38.0–39.08 s 继续来回摆动，结束前未完成单向整圈。抓杠步骤已在视频约 0.7 s 完成，未修复的步骤是完成大回环。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "其他",
+    "note_zh": "候选名称：悬垂摆幅不足。可见问题是悬挂身体上摆后反向，无法越顶转圈；现有“步态”用于行走、奔跑或跳跃不足，此处没有步态动作，也未见跌落，故使用其他。",
+    "t": 37.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 23.0–23.8 s、26.0–26.8 s、37.0–38.0 s，机器人均在斜向上摆到高点后沿原路落回，未形成越过杠顶的持续旋转；视频 39.08 s 结束时仍处于下一次上摆。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 164 的脚本按估计摆角在泵摆姿态与伸展姿态之间线性混合，log step 180 在最终尝试采用该控制分支；视频 20.0–39.08 s 显示机器人反复收伸髋膝并上摆，却多次在越顶前反向，说明本次控制未产生足以完成回环的身体运动。log step 183 中 agent 自述平滑伸髋削弱了泵摆，只作为辅助解释；没有独立证据证明某个参数、接触几何或跟踪环节单独致败，故只归到控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志，评分器 reward 未报告本次 travel_deg、grip_break_max_s、wrist_radius_m、max_forward_deg、max_backward_deg 或 time_s，原生指标均留 null。远景无法精确核对 0.05 秒脱杠容差、0.59 米伸展半径及每根手指接触；日志中的摆角和伸展值是 agent 自己的估计，未用作原生指标或直接转换为视频时间。log step 110、163、179 的过顶、伸展不足或脱手发生在较早尝试，不能据此解释最后一次视频；本次控制的更细根因仍未确定。"
+ },
+ "summary_zh": "观察：机器人在视频约 0.7 s 跃起并双手抓住横杠，完成 1/2 个节点；随后持续蓄摆至视频 39.08 s，未完成大回环，评分失败。推断：断点为完成大回环，身体多次上摆后在越顶前折返，本次泵摆控制未产生足够回环运动。观察：无状态日志且本次原生角度、接触间隔和伸展指标未报告，无法进一步确认具体控制环节。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抓杠约 0.7 s 达成、大回环未完成、断点与现象/根因均与视频及 agent 最终自述（摆幅约±125°未过顶）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": "2026-10-31T00:07:49Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "94f38d64bf06ed78ba4edfc3542f118fb6575ee4252ba5f7901cd9ebd4e10841",
+   "video_sha256": "f9c646455f6ada298a3a54541b663d8d4322260d18ce73fd5325b7a0c19c1f0b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
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+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 160,
+   "sim_steps": 20161,
+   "calls": 927,
+   "rows": 20161,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 4280.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.366,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.702,
+   "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/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt/replay.mp4",
+  "duration_s": 1.64,
+  "fps": 25.0,
+  "frames": 41,
+  "sha256": "d9b0af2ef9c3deb7c88a51c0b843b3fba06ced95dd7a351a813eb55bf606b783"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": 214,
+      "text_zh": "观察：视频 0.00–0.60 s 机器人在棕色起跳块上屈膝、伸腿，视频 0.64–0.76 s 双脚离块、双臂上举，但未出现双手固定在银色横杠上承重的悬挂；视频 0.80–1.04 s 双手随躯干向前下方移走，身体翻倒。"
+     },
+     {
+      "t": 1.6,
+      "log_step": 218,
+      "text_zh": "观察：视频 1.04–1.60 s 机器人沿起跳块前侧翻成头下脚上的姿态，最后头部接近并落到蓝垫；log step 214 最后一个 c65_elb040 测试返回裁判 outcome=touched the ground、stages_reached=1，log step 218 确认最后一局 episode=51、control_steps=160、done=true，且仍为 touched the ground、阶段1。推断：裁判只认可起跳，未认可随后的双手抓杠；脚本自行打印 caught=True 不能作为节点达成依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.60 s 机器人双脚支承在棕色起跳块上，屈膝后蹬块起跳；后续身体翻落。未观察到双手环握横杠，不能把计划中的双手抓握记为实际接触。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.28,
+      "log_step": 214,
+      "text_zh": "观察：逐帧检查视频 0.00–1.60 s，机器人起跳后向前翻落，在视频 1.28 s 已呈头下脚上的姿态，双手远离横杠；全程没有双手挂杠绕行，也没有绕横杠完成整圈。log step 214 最后一局裁判只报阶段1，log step 218 确认该局已经失败结束。推断：画面中的翻转是离杠跌落，不是有效大回环；前置抓杠也未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_caught",
+   "t": 0.72,
+   "log_step": 214,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.64–0.76 s 机器人离开起跳块后双手仍未形成挂杠，视频 0.80 s 起双手和上身明显远离横杠并前翻，至视频 1.60 s 翻落触垫。log step 214 最后一次 c65_elb040 的裁判结果为 touched the ground、阶段1；log step 218 确认这是已结束的最后一局。推断：最早未修复的失败发生在跃起抓杠过程中，大回环尚未开始。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 0.72,
+    "log_step": 214,
