diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--23udcaa.json new file mode 100644 index 0000000000000000000000000000000000000000..828f99d1b00328b76800841826c7270a84980852 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--bjptqva.json new file mode 100644 index 0000000000000000000000000000000000000000..d7020bc8ede540d1d5f23df86b8683354446fdaa --- /dev/null +++ b/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，时间锚点合理，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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--pfq6utk.json new file mode 100644 index 0000000000000000000000000000000000000000..dcd17d655edbeda7667608d0d99caea386c72419 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--qazb45s.json new file mode 100644 index 0000000000000000000000000000000000000000..bf7cdfe347ca4d8d15a01386335b6b66cd8ded33 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--sz5uvqa.json new file mode 100644 index 0000000000000000000000000000000000000000..cc1ee0b79a9b75b818528175f04aa482bd61d51e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--tr2lxxt.json new file mode 100644 index 0000000000000000000000000000000000000000..785bece12ce1507a7ae2e01a95228ca897bb24cc --- /dev/null +++ b/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，视频 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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-privileged--utvvxen.json new file mode 100644 index 0000000000000000000000000000000000000000..f195c7631499a843e32f1c1de96acd23a63d71b6 --- /dev/null +++ b/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", 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a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--3u5mjks.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbd03c6fd0b647ea2ebef0606e37bf8edd9227a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--7xw4tdq.json new file mode 100644 index 0000000000000000000000000000000000000000..95daf8ed7eac13e85e88ef188fd86c000f82f4e4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--cv6s2kd.json new file mode 100644 index 0000000000000000000000000000000000000000..80b7ce8d975d49de64be969c1d09c0246cf23a18 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--fvjb3r7.json new file mode 100644 index 0000000000000000000000000000000000000000..700c2f8411e534a4fb5b9d02a17774fbb0ba6fdf --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--itdshm3.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--itdshm3.json new file mode 100644 index 0000000000000000000000000000000000000000..3c413c7bd57203fda84beb1918a23c303f0298aa --- /dev/null +++ b/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，躯干及全身避开第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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--kuw2tgl.json new file mode 100644 index 0000000000000000000000000000000000000000..7799b3d9dc9e125f041f31034a697e99e2a877b2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--p9rqfss.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb2c369508f4503ad03fc6963e6cc41d64c5c29 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard--xupzdz9.json new file mode 100644 index 0000000000000000000000000000000000000000..6830b68edd28ccbd3c2eb42ecf136155028a7958 --- /dev/null +++ b/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": "机器人通过双腿移步使身体与第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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--7nza4qn.json new file mode 100644 index 0000000000000000000000000000000000000000..70be16727b3dd7d29285db27f642885b5e3a92f1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--d8pumph.json new file mode 100644 index 0000000000000000000000000000000000000000..960dce446e1b7802e02326c488f6f7b654f28b78 --- /dev/null +++ b/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": { + "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": 1597, + "calls": 331, + "rows": 8030, + "resets": 1, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 104.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 15.968, + "max_lag_s": 0.0048, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 0.901, + "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--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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa.json new file mode 100644 index 0000000000000000000000000000000000000000..c8de878a8660a9134daee93374f11c0d7aff9cf8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--mnxwnkc.json new file mode 100644 index 0000000000000000000000000000000000000000..c1452df3c9d3901d569f5d4c1d4a89054f696dd8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--o9zlx6c.json new file mode 100644 index 0000000000000000000000000000000000000000..c1341cecff90879621903ed68e7417d25b1acdb6 --- /dev/null +++ b/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，本回合未进入该次躲球。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--rpwdeky.json new file mode 100644 index 0000000000000000000000000000000000000000..b3588d13232e4278c130c40d3d1def9e05639a9b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu.json b/phase2/embodied-olympics-fun/dodgeball/trajectories/embodied-olympics-fun-dodgeball-i00-standard-realtime--yybjctu.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2a4a6dde8f4fd3a767f19674344e3a48af0a6e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--873kja7.json new file mode 100644 index 0000000000000000000000000000000000000000..3b012a693f789c2db70a6df8186d6cafe360cb16 --- /dev/null +++ b/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 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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--ac9zs5k.json new file mode 100644 index 0000000000000000000000000000000000000000..40da1952f8f6f936e6c59138446e982a3bca71b5 --- /dev/null +++ b/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线。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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--bxk5neq.json new file mode 100644 index 0000000000000000000000000000000000000000..3a62f4e31f421505c64b906c5bdc73133d3b8955 --- /dev/null +++ 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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，支撑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_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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--knxhmtj.