+    "evidence_zh": "观察：视频 0.60–0.80 s 机器人双手随起跳上举后向前下方移动，没有像成功参考那样固定在横杠上并悬起身体；视频 0.88–1.60 s 两手已明显离杠，机器人翻落。log step 214 最后一局及 log step 218 的服务结果仅认可阶段1，未认可 caught the bar。推断：所需的双手抓杠接触没有建立，不能据脚本的 caught=True 或 agent 自述将其写成抓稳后脱手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 214 的最后一局控制脚本先以髋/膝/踝目标 -0.65/1.30/-0.65 蹲下，再快速伸腿并闭合双手；mount3 在任一手力超过0.2或仅左手闭合量小于0.99时就返回 caught=True，随后直接切换至 START_JOINTS。该脚本打印 caught=True、cl0=0.56，但同局裁判最终只认可阶段1；视频 0.64–0.88 s 显示起跳后未挂住横杠而前翻。推断：起跳与抓杠的控制没有完成所需接触，脚本的单侧闭合/力判据也未可靠确认双手抓杠就切换动作；归入控制，现有证据不足以进一步确定是手部接触几何、闭合时机还是起跳轨迹的主要责任。"
+   }
+  ],
+  "gap_zh": "没有状态日志；现有640×360单一远景及放大图不能分辨每根手指是否曾瞬时擦到横杠，故仅记录可确认的脚部支撑，不虚构双手抓握。日志中的 caught=True 是 agent 脚本按单侧力/闭合量生成的判断，与本局裁判阶段及可见悬挂缺失不符；无法精确还原接触对、抓杠控制误差及其具体子类。DAG 所列六项原生指标均未在本次 reward 中报告，全部记 null；先前测试的摆角、能量和抓杠成功不属于本局。",
+  "unmet": {
+   "bar_caught": false,
+   "giant_circle_completed": false
+  }
+ },
+ "summary_zh": "最后一局机器人蹬块起跳，但未建立双手挂杠，随后向前翻倒触垫；跃起抓杠和完成大回环均未达成，最终为0/2。断点在跃起抓杠的操作中，主要表现为没建立接触；控制脚本以不充分的单侧闭合/力条件判作抓杠后切换动作，画面和裁判阶段均不支持其 caught=True。没有状态日志且手部像素有限，不能确定短暂指尖接触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": 7,
+    "summary_zh": "标注与视频、裁判结果一致：最后一局（control_steps=160 对应视频 1.64 s）裁判只认可 stages_reached=1（起跳），双手未挂杠，两节点 false，断点 bar_caught 操作中、没建立接触、根因控制均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:11:19Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1fb89e386bfeb4bcf99a175c1900f970d7287adf516e5981695b72c1aafc9d04",
+   "video_sha256": "d9b0af2ef9c3deb7c88a51c0b843b3fba06ced95dd7a351a813eb55bf606b783",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs.json

@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 3620,
+   "sim_steps": 11017,
+   "calls": 2504,
+   "rows": 11017,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 3197.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.888,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.237,
+   "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/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs/replay.mp4",
+  "duration_s": 36.24,
+  "fps": 25.0,
+  "frames": 906,
+  "sha256": "54ddb85beece1a4b655874a6bb5ba7940a1bb16effef60a6826304ec6d5dfd25"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 101,
+      "text_zh": "观察：视频 0.64–0.72 s 机器人双脚已离开棕色起跳块，双手向横杠靠拢；视频约 0.76–0.90 s 双手合拢在银色横杠上，身体悬于杠下，视频 1.16 s 仍悬挂。首次合格抓杠取视频约 0.8 s，视觉时间误差约 0.1 s。"
+     },
+     {
+      "t": 36.2,
+      "log_step": 127,
+      "text_zh": "观察：log step 127 的在线裁判返回 episode=6、stages_reached=2、stages_total=4、outcome=\"let go of the bar\"，与视频中的跃起、双手挂杠及随后蓄摆一致；抓杠是 event 节点，末段脱手不撤销先前已抓杠的事实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右灵巧手分别合拢包住银色横杠，共同承载悬空的身体（视频约 0.8–1.16 s）；此前双脚先支撑并蹬离棕色起跳块，再建立双手抓杠。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.2,
+      "log_step": 121,
+      "text_zh": "观察：通看视频 0–36.20 s 的逐秒画面，并加密检查视频 28–36.20 s，机器人在双手挂杠下反复向两侧摆动、屈伸双腿；视频约 33.2 s 身体摆到杠上方一侧后又退回，视频 34–35.6 s 再次经杠下摆向另一侧，未连续沿同一方向绕过杠顶完成整圈。参考成功视频约 14.0–15.4 s 可见身体从杠下上升、倒立过顶并继续绕回，本次没有这段完整过顶过程。"
+     },
+     {
+      "t": 36.2,
+      "log_step": 127,
+      "text_zh": "观察：视频 36.20 s 机器人身体仍斜悬于横杠一侧；log step 127 的在线裁判以 \"let go of the bar\" 判负，只登记 2/4 个原生阶段，并未登记整圈成功。"
+     },
+     {
+      "t": 36.2,
+      "log_step": 127,
+      "text_zh": "推断：评分字段 graded_by_live=1，log step 100 重置后的 episode=6 与最后视频对应；log step 119 的控制周期 dt=0.01 s，log step 127 的 control_steps=3620 对应视频 36.20 s。此控制步映射已用视频约 0.8 s 的抓杠姿态（log step 101：78 步）和视频 36.20 s 的终止姿态核对；不使用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "抓杠后左右手共同握住横杠，机器人通过腿、躯干与腕部运动来回蓄摆（视频约 1.2–35.8 s）；末段在线裁判确认脱杠。画面不足以确认各时刻是否由环握变成仅手指勾挂，不另添加勾挂接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 36.2,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 35.0–36.20 s 机器人仍在挂杠蓄摆，尚未完成大回环；log step 123–126 中 agent 的控制脚本调整双手闭合度并伸展身体后，log step 127 的在线裁判在 episode=6、control_steps=3620 时返回 done=true、outcome=\"let go of the bar\"、stages_reached=2/4。失败发生在完成大回环的操作中，跃起抓杠已完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 36.2,
+    "log_step": 127,
+    "evidence_zh": "观察：视频约 0.8–1.16 s 机器人已双手抓住横杠并悬挂，随后持续摆动；视频 35.0–36.20 s 的逐帧画面显示机器人尚未转足一圈。log step 127 的在线裁判明确返回 \"let go of the bar\" 并终止本局，说明此前建立的挂杠接触未保持到完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 36.08,
+    "log_step": 125,
+    "source_zh": "日志",
+    "evidence_zh": "推断：末段承载中的改握与身体伸展控制未能维持连续挂杠。log step 119 的脚本使用双手闭合指令 1；log step 123 将两手闭合指令降到 0.85 并撤掉腕部驱动力矩，log step 125 继承该闭合指令、用 12 个控制步伸展身体；log step 126 返回仿真 36.19 s 尚未终止，log step 127 再将闭合指令恢复到 1 时，裁判在下一控制步即报告脱杠。结合视频 35.0–36.20 s 的摆动和伸展过程，只归入控制；没有足够接触力或几何证据区分握姿设计、负载与反馈调节各自的贡献。"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定远景的手部像素不足以逐一辨别手指、拇指与横杠的接触对，也不能从视频独立量出连续离杠 0.05 s、腕部半径或有效累计角度。末段脱杠采用同一在线评分局的裁判结果确认；不能断言两手同时完全离杠，或将脱杠唯一归因于某个闭合参数。reward 未报告 DAG 所列六个原生指标的数值，native_metrics 均留 null；日志中 agent 估算的摆角与负载不充当裁判指标。",
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  }
+ },
+ "summary_zh": "评分视频对应最后的第 6 次在线尝试：机器人在视频约 0.8 s 跃起双手抓杠，完成 1/2 个语义节点，此 event 进度在脱手后仍保留。此后机器人反复蓄摆，未完成大回环，在视频约 36.20 s 的末段改握和伸展过程中被在线裁判判定脱杠；证据支持控制层面的连续接触维持失败。没有状态日志，远景无法分辨精确手指接触及脱杠间隔，也不足以将根因细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抓杠约0.8 s（双脚离块、双手上杠）与视频一致；大回环全程未过杠顶，断点与最终在线裁判\"let go of the bar\"2/4一致；现象没保持住与根因控制均有裁判与日志支持且已标明为推断，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:21:27Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "163d449be50fec144b6041ff64f03a36c6c1f532b8b00a1c2ce8eae6ad6ecbc4",
+   "video_sha256": "54ddb85beece1a4b655874a6bb5ba7940a1bb16effef60a6826304ec6d5dfd25",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw.json

@@ -0,0 +1,260 @@
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+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.347,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.328,
+   "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/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw/replay.mp4",
+  "duration_s": 1.04,
+  "fps": 25.0,
+  "frames": 26,
+  "sha256": "ef07c153f1205c1dd385a5b11a7b248dd7c35a173df2048b4bbdad299f9be553"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.44,
+      "log_step": 54,
+      "text_zh": "观察：视频 0.00–0.36 s 机器人双脚站在棕色起跳块上屈膝；视频 0.44–0.56 s 身体上升，双脚离块，双手向银色横杠靠拢。log step 54 是唯一实际向机器人在线服务提交的动作片段，共 100 行，控制间隔 0.01 秒。"
+     },
+     {
+      "t": 0.6,
+      "log_step": 54,
+      "text_zh": "推断：视频约 0.60 s 双手在横杠处合拢，随后至视频 1.00 s 双脚与起跳块分离、身体悬在杠下，双手位置受到横杠约束，符合跃起后双手抓杠；以视频约 0.60 s 记首次达成。已逐帧查看全部 26 帧，抓杠细节的像素分辨率有限，具体手指接触对不能直接分辨。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 57,
+      "text_zh": "观察：log step 57 在线服务的手部本体读数为左右手闭合度约 0.43、手部力约 1.80 N，holding_left/right 均为 0；它们不是本任务裁判的双手抓杠阶段字段。抓杠判断依据视频 0.60–1.00 s 的离块悬垂及双手位置，未使用 log step 52 本地模型的 caught=1 作为正式阶段证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：视频约 0.60–1.00 s 左右灵巧手分别合拢在银色横杠两处，共同承载悬垂身体；抓杠前双脚先在棕色起跳块上支撑、蹬伸，离块后才形成双手抓杠。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 54,
+      "text_zh": "观察：视频 0.60–1.00 s 机器人仅在横杠下方轻微摆动并收腿，未出现蓄摆后向杠上翻转或绕回的运动；正式视频全部 26 帧均无大回环。log step 54 的动作脚本只执行起跳、合手和过渡至悬挂姿态，没有回环驱动段。"
+     },
+     {
+      "t": null,
+      "log_step": 94,
+      "text_zh": "观察：log step 94 在线服务状态仍为 episode=1、control_steps=100、done=False、reason=None；评分记录也只有 100 个动作、0 次重置。log step 71 以后涉及大摆幅、过顶与脱手的输出来自 agent 自建 LocalSim，本次正式视频没有这些运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": null,