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae76016da1e690deaac0648c25818ec7b7d637c --- /dev/null +++ b/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明，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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--n2su544.json 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"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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-privileged--spqntnx.json new file mode 100644 index 0000000000000000000000000000000000000000..84c67b74004c688ad6a259cd1154190fba64fdd3 --- /dev/null +++ b/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, + 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"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/躯干", + "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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--23f8eqa.json new file mode 100644 index 0000000000000000000000000000000000000000..40f80dbb1fb69ad1a972418c834ac450b7813671 --- /dev/null +++ b/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直接取自视频，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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--2hf3pzg.json new file mode 100644 index 0000000000000000000000000000000000000000..b124defe3955b5de6724745f01fd6ee8e55b71fe --- /dev/null +++ b/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，未接近或通过第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，归为控制；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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--eqfq4nf.json new file mode 100644 index 0000000000000000000000000000000000000000..33f401902ba46b026513377ff283414bc29c1fad --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--jqskwvt.json new file mode 100644 index 0000000000000000000000000000000000000000..e12ce23a989af28a1c652dffca5274ba06120f7d --- /dev/null +++ b/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：首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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--kr4byy4.json new file mode 100644 index 0000000000000000000000000000000000000000..43470ef23e23b37dd6426feea597128010ac29c9 --- /dev/null +++ b/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锥附近活动，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" + } + } +} diff --git a/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr.json b/phase2/embodied-olympics-fun/dribble_slalom/trajectories/embodied-olympics-fun-dribble-slalom-i00-standard--ymrzgtr.json new file mode 100644 index 0000000000000000000000000000000000000000..72abb945c05851ace3c2723781789e4354c1546a --- /dev/null +++ b/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，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跟随白球行进至第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": 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"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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--5wcyaua.json new file mode 100644 index 0000000000000000000000000000000000000000..de16cdc46225891394c09486679d5735569af52c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--9zkvw4z.json new file mode 100644 index 0000000000000000000000000000000000000000..5d4a8a7dcffbc4aca0436cfe1e7512cc23be6518 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--aanh8bc.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf4804200a424337ae40ec62091ce2592f9be26 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hacbe3d.json new file mode 100644 index 0000000000000000000000000000000000000000..6c2d7acfe2957b28eca20ca8275f32747f2ae931 --- /dev/null +++ b/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阶段记录确认，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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hy2dimj.json new file mode 100644 index 0000000000000000000000000000000000000000..713f0a1646c7b592a1499b0f2865544c990e8e48 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--hzpokda.json new file mode 100644 index 0000000000000000000000000000000000000000..fc184d660dc815de9dd7e3d81fa8bacdc3912664 --- /dev/null +++ b/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": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 4215, + "sim_steps": 4215, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 33.12, + "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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-privileged--st76mer.json new file mode 100644 index 0000000000000000000000000000000000000000..115b7b0ca0060c5bf789c611bef9c45e16dd147d --- /dev/null +++ b/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", + "video_sha256": "c9ca77654a759acfe5af647d7049ea04a328feb1e3657929cb8676632f63e225", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--6xwhsvv.json new file mode 100644 index 0000000000000000000000000000000000000000..54408ac28342cfcadf5793e22d3da93b5e79fe50 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--f8l76bt.json new file mode 100644 index 0000000000000000000000000000000000000000..04ccbda53a384a976cd06d14e9732269c05afc0d --- /dev/null +++ b/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, + "grader_error": 0, + "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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--jux8khs.json new file mode 100644 index 0000000000000000000000000000000000000000..d856c39fa5f13c894c84a45cb3d6ac93df08ad91 --- /dev/null +++ b/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": 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a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw.json new file mode 100644 index 0000000000000000000000000000000000000000..7377c651ace78f1865aae590eb7df6684e53db5a --- /dev/null +++ b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-bar-swing-i00-standard--m8yh9aw", + "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": 100, + "sim_steps": 100, + "calls": 5, + "rows": 100, + "resets": 0, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7176.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q3g3zfv.json new file mode 100644 index 0000000000000000000000000000000000000000..b8b4fc88ebf0a486c636824c61b371f414a45d55 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--q4bdbwu.json new file mode 100644 index 0000000000000000000000000000000000000000..d3eeeea9c1ddb72ec5eab7a916ace9151584a36a --- /dev/null +++ b/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、离开原握点，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": [] + }, + 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"9ee5bb82df5dbb51cd555576316699075eda29d6c1c9795c5607746619541ac8", + "video_sha256": "15336ab8d835456b0bfccf32b6f105c460bce4d0d4f54cf43334a9a80621f123", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5.json b/phase2/embodied-olympics-fun/high_bar_swing/trajectories/embodied-olympics-fun-high-bar-swing-i00-standard--wanktu5.json new file mode 100644 index 0000000000000000000000000000000000000000..a04b5d3912631a01d32fcccd20ac1a080778d118 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e58920454fb3c40f9c46d7be1b809dd4ab5e42 --- /dev/null +++ b/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", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:12:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--9cyc8yl/03_label" + }, + { + "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": { + "run_json_sha256": "20893ae0863763a98a6eebb1c56dd35858e83777709be038c1dd6adf926e335d", + "video_sha256": "320de6c97dc5b795cafa800e09a504fef23762206c0cd596341e819055456da9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--bzph6rc.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--bzph6rc.json new file mode 100644 index 0000000000000000000000000000000000000000..775a2e35b02b47ac28ffeaaffbb7629dccf4afe0 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--bzph6rc.