+   "log_step": 54,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 0.60 s 已建立离块双手悬挂，至视频 1.00 s 最后一帧仍在杠下；log step 54 仅提交起跳抓杠的 100 行动作，log step 94 服务计数仍为 100。正式尝试没有启动回环控制，故断点为完成大回环；不存在可定位的回环失控瞬间，时间留空。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 54,
+    "evidence_zh": "观察：视频 0.00–1.00 s 仅有屈膝、离块、合手抓杠与悬挂过渡，没有主动蓄摆或过顶回环段；log step 54 的正式提交脚本也到悬挂姿态为止。log step 94 在线服务保持 100 个控制步，之后日志到 log step 212 继续进行本地模拟测试，没有再次提交正式动作。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，在线服务记录未报告本任务的 caught 阶段及具体接触对；视频分辨率不足以逐指核对拇指、掌部与食指或中指的组合接触，抓杠依据离块后双手悬挂作视觉推断，首次达成时间约为视频 0.60 s。log step 54 只向正式服务提交了 100 个控制步的起跳抓杠片段，log step 94 服务计数仍为 100，评分记录 n_actions=100、resets=0；后续至 log step 212 的回环测试来自 agent 自建 LocalSim，没有再次提交正式回环动作。inputs/run.json 的 wall_s=7201、time_limit_s=7200 表明会话达到预算，但预算用尽本身不是根因。会话测试可辅助根因判断，但 log step 54 显示本地模型与在线服务的手指角度明显不同，未验证本地回环控制结果能否对应正式系统，也不足以确定它导致未再提交动作的因果关系，故根因留空，本地运动不作为正式回合事实。评分记录未报告 DAG 所列原生指标，均填 null。"
+ },
+ "summary_zh": "正式轨迹推断完成跃起双手抓杠，终态为 1/2 个节点；视频约 0.60 s 后机器人悬在杠下，至视频 1.00 s 没有启动大回环。断点为完成大回环，现象为没尝试；正式服务仅执行 100 个控制步，后续为本地仿真测试，现有证据不足以确定未提交回环动作的根因。无状态日志，逐指抓杠接触及首次达成时刻依赖视觉推断，且缺少正式 caught 读数，文件置信度由 7 降至 5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点与断点基本成立：视频 0.44 s 起离块、至 1.00 s 悬在杠下，没有大回环，终态 1/2 合理。问题在根因：「控制」完全建立在 agent 自建 LocalSim 的会话测试上，这些测试不是正式回合的运动，日志也没有正式轨迹中控制失败的证据；agent 墙钟 7201 s 用尽（time_limit 7200 s），不能以用尽预算为因，也不能用本地仿真失败当作正式失败的原因。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点与现象成立：视频约 0.44 s 起脚离块，其后至 1.00 s 手在杠处、身体稳定悬挂（脚高度不再下降，未落回块），无回环；正式回合仅 100 控制步，log step 94 服务计数不变，本地测试未当作正式事实，根因留空并写明 gap_zh 合理。抓杠仅为视觉推断且已标注，conf 5 合适。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:21:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f18f053ea1f318738c5ba3ef63ba204d809e85ffdbfeb480693542073cedc26a",
+   "video_sha256": "ef07c153f1205c1dd385a5b11a7b248dd7c35a173df2048b4bbdad299f9be553",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv.json

@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 160,
+   "sim_steps": 10684,
+   "calls": 234,
+   "rows": 10584,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 6379.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.691,
+   "peak_processes": 12,
+   "peak_disk_gb": 2.749,
+   "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/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv/replay.mp4",
+  "duration_s": 1.64,
+  "fps": 25.0,
+  "frames": 41,
+  "sha256": "cb589269eed2832c335ced905cf408015f725c9d04a7dde9c59218e60b10a37d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.48,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00–0.68 s；机器人先在棕色起跳块上屈腿，视频约 0.44–0.56 s 双脚短暂离块，双手上举接近银色横杠，但手部随身体继续下降，没有出现双手固定在杠上、身体悬于杠下的抓杠结果。"
+     },
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.68–1.60 s 机器人向前倾倒，躯干落到起跳块顶面附近，双手随躯干远离横杠；直至最后一帧仍未抓杠。成功参考视频约 0.80–1.00 s 可见双手留在杠上、双脚离块悬挂的外观，本次全片未出现该结果。"
+     },
+     {
+      "t": null,
+      "log_step": 402,
+      "text_zh": "观察：agent 在 log step 402 自述最后尝试未抓住横杠、只达到 jumped；该自述与本次视频中未形成悬挂的结果一致，不用其会话内估算替代视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.40 s 双脚以棕色起跳块为支撑蹬起；视频约 0.60 s 后回落，随后身体前倾，躯干落在块顶附近。双手虽上举尝试抓杠，未见合拢包住横杠，因此不标抓握；细小瞬时擦碰无法从像素确认。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.60 s 机器人始终在起跳块附近活动，未出现双手挂杠后的蓄摆、身体绕横杠越顶或整圈运动；视频 0.88–1.60 s 身体倒伏于块顶附近。前置跃起抓杠未完成，本步也未开始。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_caught",
+   "t": 0.52,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.44–0.56 s 机器人离块上举双手，但未把双手固定到横杠，随即回落；视频 0.76–0.96 s 又向前倒伏到起跳块上，至视频 1.60 s 未恢复抓杠。这是正在执行且始终未完成的跃起抓杠步骤。"
+  },
+  "unmet": {
+   "bar_caught": false,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 0.52,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.40–0.64 s 双手随机器人上跃接近静止横杠，随后又随身体下降，未形成双手环握并承重的接触；视频 0.68–1.60 s 手部继续远离横杠。所需抓握从未建立，不能把此次回落解释为抓住后脱手。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 0.84,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 0.68 s 后机器人回落到块边，躯干持续前倾；视频 0.84–0.96 s 从脚部支撑姿态翻倒，躯干落在棕色块顶附近；视频 1.00–1.60 s 仍趴伏、倾斜，未恢复直立。此现象发生在未抓杠后的回落阶段，不主张机器人触地或触垫。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 251 的控制脚本将屈腿、蹬伸、飞行、落地及双手闭合按预设关节目标和 grip_start/grip_rate 顺序生成后提交；log step 399 的最后成功返回的运动调用仍在调节蹬伸、肘角与闭合参数。视频 0.40–0.64 s 双手未与静止横杠建立抓握，视频 0.76–0.96 s 身体又失稳倒伏，说明该起跳抓杠控制未协调好手部到杠运动与全身支撑。证据不足以进一步区分接触几何、轨迹跟踪或闭合参数的具体责任。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；本次视频只有远景，放大后仍不能分辨手指与横杠是否有极短擦碰，也无法验证毫秒级接触间隔或厘米级手部误差，但全片足以排除双手抓杠悬挂和大回环。日志含 50 次重置及大量会话测试；这里只用视频判断节点及现象，不把早先测试或 agent 自建运动学估算当成本次状态。log step 401 的后续重置请求因预算耗尽被拒绝，未形成新的运动；评分器 reward 未报告 DAG 的六项原生指标，均填 null。控制根因只到大类，无法可靠细分。"
+ },
+ "summary_zh": "评分尝试中机器人短暂跃离起跳块，双手未抓住横杠，随后前倾倒伏在块顶附近；跃起抓杠和完成大回环均未达到，终态为 0/2。断点为跃起抓杠操作中，现象是未建立所需抓握和回落失衡，结合参数化控制脚本将根因保留在控制大类。视频已逐帧检查至视频 1.60 s；无状态日志且手部像素有限，瞬时擦碰、精确误差和具体控制子类无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧对照后，两个节点均未达到、断点在 bar_caught（操作中）、现象（没建立接触、平衡）和根因（控制，未细分）都有视频支撑；与成功参考视频对比，本次全程没有双手挂杠。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": "2026-10-31T00:06:07Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5160ce3b07b5ce45ccb5f74720592be9d9831c507898bb946ea2a252797494ed",
+   "video_sha256": "cb589269eed2832c335ced905cf408015f725c9d04a7dde9c59218e60b10a37d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 669,
+   "sim_steps": 20279,
+   "calls": 2411,
+   "rows": 20136,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 5370.0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.962,
+   "peak_processes": 11,
+   "peak_disk_gb": 2.577,
+   "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/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu/replay.mp4",
+  "duration_s": 6.72,
+  "fps": 25.0,
+  "frames": 168,
+  "sha256": "15336ab8d835456b0bfccf32b6f105c460bce4d0d4f54cf43334a9a80621f123"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.52,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.48 s 机器人双脚站在棕色起跳块上并屈膝；视频 0.52 s 双脚已离块，两手仍在横杠下方向上接近。"
+     },
+     {
+      "t": 0.64,
+      "log_step": null,
+      "text_zh": "观察：视频 0.60–0.88 s 机器人两手合在横杠的两处分开握点，双臂上举承重，双脚与起跳块之间保持可见间隙，随后身体持续悬挂；抓杠时间取视频约 0.64 s，存在约 0.1 s 的视觉误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.64 s 左、右灵巧手分别合拢握住固定横杠，使已离块的身体悬挂；此前双脚蹬棕色块起跳，蹬块与双手抓杠先后发生。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.20–6.40 s 机器人双手挂杠，反复屈髋屈膝、伸展并在杠下前后摆动，躯干始终处于横杠下方；全片未出现身体绕到杠顶再沿同方向绕回的过程。"
+     },
+     {
+      "t": 6.68,
+      "log_step": 866,
+      "text_zh": "观察：视频 6.56–6.68 s 机器人手部相对横杠下移，末帧仍在杠下且双脚未落到起跳块或蓝垫；log step 866 的 benchmark 服务状态为 episode=51、control_steps=669、done=True、reason=failed，reward 的 n_actions 同为 669。推断：本片对应 log step 863 启动的最后一局，未完成大回环；末段有脱杠迹象，但日志没有该局具体的裁判 outcome。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.20–6.40 s 左、右手分别握在横杠两处，双臂共同承载身体，机器人以腰、髋和膝运动蓄摆；视频末段手部下滑，未见有计划地张手下杠。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 6.6,
+   "log_step": 866,
+   "where": "操作中",
+   "evidence_zh": "推断：机器人已在视频约 0.64 s 跃起抓杠，随后一直在做回环前的蓄摆；视频 6.56–6.68 s 至少一只手相对横杠下滑、离开原握��，未完成过顶或整圈且没有恢复。log step 866 的服务记录确认最后一局 episode=51 已以 failed 结束，因此断点属于完成大回环的操作中。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.6,
+    "log_step": null,