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-privileged--bzph6rc", + "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": 204, + "sim_steps": 204, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 3.09, + "bad_trajectory": 0, + "metric_entry_apart": 0.0953, + "metric_entry_beyond": 0.3188, + "metric_entry_distance_m": 2.382, + "metric_entry_feet": 0.0959, + "metric_entry_hip": 171.634, + "metric_entry_knee": 170.0944, + "metric_entry_off": 0.0591, + "metric_entry_tilt_deg": 0.2, + "metric_entry_toes": 0.408, + "metric_entry_twist": 0.0698, + "metric_somersault_deg": 174.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 111, + "agent_resets": 28, + "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": 1.232, + "peak_processes": 10, + "peak_disk_gb": 0.836, + "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--bzph6rc/replay.mp4", + "duration_s": 2.08, + "fps": 25.0, + "frames": 52, + "sha256": "cc2141d2fe35bcd2f714b34c00d352577f44774ebe58b63655ebac2a62a2f74d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.24, + "log_step": null, + "text_zh": "观察：视频 0.00–0.24 s 的台前沿放大帧可见机器人屈伸双腿并举臂；视频 0.32–0.64 s 身体向台外上方移动，随后在空中逐渐前翻。" + }, + { + "t": 1.84, + "log_step": null, + "text_zh": "观察：视频 0.96–1.44 s 机器人在台外从近水平姿态向头朝下转动；视频 1.80–1.96 s 身体近竖直下降，双臂在头前、腿部伸直，依次穿过蓝色水面。" + }, + { + "t": 2.04, + "log_step": null, + "text_zh": "观察：逐帧检查视频 1.68–2.04 s，视频 2.00 s 尚有少量肢体可见，视频 2.04 s 机器人已完全消失于水面下；将全身入水完成锚定在视频 2.04 s，精度约一帧。成功参考视频也呈现台外前翻后近竖直没入的完成外观，仅作可见性对照。" + }, + { + "t": 2.04, + "log_step": 242, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=3/3。log step 241 对最终交付文件发起两次新进程重放，log step 242 两次均返回 success=true，阶段依次为 take-off、entry、under water，末态哈希一致；前翻角为 174.7 度、入水倾角为 0.2 度、入水距离为 2.382 米，与视频末段完成外观一致。" + }, + { + "t": 2.04, + "log_step": null, + "text_zh": "推断：远景视频不足以精确测量关节角、掌距、踝距和起跳高度；结合评分器成功及全部入水指标达标，按本次受评规则判定直体前翻入水节点完成并锁存。节点时刻取自视频帧，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": "观察：视频 0.00–0.24 s 机器人在棕色平台前沿以双脚支承并屈伸双腿，随后离台；双脚与台面的支撑构成起跳接触。视频末段机器人在台外腾空并入水，双臂用于姿态调整，未见抓物或手臂接触场馆设施。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 174.7 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": 2.382 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 0.2 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 171.634 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 170.0944 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0959 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.408 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.3188 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.0953 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0591 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 0.0698 + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“直体前翻入水”：从台前沿起跳，在台外前翻并近竖直入水，视频约 2.04 s 全身没入，最终进度为 1/1。评分器判定成功，最终交付文件的两次新进程重放也均成功且末态哈希一致。无状态日志，远景分辨率不足以独立测量全部关节角、掌距及起跳高度，这些数值判据依据评分器字段，完成时刻依据视频末段逐帧判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一节点 forward_dive_completed 判定完成合理：视频 1.8 s 可见机器人近竖直入水，2.00 s 仅余少量残影，2.04 s 完全消失，与标注一致；评分器字段 success=1、stages 3/3 及 log step 241-242 的两次新进程重放成功均有据。contact_actual（腿/躯干 支撑）与 DAG 一致且符合实际；failure 为 null 合理；时间用视频时钟，无 agent 时间换算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:11:42Z", + "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-platform-10m-i00-privileged--bzph6rc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--bzph6rc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f1cc0b0fbabaa441e369fb4e9152350dae4f77d3f42b26e944d287004374996a", + "video_sha256": "cc2141d2fe35bcd2f714b34c00d352577f44774ebe58b63655ebac2a62a2f74d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--smpltrx.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--smpltrx.json new file mode 100644 index 0000000000000000000000000000000000000000..efc5a1a596648be1b7d36d87afc7761d771a118d --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--smpltrx.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-privileged--smpltrx", + "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": 291, + "sim_steps": 291, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 3.49, + "bad_trajectory": 0, + "metric_entry_apart": 0.1013, + "metric_entry_beyond": 0.2339, + "metric_entry_distance_m": 2.355, + "metric_entry_feet": 0.0409, + "metric_entry_hip": 174.0846, + "metric_entry_knee": 169.8415, + "metric_entry_off": 0.0592, + "metric_entry_tilt_deg": 4.6, + "metric_entry_toes": 0.5001, + "metric_entry_twist": 1.0146, + "metric_somersault_deg": 171.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 0, + "agent_resets": 0, + "agent_replays": 9, + "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": 6.943, + "peak_processes": 19, + "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-platform-10m-i00-privileged--smpltrx/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "159709c3c9a55427e62273e9e8da19f95e34f9e72ab14798a7adef81ed194f25" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.96, + "log_step": null, + "text_zh": "观察：视频 0.00–0.96 s，机器人在棕色平台前沿以脚部支撑，随后抬臂并屈腿准备起跳；视频 1.28–1.60 s 可见机器人离开台沿，在空中向前转动。" + }, + { + "t": 2.32, + "log_step": null, + "text_zh": "观察：视频 1.76–2.32 s，机器人在台外持续向前翻转，身体逐渐伸直，两腿靠拢，双臂伸向头前；视频 2.60–2.88 s，机器人头朝下、身体接近竖直向蓝色水面下降，轮廓在入水处逐渐消失。" + }, + { + "t": null, + "log_step": 131, + "text_zh": "观察：log step 131 中，agent 脚本重新生成最终 291 行交付轨迹，两次新进程重放均输出 success True、阶段 take-off/entry/under water，末态哈希相同；log step 135 的 agent 最终报告确认保留该交付。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=3、stages_total=3，与最终交付的前翻 171.3 度及入水倾角 4.6 度一致；早期调试失败不属于视频所示的评分尝试。" + }, + { + "t": 2.88, + "log_step": null, + "text_zh": "推断：结合视频 2.80–2.88 s 机器人近竖直没入、末帧只剩入水处微小轮廓，以及评分器 success=1 和三阶段全部完成，将全身入水事件锚定在视频约 2.88 s（末帧附近）。无状态日志且远景像素有限，不能单凭画面精确确认最高碰撞包围盒过水面的瞬间或量出全部关节与掌部阈值；这些数值验收以本次评分器结果为依据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.96 s，机器人的脚部在棕色平台前沿支撑身体并随屈腿准备起跳；视频 1.28–1.60 s 已离开台沿。之后可见机器人腾空、翻转并入水，双臂用于自身姿态调整，未见抓持或借助手部支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 171.3 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": 2.355 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 4.6 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 174.0846 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 169.8415 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0409 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.5001 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2339 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.1013 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0592 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 1.0146 + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“直体前翻入水”（1/1）：从平台前沿起跳，在空中前翻后伸直并腿、双臂伸向头前，近竖直没入水中，完成锚定在视频约 2.88 s。评分器记录三阶段全部完成、成功且确定性重放一致，前翻 171.3 度、入水倾角 4.6 度，全部已报告的原生指标符合阈值。无状态日志，远景不能精确量出关节角、掌距及全身过水面的瞬间，节点终值结合视频与本次评分结果确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 success=1、三阶段全部完成，视频中机器人起跳、翻转并近竖直入水，节点终值与锚点约 2.88 s 与画面一致；远景下细节无法精确核对，但标签已如实标注为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:11:20Z", + "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-platform-10m-i00-privileged--smpltrx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--smpltrx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0fe9c311334c97d346292e6b1b18d96a6c6505b827b295640b403556a7f0308d", + "video_sha256": "159709c3c9a55427e62273e9e8da19f95e34f9e72ab14798a7adef81ed194f25", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--uey78dt.