+    "evidence_zh": "推断：视频 0.64–6.40 s 机器人曾双手握杠承重；视频 6.56–6.68 s 手部从原来的握杠位置下滑，在横杠下方出现间隙，支持原有抓杠接触丢失，而非从未抓住。末段没有完成回环，也没有重新建立稳定双手悬挂。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 6.6,
+    "log_step": 861,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 861 所示最终控制脚本在蓄摆循环每次提交动作时持续给两手 grip=1.0，并用髋膝姿态及腰部俯仰驱动摆动；log step 863 启动这份脚本。结合视频 6.56–6.68 s 的手部下滑，控制器在主动维持闭手的同时未能维持挂杠接触，属于摆动与持杠协调的控制失败；现有证据不足以进一步归到某项增益、关节限位或具体抓握几何。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频仅有远景斜侧视角，手指接触像素很少，不能精确确认哪只手先脱离或脱离是否连续超过 0.05 秒。log step 863 的最后一局以后台任务启动，提供的后续日志仅有 log step 866 的 failed 状态，没有该局具体 outcome、逐步手力或关节轨迹；因此脱手现象为末帧序列支持的推断，控制根因不细分。log step 871 中 agent 自述的摆幅和接触力没有最后一局服务输出可独立核验，未当作原生指标；reward 未报告 DAG 所列六项指标，均填 null。"
+ },
+ "summary_zh": "评分采用 log step 863 启动、log step 866 确认结束的最后一局；机器人在视频约 0.64 s 离块后双手抓杠，完成 1/2 个节点。随后机器人只在杠下往复蓄摆，视频约 6.6 s 出现手部下滑、失去抓杠接触的迹象，未完成大回环，结合持续闭手的最终脚本推断为控制失败。没有状态日志和最后一局具体裁判 outcome，无法核实精确脱杠时长或更细的控制机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "bar_caught 约 0.64 s 与 giant_circle 未完成的节点值、接触、断点在视频与 log step 866 的服务状态（episode=51、control_steps=669、done、failed）下成立；末段手部是否下滑在远景低分辨率帧中无法明确看出，但标签已标为推断并在 gap_zh 说明，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": "2026-10-31T00:08:48Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9ee5bb82df5dbb51cd555576316699075eda29d6c1c9795c5607746619541ac8",
+   "video_sha256": "15336ab8d835456b0bfccf32b6f105c460bce4d0d4f54cf43334a9a80621f123",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5",
+ "taskKey": "embodied-olympics-fun/high_bar_swing",
+ "dag_sha256": "94fc49d886b4eb0d110e6e93e7d10de82eecae87b2952d2f2744f01b83806fc4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 96,
+   "sim_steps": 5655,
+   "calls": 794,
+   "rows": 4437,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 5132.6,
+   "video_rendered": 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/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5/replay.mp4",
+  "duration_s": 1.0,
+  "fps": 25.0,
+  "frames": 25,
+  "sha256": "262694ba51b9c96f8d11a74c4f58a5b1d56ed3f753b3e571d13977c34760bf2b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bar_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.84,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.84,
+      "log_step": 440,
+      "text_zh": "观察：逐帧查看视频 0.00–0.96 s，机器人先站在棕色起跳块上，屈膝后腾起；视频 0.76–0.84 s 双脚与块顶之间出现间隙，两手上举至银色横杠附近。log step 440 是最后一次重置后的 episode 51，机器人服务返回的裁判结果为“let go of the bar”、阶段 2/4；log step 442 再次读取同一 episode 51，确认该结果，表明裁判已依序接受起跳与双手抓杠。"
+     },
+     {
+      "t": 0.84,
+      "log_step": 442,
+      "text_zh": "推断：以视频约 0.84 s 作为首次合格抓杠的近似锚点，具体时刻约有 0.08 s 不确定性；手指接触细节由最终在线裁判的阶段 2/4 补证。该节点为 event，随后脱手不撤销已经抓杠的历史事实。log step 11 给出控制步长 0.01 s；log step 440 的 control_steps=40、60 分别对应视频 0.40 s 站姿转入屈膝、视频 0.60 s 下蹲过程，已与画面核对，未使用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 0.80–0.84 s，左右灵巧手一起到达横杠；log step 440、442 的最终裁判阶段确认双手形成合格抓杠。双脚此前蹬棕色起跳块支撑、随后离块；这里记录腾空后的双手抓握，未把先后的脚支撑算成同时接触。"
+     }
+    ]
+   },
+   "giant_circle_completed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": 442,
+      "text_zh": "观察：视频 0.84–0.96 s 机器人双臂不再维持在杠上的位置，身体下落，未出现持续绕杠摆动、过顶或整圈；全段视频 0.00–0.96 s 也没有大回环。最终在线服务在 log step 440、442 返回 episode 51 已结束、outcome=“let go of the bar”、stages_reached=2、stages_total=4，未到达过顶和整圈阶段。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 440,
+      "text_zh": "推断：合格抓杠后的短暂挂杠承载属于本步的保持接触阶段，机器人在此阶段脱手，无法继续回环。log step 442 的最终 control_steps=96 与 log step 11 的 0.01 s 控制步长给出仿真终止约 0.96 s；视频 0.96 s 末帧可见机器人下落、两手离杠，支持其对应本次受评片段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：视频约 0.84 s 的双手到杠及 log step 440、442 的已抓杠后脱手判定表明，左右灵巧手曾同时握杠短暂承载，随后失去挂杠接触；没有证据表明进入持续钩挂或大幅蓄摆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "travel_deg",