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--uey78dt.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdf185a71bd14a379cb64830b58aed19a995d6b --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--uey78dt.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-privileged--uey78dt", + "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": 244, + "sim_steps": 244, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 3.31, + "bad_trajectory": 0, + "metric_entry_apart": 0.0964, + "metric_entry_beyond": 0.2744, + "metric_entry_distance_m": 1.998, + "metric_entry_feet": 0.0583, + "metric_entry_hip": 173.2245, + "metric_entry_knee": 169.7441, + "metric_entry_off": 0.0912, + "metric_entry_tilt_deg": 1.0, + "metric_entry_toes": 0.4739, + "metric_entry_twist": 5.0121, + "metric_somersault_deg": 174.8, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 153, + "agent_resets": 35767, + "agent_replays": 11, + "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": 3.353, + "peak_processes": 18, + "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-platform-10m-i00-privileged--uey78dt/replay.mp4", + "duration_s": 2.48, + "fps": 25.0, + "frames": 62, + "sha256": "a459473a508b224695db8c3f4c26388c08fa5028bba710ea222ad1cf9ec2ce9c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.52 s，机器人在棕色平台前沿以脚部支撑，屈腿后向上伸展；视频 0.64–1.60 s 的连续帧显示机器人离开平台，向前移动并翻转至接近水平。" + }, + { + "t": 2.32, + "log_step": null, + "text_zh": "观察：视频 1.92–2.44 s，机器人继续前翻至头朝下、腿部朝上，双臂朝头前伸展，身体近竖直下降并逐渐穿过蓝色水面；视频 2.32–2.44 s 脚部最后下降至水面附近，末帧已无高出水面的完整身体轮廓。" + }, + { + "t": 2.44, + "log_step": 114, + "text_zh": "推断：依据视频 2.32–2.44 s 的末段入水帧及本次评分器 reward.success=1、replay_success=1、stages_reached=3/3、deterministic=1，直体前翻入水节点在视频约 2.44 s 完成并锁存，时间存在约 0.1 s 的视觉不确定性。log step 109 保存的最终 244 步轨迹及 log step 114 对该交付文件的新进程重放均通过起跳、入水、全身入水三个阶段，数值与本次 reward 一致；未将 agent 工作时间换算为视频时间。" + }, + { + "t": null, + "log_step": 114, + "text_zh": "观察：本次 reward 报告前翻角 174.8 度、入水距离 1.998 米、入水倾角 1.0 度、髋角 173.2245 度、膝角 169.7441 度、踝距 0.0583 米、跖屈 0.4739 弧度、双掌超头 0.2744 米、掌距 0.0964 米、离身体线 0.0912 米、转体 5.0121 度；均满足 DAG 的对应数值要求，log step 114 对最终文件的重放输出同值。视频远景不能独立精确测量这些数值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.52 s，机器人的脚部在平台前沿承重并蹬台起跳；随后离台腾空前翻、向水面下降。双臂在空中调整自身姿态，未见抓物或扶栏接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 174.8 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": 1.998 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 1.0 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 173.2245 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 169.7441 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0583 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.4739 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2744 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.0964 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0912 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 5.0121 + } + ], + "failure": null, + "summary_zh": "机器人从平台前沿蹬离并连续前翻，双臂伸向头前、身体近竖直入水，约在视频 2.44 s 完成唯一节点，最终进度为 1/1。评分器成功及最终交付文件的重复重放结果一致，全部原生指标满足阈值，无失败断点。没有状态日志，远景不能独立精确核验关节角、掌距及全身入水的逐物理步时刻，数值依据本次评分器字段，完成时间由末段画面近似定位。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点直体前翻入水，评分器 success=1、stages 3/3，视频 0–2.44 s 起跳、前翻、入水过程与标注一致，末段入水时间合理，contact_actual 为腿/躯干支撑，无失败断点，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": "2026-10-31T00:12:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--uey78dt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--uey78dt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3093539cacb72eb050f05077c9d0836095c2e3839149e696bcdb609dc8a69ef6", + "video_sha256": "a459473a508b224695db8c3f4c26388c08fa5028bba710ea222ad1cf9ec2ce9c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja.json new file mode 100644 index 0000000000000000000000000000000000000000..46562453d26fe5f7355e3e25684bb5813af674e1 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja", + "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": 298, + "sim_steps": 238, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 3.15, + "bad_trajectory": 0, + "metric_entry_apart": 0.1064, + "metric_entry_beyond": 0.2462, + "metric_entry_distance_m": 2.136, + "metric_entry_feet": 0.0956, + "metric_entry_hip": 171.4569, + "metric_entry_knee": 170.1178, + "metric_entry_off": 0.0946, + "metric_entry_tilt_deg": 2.7, + "metric_entry_toes": 0.4985, + "metric_entry_twist": 7.9398, + "metric_somersault_deg": 177.9, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 55, + "agent_resets": 5375, + "agent_replays": 2, + "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": 2.325, + "peak_processes": 19, + "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-platform-10m-i00-privileged--ywrbdja/replay.mp4", + "duration_s": 2.4, + "fps": 25.0, + "frames": 60, + "sha256": "2d90eb07087c08d53de029c1ccc029760cfb65ce839e4c7d27684be76730a656" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.36, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频 0.00–0.60 s，机器人在棕色平台前沿以双脚支撑，身体逐渐前倾并抬起双臂；视频 0.72–0.96 s，机器人已蹬离台面向前上方腾空。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 1.00–1.96 s 的逐帧画面中，机器人从前倾转为近水平，再转为头朝下，后半段双腿基本伸直并拢，双臂沿头前方伸出，持续向平台前方下降。" + }, + { + "t": 2.36, + "log_step": null, + "text_zh": "观察：视频 2.00–2.36 s 逐帧显示机器人头手在下、脚在上近竖直下降，视频 2.28–2.36 s 身体依次穿过蓝色水面，末帧水面上方已无完整身体轮廓；与成功参考视频 2.32–2.40 s 的入水末段外观一致。远景不能直接量出最高碰撞包围盒越过水面的精确时刻。" + }, + { + "t": 2.36, + "log_step": 32, + "text_zh": "推断：结合视频末段与本次评分器 success=1、replay_success=1、deterministic=1、stages_reached=3/3，将“直体前翻入水”完成锚定在末帧视频约 2.36 s（帧间隔 0.04 s，时刻近似）。log step 32 保存加尾部备用行的交付文件并重放成功，log step 34 再次生成的 298 行动作逐行相同；此前会话测试中的碰台失败不属于本次评分视频。" + }, + { + "t": null, + "log_step": 33, + "text_zh": "观察：log step 33 读取交付文件重放的裁判事件，记录仿真 0.692 s 腾空、仿真 0.694 s 有效起跳、仿真 2.269 s 右手首次触水、仿真 2.38 s 全身入水并成功；这里只作为重放验收证据，节点视频时间来自已查看的帧。评分器原生指标为前翻 177.9 度、入水距离 2.136 米、入水倾角 2.7 度，全部报告指标符合 DAG 阈值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.60 s 机器人双脚在棕色平台前沿承重并蹬台，随后腾空；双臂在空中调整姿态，未见手抓握或撑台。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 177.9 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": 2.136 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 2.7 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 171.4569 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 170.1178 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0956 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.4985 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2462 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.1064 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0946 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 7.9398 + } + ], + "failure": null, + "summary_zh": "机器人从平台前沿蹬离、向前翻转并以头手在下的近竖直姿态入水，约视频 2.36 s 完成唯一节点“直体前翻入水”，最终 1/1，评分器判定成功且确定性重放成功。视频动作与成功参考一致；本次评分器报告前翻 177.9 度、入水距离 2.136 米、倾角 2.7 度，全部原生指标达标。