+   "unit": "deg",
+   "threshold": 360.0,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_radius_m",
+   "unit": "m",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_forward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_backward_deg",
+   "unit": "deg",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "giant_circle_completed",
+   "t": 0.92,
+   "log_step": 440,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.84–0.96 s，机器人在短暂到杠后下落，双手未继续挂在横杠上，尚未绕杠摆出一圈；log step 440、442 的最后一次在线 episode 51 裁判结果为“let go of the bar”、阶段 2/4。推断：首步起跳抓杠已被接受，未修复的失败发生在大回环所需的挂杠保持阶段，断点以视频约 0.92 s 为导航锚点。"
+  },
+  "unmet": {
+   "bar_caught": true,
+   "giant_circle_completed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 0.92,
+    "log_step": 442,
+    "evidence_zh": "观察：视频 0.80–0.84 s 机器人腾空、双手到杠；视频 0.88–0.96 s 两手随身体向下离开横杠，未持续悬挂。log step 442 从最终 episode 51 的机器人服务直接读到 stages_reached=2/4 和 outcome=“let go of the bar”，确认是合格抓杠后丢失接触，而非从未抓住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 442,
+    "evidence_zh": "推断：抓杠后的保持控制未能维持负载下的手杠接触。最终 episode 51 在 log step 440、442 被裁判确认抓杠后脱手；会话内 log step 430、434、437 的不同调试尝试也由服务返回阶段 2/4 后“let go of the bar”。log step 431 的 agent 自述准备调整屈膝和肘部以缓和接杠，log step 442 的控制器笔记又记录了腕部调整与控制模式切换；这些是会话控制调试证据，不用于增加本段进度。现有证据仅支持笼统的控制失败，不能确定具体是握持几何、接杠载荷、时序还是跟踪问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有受评视频、完整会话记录和成功参考视频，但没有模拟器状态日志；受评视频只有 25 帧，双手在画面中很小。推断：无法逐指确定抓杠起始时刻、哪只手先脱离或接触力，约视频 0.84 s 的抓杠时间为近似值，接触先后以最后一次在线 episode 51 的裁判阶段与脱手反馈补证；缺少足以细分控制根因的最终控制器实现和接触测量。评分器 reward 未报告 DAG 六项原生指标的数值，均留 null；不把会话累计 sim_steps 或 elapsed_s 当作本段指标。"
+ },
+ "summary_zh": "受评片段为最后一次在线 episode 51：机器人屈膝跃起，在视频约 0.84 s 短暂双手抓杠，最终完成 1/2 个节点。抓杠后很快脱手，断在大回环的挂杠保持阶段；log step 440、442 的服务裁判确认阶段 2/4 后“let go of the bar”，支持接触没保持住及笼统的控制失败。没有状态日志，手指接触和控制根因细分无法确定；前 50 次重置的调试结果不计入本段进度。",
+ "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（giant_circle_completed，抓杠后脱手）、没保持住 + 控制 的标注都有服务裁判读数（episode 51，阶段 2/4，let go of the bar，control_steps=96）支持，视频仅25帧且手部很小，未见矛盾。仅有一处证据引用错误（log step 11 并不含 0.01 s 控制步长）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（bar_caught 已达、giant_circle_completed 未达）、断点、没保持住 + 控制 均有最终 episode 51 的服务裁判读数（stages 2/4，let go of the bar，control_steps=96）支持；时间钟标注为视频时间，未见与视频矛盾。视频仅 25 帧且手部很小，帧上无法反驳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:22:37Z",
+  "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/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2354eb07be32e5b1e587625f2f80987af91cc6e86863283b4191d824bafa79f7",
+   "video_sha256": "262694ba51b9c96f8d11a74c4f58a5b1d56ed3f753b3e571d13977c34760bf2b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl",
+ "taskKey": "embodied-olympics-fun/platform_10m",
+ "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 243,
+   "sim_steps": 243,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 3.36,
+   "bad_trajectory": 0,
+   "metric_entry_apart": 0.1548,
+   "metric_entry_beyond": 0.354,
+   "metric_entry_distance_m": 2.141,
+   "metric_entry_feet": 0.0657,
+   "metric_entry_hip": 164.4977,
+   "metric_entry_knee": 169.0989,
+   "metric_entry_off": 0.1175,
+   "metric_entry_tilt_deg": 5.9,
+   "metric_entry_toes": 0.4753,
+   "metric_entry_twist": 4.6642,
+   "metric_somersault_deg": 169.1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 8,
+   "agent_replays": 12,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.674,
+   "peak_processes": 30,