无状态日志，远景无法逐项精测掌距、关节角及全身过水面的亚帧时刻，这些验收细节由评分器结果支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点入水成功，约视频 2.36 s 完成，评分器 success=1、各指标达标，标注与帧一致；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": "2026-10-31T00:05:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-privileged--ywrbdja/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "429d2b410478efefae33ac34420d89bf39cd77104d6da031084e17b9f88c7a1f", + "video_sha256": "2d90eb07087c08d53de029c1ccc029760cfb65ce839e4c7d27684be76730a656", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad5f2cf862c2b3029efbcced61c6c7c44f16690 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 239, + "sim_steps": 10820, + "calls": 279, + "rows": 10820, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1963.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.518, + "peak_processes": 9, + "peak_disk_gb": 0.92, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-platform-10m-i00-standard--9p6xaaj/replay.mp4", + "duration_s": 2.4, + "fps": 25.0, + "frames": 60, + "sha256": "5aca07211ba72b089b53fca9ec156f9c1823a7e67430980d8cdabd2257bdfe3d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.76, + "log_step": null, + "text_zh": "观察：视频 0.00–1.56 s 机器人在棕色平台前端站立并调整姿态，视频 1.60–1.92 s 摆臂、伸腿，随后向前翻转；视频 2.00–2.36 s 身体仍紧靠平台前缘，未下降到蓝色水面，未出现全身入水。" + }, + { + "t": 2.36, + "log_step": 122, + "text_zh": "观察：视频 2.28–2.36 s 机器人翻转到平台前缘下方并与台缘轮廓重叠；log step 121–122 运行最终控制脚本并报告 episode 51、done=True、stages_reached=1/3，服务裁判原文为“touched the platform or its railings during the dive”。log step 124 再次读取同一终结结果。" + }, + { + "t": 2.36, + "log_step": null, + "text_zh": "观察：成功参考视频 1.60–2.40 s 可见机器人离开台缘、向水面下降并没入水中；本次视频直到最后一帧（视频 2.36 s）仍在台缘附近，缺少该节点必需的完整入水过程。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.92 s 机器人双腿在台前端承重并伸展蹬台，双臂摆动调姿，未抓持物体；随后前翻并在视频 2.28–2.36 s 紧贴台缘。log step 122 的服务裁判确认离台后发生触台或碰栏，远景无法辨清该次碰撞的具体身体连杆。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_dive_completed", + "t": 2.36, + "log_step": 122, + "where": "操作中", + "evidence_zh": "观察：视频 1.92–2.36 s 机器人正执行前翻，未远离台前缘，末段身体与台缘轮廓重叠，且仍远高于水面；log step 122 的最终 episode 51 被服务裁判以空中触台或碰栏终止，只完成裁判 1/3 阶段，完整直体前翻入水未完成。" + }, + "unmet": { + "forward_dive_completed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.36, + "log_step": 122, + "evidence_zh": "观察：视频 2.16–2.36 s 机器人向前旋转并下降时仍紧邻台前缘，末段身体轮廓与台缘重叠；log step 122、124 的服务裁判终结信息均为“touched the platform or its railings during the dive (D 8.5.3)”，碰撞使本次跳水在入水前结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 123 显示最终脚本先用 walk_agile 沉降，再发送固定时长的关节推蹬与伸直姿态；log step 117 说明 agent 为越过台缘增大摆臂和推蹬时长。该最终脚本的 episode 51 仍被服务裁判判为空中触台（log step 122、124），与视频 1.92–2.36 s 前翻未清出台缘一致，表明起跳与翻转控制未实现所需的离台净空；现有证据不足以区分轨迹、跟踪或具体参数问题。" + } + ], + "gap_zh": "无状态日志；远景视频中机器人尺寸很小，无法精确辨认碰撞连杆、首次碰撞的物理时刻或起跳速度，因此不细分控制根因。log step 124 的 episode time=2.39 s 是服务报告的仿真时间，未用于替换视频锚点 2.36 s；日志含多次重置，早期测试的成功阶段和姿态不计入本次节点进度。评分器未报告 DAG 所列入水原生指标，均保留 null。" + }, + "summary_zh": "最终受评的是 log step 121–124 的 episode 51：机器人完成起跳后开始前翻，但在视频 2.28–2.36 s 仍贴近台前缘，触台或碰栏导致终止，未入水，节点完成 0/1。推断固定时序的起跳与翻转控制未获得足够离台净空，失败现象为被挡/碰撞；缺少状态日志且画面较远，无法确定碰撞连杆或更细的控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：最终受评 episode 51 在视频约 2.36 s 仍贴近台缘，裁判以触台/碰栏终止，节点未达成，断点与现象有据，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:15:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--9p6xaaj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e8c12a930fa44e6b62f8b524648423770feab1d5bd18755d2c5f85246e06245e", + "video_sha256": "5aca07211ba72b089b53fca9ec156f9c1823a7e67430980d8cdabd2257bdfe3d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--dmnakkh.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--dmnakkh.json new file mode 100644 index 0000000000000000000000000000000000000000..b32553e4353a97998e4d64742fe4ef3357ebda64 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--dmnakkh.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--dmnakkh", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 7, + "sim_steps": 7, + "calls": 4, + "rows": 6, + "resets": 0, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1032.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.703, + "peak_processes": 7, + "peak_disk_gb": 0.313, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-platform-10m-i00-standard--dmnakkh/replay.mp4", + "duration_s": 0.08, + "fps": 25.0, + "frames": 2, + "sha256": "51a51d46413b9dafbace38719694eccc5ea37a3a6fd2dcd5c5d9572412cade25" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：逐帧查看本次视频全部两帧（视频 0.00 s、0.04 s，含末帧）及台沿放大图，机器人始终直立在棕色平台前沿，未见蹬离、前翻或穿过蓝色水面；直体前翻入水节点未达到。初始站姿支撑不计跳水步骤的实际尝试，故不列 contact_actual。" + }, + { + "t": 0.04, + "log_step": 36, + "text_zh": "观察：log step 26 仅令实时服务推进站姿观测；log step 35、36 向实时机器人提交初始站姿关节目标，末次服务本体反馈为仿真 0.070 s，骨盆姿态仍近直立；reward 记 sim_steps=7、resets=0、live_success=0。此处仿真时刻不换算为视频时间，视频末帧仍显示站在台沿。" + }, + { + "t": null, + "log_step": 41, + "text_zh": "观察：log step 41 的 double_jump_on_platform 和 takeoff_done=false 是 agent 自建 DiveSim 在本地运行的输出，未提交实时机器人，不能作为本次视频发生二次起跳的证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 47, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s、0.04 s 的机器人均仍站在台沿；log step 35、36 只向实时服务提交初始站姿，之后 log step 37–46 均为本地模型比较、模拟或代码修改，log step 47 记录“This request was blocked by Gemini's filters”。推断：在首个跳水动作启动、实时任务结果固定之前，会话被模型提供方过滤器中断；无可定位的机器人跳水失败事件，故断点 ref 为 unknown，视频锚点为空。" + }, + "unmet": { + "forward_dive_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整 run.json、两帧共 0.08 s 的本次视频及成功参照视频，无 states.jsonl；本次仅可见原地站姿，log step 47 明确记录模型提供方过滤器拦截。log step 41 的二次起跳判定来自 agent 自建本地模拟，log step 44 的缩进异常也仅发生于该本地脚本，均未发生于实时受评控制过程。推断：按外因中断规则，本次应重试并排除于机器人失败归因；保留 catalog success=0，但不以“没尝试”或控制问题归因，现象和根因均为空。视频不足以测量跳水原生指标，评分器字段也未报告这些数值，故全部置 null。" + }, + "summary_zh": "观察：本次视频 0.00 s、0.04 s 均显示机器人仍站在十米台前沿，直体前翻入水未达到，节点最终为 0/1。观察：log step 35、36 只执行原地站姿诊断，log step 47 记录模型提供方过滤器中断。推断：任务动作尚未启动即遭外因截断，按规则断点为 unknown／首步前、现象和根因留空；无状态日志，且评分器未提供跳水原生指标数值。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频仅两帧（0.00 s、0.04 s），机器人始终站在台沿，节点未达到；log step 47 为模型提供方过滤器拦截，图层留空并写 gap_zh 符合外因中断规则，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:14:19Z", + "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-platform-10m-i00-standard--dmnakkh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--dmnakkh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fc3d467aecd5a05f90960764a5c6773d9bbdd4199f1c1b265913a32606132522", + "video_sha256": "51a51d46413b9dafbace38719694eccc5ea37a3a6fd2dcd5c5d9572412cade25", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz.json new file mode 100644 index 0000000000000000000000000000000000000000..f13dcc29f60a4e45d173c8b818b3bee9c2b44cb9 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz.json @@ -0,0 +1,264 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 151, + "sim_steps": 872, + "calls": 225, + "rows": 872, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6115.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 9.918, + "peak_processes": 25, + "peak_disk_gb": 0.345, + "resource_emergency_kills": 0, + "resource_oom_kills": 7, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_oom": 1, + "over_memory_gb": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz/replay.mp4", + "duration_s": 1.52, + "fps": 25.0, + "frames": 38, + "sha256": "e0efbb2f3d6a3e58f0fd9e4108815dd55b081a456e7e6ab61eb0604c91eb4e99" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.28 s，机器人在棕色平台前沿站立；视频 0.32–1.00 s，机器人蹲身并伸腿，开始跳水尝试。" + }, + { + "t": 1.48, + "log_step": 169, + "text_zh": "观察：逐帧检查视频 0.00–1.48 s（含末秒及台沿放大图），机器人始终在台前沿附近，视频 1.04–1.48 s 有抬升、屈身和回落，没有离台后向池中下落、头先入水或全身没入。log step 169 的第 6 次实时尝试输出裁判结果“a double jump: landed on the platform again before the dive”，stages_reached=1、stages_total=3；这些是服务返回的跳水裁判阶段，并非本 DAG 的三个节点。" + }, + { + "t": 1.48, + "log_step": 171, + "text_zh": "推断：log step 68 的服务说明只有最后一次尝试受评，log step 171 确认 episode=6、done=True、reason=failed、control_steps=151，与本视频约 1.52 s 的短尝试相符；结合视频中从未出现入水，直体前翻入水事件未完成。这里只用视频帧定位，未将 agent 工作时间换成视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.00 s，机器人双脚在平台前沿支撑身体并蹲身、伸腿发力；视频末段身体回落到台沿附近，log step 169 的最终裁判确认离台后再次落回平台。手臂用于调整自身姿态，未见手抓物或操作外物。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_dive_completed", + "t": 1.48, + "log_step": 169, + "where": "操作中", + "evidence_zh": "观察：视频 1.04–1.48 s，机器人在平台前沿抬升、屈身后回落，未向池中完成前翻入水；log step 169 的最后一次实时尝试由服务裁判以离台后再次落回平台（double jump）判负，log step 171 确认第 6 次尝试已终止。视频 1.48 s 为末帧附近的粗略故障锚点，远景不足以确定实际触台的物理步。" + }, + "unmet": { + "forward_dive_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 1.48, + "log_step": 169, + "evidence_zh": "观察：视频 0.96–1.48 s，机器人伸腿抬身后仍停留在台沿附近，末段回落，没有形成向池中的持续腾空轨迹；log step 169 的服务裁判明确报告再次落回平台。推断：这次起跳的运动幅度和向前离台效果不足，跳水在起跳阶段即失败；没有完成一次可继续入水的前跳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 169 中，agent 为最终实时尝试设置髋、膝前馈力矩各 60 Nm、踝前馈力矩 25 Nm、伸腿增益 1000，并以 t_force=1.04 触发空中控制分支；同一步的控制器记录已进入 FLIGHT_PIKE，但服务最终仍判再次落回平台。视频 0.96–1.48 s 也显示机器人未能向池中离台。推断：用于起跳和翻转的全身控制未产生所需的离台运动，支持控制层归因；现有证据不足以进一步区分轨迹、反馈或具体参数故障。", + "source_zh": "日志" + } + ], + "gap_zh": "无逐物理步状态日志，远景中机器人仅占少量像素，无法精确辨别重新触台的部位、首次离台时刻及真实质心上升量，也无法量出关节角和力矩。log step 169 的 theta、z 是 agent 自编估计器的输出，不当作真实前翻角或原生指标；log step 176 自述质心升高约 0.05–0.09 米的说法未获独立验证。评分器字段未报告 DAG 所列原生指标，因此其 value 均为 null。" + }, + "summary_zh": "最终受评的是第 6 次实时尝试：机器人完成蹲身、伸腿及短暂离台尝试，但没有向池中完成直体前翻或全身入水，节点最终为 0/1。视频末段机器人回落到台沿附近，log step 169 的服务裁判以再次落回平台判负，断点为直体前翻入水的操作中，现象为步态，根因可支持到控制层。缺少状态日志且机器人在远景中很小，无法独立核实精确质心上升量或进一步确定控制子类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未完成、断点（forward_dive_completed，操作中）、步态现象与控制层根因均与证据一致：第6次实时尝试的日志在 sim t=1.49 s 处输出 double jump、stages 1/3、done=True reason=failed，与视频约1.52 s 的长度吻合；视频中机器人始终在台沿，从未入水。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:14:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--gd9f5cz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d5ef8c4002387a0797de6c2f88aa4633d89f09ac472d5930d0f18c76fb8b5b4d", + "video_sha256": "e0efbb2f3d6a3e58f0fd9e4108815dd55b081a456e7e6ab61eb0604c91eb4e99", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq.json new file mode 100644 index 0000000000000000000000000000000000000000..856494a321fd79532b61a5d860a136cd51a28b91 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--h9b77wq", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 235, + "sim_steps": 7011, + "calls": 5002, + "rows": 6841, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1904.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.348, + "peak_processes": 10, + "peak_disk_gb": 1.014, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-platform-10m-i00-standard--h9b77wq/replay.mp4", + "duration_s": 2.36, + "fps": 25.0, + "frames": 59, + "sha256": "ce1f381363f49ed94219ecbb782b9ea155f81cca7a937c2bdb4ab75e2c6b07d0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.6, + "log_step": 114, + "text_zh": "观察：视频 0.00–0.72 s，机器人在棕色台前沿支撑、屈腿并逐渐前倾；视频 0.76–1.12 s 伸腿后离开台沿，随后持续下落。log step 114 的脚本最后执行 r06a 变体，log step 115 对应 episode 51，不能将此前其他测试的结果计入本节点。" + }, + { + "t": 2.32, + "log_step": 148, + "text_zh": "观察：视频 1.20–1.76 s 机器人由斜向上姿态逐渐转至近水平，视频 2.16–2.32 s 接近蓝色水面时仍明显倾斜，末帧没有呈现完成近竖直全身没入的过程。log step 148 的服务终态明确为 episode 51、failed、stages_reached=0/3，outcome 为“no take-off: the centre of mass never rose (D 8.4.4), a fall is not a dive”。" + }, + { + "t": 2.32, + "log_step": null, + "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 的参考视频 2.20–2.40 s 显示机器人头朝下近竖直穿入水面并全身没入；本次视频 2.16–2.32 s 未出现该形态。参考仅用于辨认完成外观。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–约 1.04 s，机器人双脚在平台前沿承重，屈伸双腿并前倾；约视频 1.08 s 后双脚与台沿分离，身体腾空下落。双臂摆动调整自身姿态，未见手部操作外物。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_dive_completed", + "t": 1.04, + "log_step": 115, + "where": "操作中", + "evidence_zh": "观察：视频 0.60–1.12 s，机器人在台边逐步前倾、伸腿离台，随后向前下方运动；视频 1.20–2.32 s 未完成前翻近竖直入水。log step 148 的服务裁判把同一 episode 51 判为未有效起跳、质心从未达到所需上升高度，stages_reached=0/3。断点锚在视频约 1.04 s 的离台附近，裁判在触水时终止；这里的下落不作为台面失衡的判断。" + }, + "unmet": { + "forward_dive_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 1.04, + "log_step": 148, + "evidence_zh": "观察：视频 0.60–1.12 s，机器人在台沿前倾、伸腿并离台，随后腾空向前下方运动，未见机器人在台面翻倒；视频 1.20–2.32 s 身体逐渐转至近水平后斜着接近水面。log step 115 的最终 r06a 变体与 log step 148 的 episode 51 服务终态均报告“no take-off: the centre of mass never rose (D 8.4.4)”，终态 stages_reached=0/3。推断：该次起跳未达到所需质心上升要求，属于跳跃质量不足；离台本身不能作为失衡证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "参数调试", + "evidence_zh": "观察：log step 114 的 exp16 脚本用同一屈腿—前倾—伸腿—空中姿态序列扫描参数；p00 与 p06 仅将前倾保持 dt_tip 从 0.0 改为 0.06，log step 115 对应裁判输出从“not a forward half somersault”变成“no take-off: the centre of mass never rose”。最终 r06a 保留 dt_tip=0.06，并将伸腿阶段 arms_p 的肩关节目标改为 -1.6；log step 115 将其对应到 episode 51，log step 148 的服务终态再次确认未有效起跳。视频 0.76–1.12 s 可见机器人伸腿离台后开始下落。推断：参数对照支持前倾保持时长会影响起跳门槛，最终选用的时序与关节目标组合未产生合格起跳，归为参数调试；不能据此确定每个关节的力学贡献，也未证明存在满足全部跳水条件的参数组合。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志，远景视频不足以精确测量质心升高、各关节角及掌距；未有效起跳的结论依据 log step 148 对最终 episode 51 的服务裁判回执。日志中的姿态估算是 agent 脚本的计算，未作为原生指标数值；评分 reward 未报告 DAG 所列各项原生指标，均填 null。log step 114–115 的参数对照支持参数调试归因，但缺少接触力及轨迹跟踪数据，无法分离最终各参数的力学贡献；尚未验证同时满足有效起跳与前翻入水的完整可行解。" + }, + "summary_zh": "评分局为最后的 episode 51：机器人在十米台前沿屈伸、前倾并离台下落，唯一节点“直体前翻入水”未达成，最终为 0/1。视频约 1.04 s 的离台未形成有效起跳，服务裁判确认质心升高不足，现象为步态；log step 114–115 的参数对照支持最终时序与关节目标组合不当，根因为参数调试。无状态日志且视角较远，无法精确核对各项数值或分离每个参数的力学贡献，根因仍含推断，置信度由 7 调为 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（节点未达成、断点锚在离台约 1.04 s、log 步号）与视频和 log 一致；问题在 WHY：现象“平衡”不符合定义（机器人是有意蹬离而非失去支撑/翻倒，且并无摔倒），根因 item 写“控制”不是该类下的条目，且 agent 全程做参数扫描，宜归参数调试。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、断点锚在离台约 1.04 s、现象步态与根因参数调试均有视频和 log（服务终态 episode 51 no take-off）支持；第 1 轮问题已改正，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:22:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--h9b77wq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "24ffd5937216c7567ead7d271cb1e08b94bbacf9fd8388fe2b9e6d701a3491a5", + "video_sha256": "ce1f381363f49ed94219ecbb782b9ea155f81cca7a937c2bdb4ab75e2c6b07d0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha.json new file mode 100644 index 0000000000000000000000000000000000000000..be5ecd0124a252d16fdbd1e01cd10365c5737ea7 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--kdg88ha", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 240, + "sim_steps": 240, + "calls": 6, + "rows": 240, + "resets": 0, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 342.7, + "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": 0.332, + "peak_processes": 17, + "peak_disk_gb": 0.844, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha/replay.mp4", + "duration_s": 2.44, + "fps": 25.0, + "frames": 61, + "sha256": "1c36a10ebaa49d15d6c303721e98c612bd6dd7cf4fe3e29d67b884ea21a18388" + }, + "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 0.00–0.60 s，机器人在棕色平台前沿双脚支撑、屈腿并抬臂；视频 0.68–0.72 s 双脚离开台沿，身体向前上方腾起。" + }, + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 0.80–2.28 s，机器人离开平台后连续向前翻转，由斜向上、近水平转至头朝下，后段身体和双腿大致伸直、双臂伸在头前；视频 2.32–2.40 s 身体依次穿过蓝色水面，最后水面上不再有完整身体轮廓。