+   "peak_disk_gb": 0.983,
+   "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/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl/replay.mp4",
+  "duration_s": 2.44,
+  "fps": 25.0,
+  "frames": 61,
+  "sha256": "320de6c97dc5b795cafa800e09a504fef23762206c0cd596341e819055456da9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "forward_dive_completed": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.64 s，机器人在棕色平台前沿由站立变为屈腿、前倾；视频 0.72–1.48 s，机器人向前伸展并离开平台，随后连续前翻下降。"
+     },
+     {
+      "t": 2.32,
+      "log_step": null,
+      "text_zh": "观察：视频 2.16–2.40 s，机器人头及伸向头前的双臂处于下降方向前端，双腿在上，身体逐渐接近头朝下竖直姿态并下穿蓝色水面区域；已逐帧检查视频最后一秒。"
+     },
+     {
+      "t": null,
+      "log_step": 286,
+      "text_zh": "观察：评分器 reward 的 success=1、replay_success=1、deterministic=1，stages_reached=3、stages_total=3；前翻角为 169.1 度、入水距离为 2.141 米、入水倾角为 5.9 度。log step 286 的验证器对最终交付文件两次重放均报告 take-off、entry、under water 三阶段完成且末态哈希相同，log step 298 重新生成交付后仍重放成功，数值与最终评分器字段一致。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 298,
+      "text_zh": "推断：结合视频 2.32–2.40 s 的末段入水画面与评分器成功判定，将全身入水完成事件锚定在视频约 2.4 s，时间约有 0.1 s 不确定性；远景无法逐一量出最高碰撞包围盒、掌距和关节角，完整数值验收依评分器确认。此处视频时间取自所检查帧，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.00–0.64 s 机器人在台前沿站立、屈伸，随后向前离台的连续运动表明双脚在平台上承重并蹬伸起跳。视频 1.48–2.40 s 机器人已腾空并向水面下降，双臂伸向头前调整入水姿态，未见手臂支承平台或抓持物体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "somersault_deg",
+   "unit": "deg",
+   "threshold": 180,
+   "direction": "target",
+   "value": 169.1
+  },
+  {
+   "name": "entry_distance_m",
+   "unit": "m",
+   "threshold": [
+    0.5,
+    3.0
+   ],
+   "direction": "target",
+   "value": 2.141
+  },
+  {
+   "name": "entry_tilt_deg",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "value": 5.9
+  },
+  {
+   "name": "entry_hip",
+   "unit": "deg",
+   "threshold": 160,
+   "direction": "higher_better",
+   "value": 164.4977
+  },
+  {
+   "name": "entry_knee",
+   "unit": "deg",
+   "threshold": 160,
+   "direction": "higher_better",
+   "value": 169.0989
+  },
+  {
+   "name": "entry_feet",
+   "unit": "m",
+   "threshold": 0.12,
+   "direction": "lower_better",
+   "value": 0.0657
+  },
+  {
+   "name": "entry_toes",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "higher_better",
+   "value": 0.4753
+  },
+  {
+   "name": "entry_beyond",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "higher_better",
+   "value": 0.354
+  },
+  {
+   "name": "entry_apart",
+   "unit": "m",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": 0.1548
+  },
+  {
+   "name": "entry_off",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": 0.1175
+  },
+  {
+   "name": "entry_twist",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": 4.6642
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人从十米台前沿蹬伸离台，向前翻转后以头和伸向头前的双臂领先、近竖直入水，在视频约 2.4 s 完成唯一节点“直体前翻入水”，最终为 1/1。评分器确认三个阶段全部通过，前翻角 169.1 度、入水距离 2.141 米、入水倾角 5.9 度，最终交付文件在 log step 286、298、300 的重复重放均成功。无状态日志，远景不能独立精测掌距、关节角或全身包围盒过水面的精确时刻，这些验收依据评分器字段，完成时间为视频末段的近似锚点。",
+ "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，唯一节点 forward_dive_completed 达成，评分器 success=1、三阶段全过，与视频末段入水一致；时间锚点约 2.4 s 合理，接触标注（腿/躯干 支撑）符合实际，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "effort": "high",
+  "created": "2026-10-31T00:12:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+  "calls": [
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+    "ok": true,
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+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl/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"
+  }
+ }
+}