已逐帧查看视频最后一秒；成功参考视频也呈现相同的前翻、头先入水和身体逐渐隐没的可见过程，参考视频仅用于辨认画面。" + }, + { + "t": 2.4, + "log_step": 33, + "text_zh": "观察：log step 33 的机器人服务终结响应（服务内置裁判结果，非 agent 自述）记录 episode=1、control_steps=240、sim_time_s=2.4、done=true、outcome=success、stages_reached=3/3；inputs/run.json 的 reward 同时记录 live_success=1、graded_by_live=1、finalized=1、resets=0。" + }, + { + "t": 2.4, + "log_step": 33, + "text_zh": "推断：log step 7 的服务规格给出 control_dt=0.01 s，log step 33 的本回合 control step 240 对应 240×0.01=2.40 s，已用视频 2.32–2.40 s 全身入水的可见终结事件核对；因此将完成事件锚定在视频约 2.40 s。远景无法独立精确量出质心上升、掌距及全部关节角，结合本回合服务裁判成功判定该目标完成并锁存。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.60 s，机器人双脚在棕色平台前沿承重并蹬伸；视频 0.68–0.72 s 后离台腾空，双臂摆动并转至头前，未见手臂接触台面或护栏。推断：离台前的外部承重接触为双脚与台面，腾空及入水阶段不另计水面的实体接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "value": null, + "unit": "deg", + "threshold": 180, + "direction": "target" + }, + { + "name": "entry_distance_m", + "value": null, + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target" + }, + { + "name": "entry_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + }, + { + "name": "entry_hip", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_knee", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_feet", + "value": null, + "unit": "m", + "threshold": 0.12, + "direction": "lower_better" + }, + { + "name": "entry_toes", + "value": null, + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "entry_beyond", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "higher_better" + }, + { + "name": "entry_apart", + "value": null, + "unit": "m", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "entry_off", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "entry_twist", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "本次唯一评分回合完成“直体前翻入水”节点，进度由 0/1 到 1/1：机器人在视频约 0.68–0.72 s 离台，前翻后头先近竖直入水，在视频约 2.40 s 全身没入。机器人服务裁判在 log step 33 确认全部三个验收阶段成功，评分器记录无重置、实时成功，故无失败断点。证据限制：无状态日志，远景不足以独立精测质心上升、掌距、踝距及关节角，这些细项由本回合成功裁判结果支持；DAG 所列原生指标未在评分器字段报告，数值均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功回合，唯一节点 forward_dive_completed 于视频约 2.40 s 完成，与视频入水过程及服务终结结果一致；接触标注合理，无失败断点，控制步到视频时间的换算有说明且核对过可见事件。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:09:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--kdg88ha/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6c710f7d6c129421b1989943f837b16ec0ded5e5b728b5fe444afae7809be9f4", + "video_sha256": "1c36a10ebaa49d15d6c303721e98c612bd6dd7cf4fe3e29d67b884ea21a18388", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--v3drex9.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--v3drex9.json new file mode 100644 index 0000000000000000000000000000000000000000..80e2107be842b228872ccb9fb9a43dd75282d21d --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--v3drex9.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--v3drex9", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 33, + "sim_steps": 33, + "calls": 7, + "rows": 33, + "resets": 0, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6639.2, + "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": 1.225, + "peak_processes": 9, + "peak_disk_gb": 0.394, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-platform-10m-i00-standard--v3drex9/replay.mp4", + "duration_s": 0.36, + "fps": 25.0, + "frames": 9, + "sha256": "d0c9fa30fe1d9403414599750103720f7e4334029b29ef571024d8560668cffa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00–0.32 s 的全部 9 帧及台前沿放大图；原始 640×360 画面约 x=280–300、y=15–60 的棕色台前沿右侧可见机器人细小的头部、躯干及手臂轮廓，视频 0.32 s 可见手臂向右伸出，机器人轮廓仍紧邻台沿。画面未出现向外连续前翻或入水；分辨率不足以确认下肢屈伸或离台、触台瞬间。" + }, + { + "t": 0.32, + "log_step": 1044, + "text_zh": "观察：log step 1044 为代理运行跳水脚本后实时机器人服务返回的本次裁判结果：executed_rows=33、control_steps=33、sim_time_s=0.33、done=true、stages_reached=0/3，outcome 为“a double jump: landed on the platform again before the dive (D 6.5.4)”。这是服务的评分读数；视频末帧仍在台前沿，与本次起跳即终止一致。" + }, + { + "t": null, + "log_step": 1039, + "text_zh": "观察：log step 1039 的“CoM rise 0.1587 m”“Platform hits 0”等 PASS 来自代理自行搭建的本地仿真检查；log step 1044 的实时评分及视频没有复现这次完整跳水，因此这些本地结果不计节点进度。" + }, + { + "t": 0.32, + "log_step": null, + "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 中约参考视频 0.8–2.4 s 可见机器人离开台沿、向前转入头朝下姿态并没入蓝色水面；本次视频 0.00–0.32 s 均未出现这些可见完成线索。参考仅用于辨认动作外观，不是本次进度证据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "推断：log step 1044 的实时裁判报告机器人腾空后再次落回平台，据此将脚部与平台的承重接触标为腿/躯干×支撑；这是服务读数支持的接触推断。视频 0.00–0.32 s 中机器人部分轮廓在台前沿可见，但足底接触不可分辨，不能确认左右脚各自离台和再次触台的次序；服务报告在跳水前已终止，没有抓物或入水接触的证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_dive_completed", + "t": 0.32, + "log_step": 1044, + "where": "操作中", + "evidence_zh": "观察：视频 0.24–0.32 s 中机器人仍在台前沿，未进入向水面的连续前翻；log step 1044 的实时裁判在控制步 33 报告腾空后再次落回平台，立即以二次起跳判失败，直体前翻入水步骤此后未完成。视频 0.32 s 为失败附近的导航锚点，精确触台来自服务读数而非远景量测。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 0.32, + "log_step": 1044, + "evidence_zh": "观察：log step 1044 的实时机器人服务明确报告“a double jump: landed on the platform again before the dive (D 6.5.4)”，executed_rows=33、stages_reached=0/3；视频 0.32 s 台沿右侧仍可见机器人部分轮廓，但不能直接分辨脚部触台。推断：该服务读数表明起跳后重新落台，未形成所需的连续离台跳水，按跳跃动作未达要求标为全身·步态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 1044, + "source_zh": "日志", + "evidence_zh": "推断：log step 1041 的脚本按固定时间插值下蹲、伸膝蹬地和抬臂，并在蹬地段向两膝施加前馈力矩；log step 1044 实际执行该 lowcmd 序列仅 33 行便因再次落台终止。据脚本及实时服务读数，本次起跳控制未形成持续向外离台的运动；视频不能独立确认下肢屈伸及跟踪误差。目标是跳水，未见选错任务或顺序的证据。服务还报告 14 行腰俯仰目标被裁剪，但没有证据单独证明该裁剪导致落台，故不细分为参数调试。" + } + ], + "gap_zh": "没有模拟器状态日志；视频已检查全部 9 帧及台沿放大图，机器人细小的头部、躯干和手臂轮廓在台沿右侧可见，足底接触不可分辨，不能仅由画面量出腾空时长、精确触台时刻、左右脚接触次序或逐关节跟踪误差，二次起跳依据本次实时服务裁判读数。控制根因只能定位到起跳控制层面，无法进一步区分轨迹设计、实际跟踪或参数的贡献。DAG 所列入水原生指标未由评分器报告，均填 null；代理本地检查数值不作为评分指标。", + "unmet": { + "forward_dive_completed": false + } + }, + "summary_zh": "本次直体前翻入水节点始终未达成，最终为 0/1；视频 0.00–0.32 s 中机器人细小轮廓在台前沿右侧可见，未出现连续前翻入水。log step 1044 的实时裁判在控制步 33 判定腾空后再次落台，断点在起跳操作中，现象为步态未达要求，根因推断为起跳控制未实现持续离台。代理本地仿真中的完整跳水不属于评分轨迹；无状态日志且画面无法分辨足底接触与下肢运动，无法细分控制机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "节点未达成(0/1)、断点 forward_dive_completed、步态/控制的结论可由 log step 1044 的服务读数支持；但标签多处把“视频里看到机器人在台沿屈伸/末帧仍在台沿”写成观察，实际 9 帧中机器人完全不可见（相机从台下仰视，只见塔体、棕色台沿和护栏，画面静止）。需把这些视频观察改为“机器人不在画面内、视频无法显示起跳”，结论改由服务读数支撑。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成(0/1)、断点 forward_dive_completed、全身·步态与控制根因均由 log step 1044 的服务读数（double jump、stages 0/3、33 行）支持。第 1 轮提出的“机器人不可见”在本轮复核中不成立：放大后 9 帧中机器人小轮廓在台沿右侧可见，当前文本对此的描述准确，且已声明足底接触不可分辨。未发现需改动处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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"space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--v3drex9/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "55472b7c2f03ba0600f4a608abb6b9b8099288628a6cccce42e59d5ad1daea38", + "video_sha256": "d0c9fa30fe1d9403414599750103720f7e4334029b29ef571024d8560668cffa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--y9npuhu.json b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--y9npuhu.json new file mode 100644 index 0000000000000000000000000000000000000000..e75939b635bf68600535ebb0b1ce0c618bd40e50 --- /dev/null +++ b/phase2/embodied-olympics-fun/platform_10m/trajectories/embodied-olympics-fun-platform-10m-i00-standard--y9npuhu.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-platform-10m-i00-standard--y9npuhu", + "taskKey": "embodied-olympics-fun/platform_10m", + "dag_sha256": "aa4b50e0889b1128e2a630e2ad361b2232bedadcd3de6b1ecbe04bf0545d6da2", + "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": 241, + "sim_steps": 377, + "calls": 386, + "rows": 377, + "resets": 1, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2362.9, + "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": 3.777, + "peak_processes": 18, + "peak_disk_gb": 0.312, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-platform-10m-i00-standard--y9npuhu/replay.mp4", + "duration_s": 2.44, + "fps": 25.0, + "frames": 61, + "sha256": "f23eabb4df94a4fb3e717295efd5e54a2d57bb6122c2dbf0be5d2f2f85285c36" + }, + "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": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.56 s，机器人在棕色平台前沿屈腿、前倾并伸展起跳；视频 0.60–0.84 s 双脚离开台沿，身体向前上方运动。" + }, + { + "t": 1.52, + "log_step": null, + "text_zh": "观察：视频 1.24–1.76 s，机器人离台后持续前翻，身体由近水平转为头低脚高，腿部伸直，双臂向头前延伸。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 2.20–2.32 s，机器人头朝下、身体近竖直地穿过蓝色水面，随后腿脚也下沉；视频 2.40 s 已无身体部分露出水面。将全身入水完成时刻标在视频约 2.40 s，精度受远景及帧率限制。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 中，agent 的脚本重置第一次失败回合后执行第二次跳水，机器人服务返回 done=True、reason=success、outcome=success、stages_reached=3、stages_total=3；这是服务裁判的终局反馈，而非 agent 自述或本地预测。" + }, + { + "t": null, + "log_step": 68, + "text_zh": "观察：log step 68 的机器人服务状态确认 episode=2、control_steps=241、done=True、reason=success；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、finalized=1，与视频完成入水一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.56 s，机器人双脚在平台前沿承重并蹬离台面；视频约 0.60 s 后腾空前翻，至视频约 2.40 s 没入水面，双臂仅调整自身姿态，未见手部接触平台或物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": [ + 0.5, + 3.0 + ], + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "受评轨迹为重置后的第二次跳水：机器人从平台前沿蹬离并前翻，头先近竖直入水，在视频约 2.40 s 全身没入，完成唯一节点“直体前翻入水”。log step 67–68 的服务裁判确认第二回合成功且三个验收阶段全部达到，与评分器 live_success=1 一致，无失败断点。没有状态日志，远景无法独立精确核验髋膝角、掌距等数值阈值；评分器未报告 DAG 所列原生指标的实测值，均保留 null，不使用 agent 本地模型预测代替。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功回合（episode 2，服务裁判 success、3/3 阶段）；视频中机器人离台、前翻、头先入水，约 2.40 s 全身没入，单节点 final=true、无断点，均与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:12:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--y9npuhu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-platform-10m-i00-standard--y9npuhu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ab511b3e6b1e6d835276625d833a918f512b00fa554addbf2532a13eb999e7df", + "video_sha256": "f23eabb4df94a4fb3e717295efd5e54a2d57bb6122c2dbf0be5d2f2f85285c36", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--4aqzvqn.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--4aqzvqn.json new file mode 100644 index 0000000000000000000000000000000000000000..67404c610b7b36db51676f6de5adc072395dfd68 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--4aqzvqn.json @@ -0,0 +1,184 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--4aqzvqn", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 812, + "sim_steps": 812, + "horizon": 6000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 17.91, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 141, + "agent_resets": 240, + "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": 1.89, + "peak_processes": 10, + "peak_disk_gb": 0.264, + "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-pole-vault-i00-privileged--4aqzvqn/replay.mp4", + "duration_s": 8.16, + "fps": 25.0, + "frames": 204, + "sha256": "b1b546fc938f9e61fb919c21f1a8150f101796864d07beef42591a8891eeff62" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 5.5–7.48 s，机器人在红色跑道上持白色撑杆向蓝垫前的插斗方向跑动，杆随右手移动，双脚交替接地。" + }, + { + "t": 7.9, + "log_step": null, + "text_zh": "观察：视频 7.76–8.12 s，机器人在蓝垫前的缺口处收腿并向前倾转，骨盆和腿部没有整体升至红白横杆上方，未看到完成越杆后的落地和两秒保持。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 报告 success=0、stages_reached=1、stages_total=4、progress=0.25、deterministic=1；这只是原生阶段进度，整次撑杆越杆落地节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 5.5–7.48 s 白色撑杆随右手稳定携带、随后改变朝向，结合 log step 427 的交付脚本始终闭合右手、张开左手，判断实际使用右手握杆；远景不能分辨各指接触。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.5–7.48 s，机器人双脚交替接触红色跑道，支撑持杆助跑及接近插斗的动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 7.9, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 7.76–8.12 s，机器人在插斗附近收腿向横杆方向前移，但身体仍低于所需越杆高度，未完成撑杆越杆；评分器仅记 1/4 个原生阶段，完整跳跃未获接受。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 7.9, + "log_step": null, + "evidence_zh": "观察：视频 7.76–8.12 s，机器人收腿、前倾并接近横杆，骨盆和双腿没有升到横杆上方通过；跳跃的抬升不足，未完成越杆。" + } + ], + "root_causes": [], + "gap_zh": "未提供状态日志或成功参考视频，固定远景下手指、杆尖和部分腿部接触被蓝垫遮挡；评分器未报告 support_s 或交付回放的具体终止原因。log step 427 可确认交付脚本采用固定蹬伸后收腿，但缺少交付回放的承重、关节跟踪和速度记录，不能区分起跳控制、持杆承载布局与物理可行性限制，故根因留空。log step 348 的掉杆判负属于较早且动作不同的会话测试，不移用于交付回放；log step 440 关于任务不可行的总结也不足以排除所有合法方案。", + "unmet": { + "vault_completed": false + } + }, + "summary_zh": "机器人持杆沿跑道到达插斗区域并尝试起跳收腿，评分器记录原生阶段 1/4，但整次撑杆越杆落地节点完成 0/1。视频约 7.9 s 的尝试未获得足够越杆高度，骨盆与双腿未从横杆上方通过。缺少交付回放的承重状态和具体终止原因，无法可靠细分根因，也不能确认 agent 所称的任务不可行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 vault_completed、步态现象与留空根因均与视频和评分器 1/4 阶段一致；时间均为视频时钟，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": "2026-10-31T00:01:19Z", + "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-pole-vault-i00-privileged--4aqzvqn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--4aqzvqn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b91996d82e4663ce575b206c5591f3278c45122a5a33b8468f9da4fb7b9de64d", + "video_sha256": "b1b546fc938f9e61fb919c21f1a8150f101796864d07beef42591a8891eeff62", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv.json new file mode 100644 index 0000000000000000000000000000000000000000..c576629b677e2a2fe1aac2063a3f33a19f410f5f --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv.json @@ -0,0 +1,164 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 10, + "sim_steps": 10, + "horizon": 6000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 2.89, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.695, + "peak_processes": 7, + "peak_disk_gb": 0.248, + "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-pole-vault-i00-privileged--8nttyzv/replay.mp4", + "duration_s": 0.12, + "fps": 25.0, + "frames": 3, + "sha256": "a00f811cf4b73786b28e4df09f1b289d41b3683a1ddadfd64c4605de71ecce28" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00、0.04、0.08 s（全片共三帧）；画面均为跑道末端、横杆和蓝色落垫，未见机器人进入过杆区域或完成越杆落地。机器人初始所在的助跑段未在画面内，不能据此判断手脚接触。" + }, + { + "t": null, + "log_step": 9, + "text_zh": "观察：log step 8 将文件注明为研究动作机制期间的初始基线；log step 9 的生成脚本从新会话调用 hold()，执行十次该保持动作后保存轨迹，保存命令成功。评分器记录 n_actions=10、sim_steps=10、stages_reached=0、replay_success=0、episode_over=0。" + }, + { + "t": 0.08, + "log_step": 9, + "text_zh": "推断：评分动作数与 log step 9 保存的十步保持基线一致，且视频 0.00–0.08 s 未出现越杆动作；结合裁判阶段未达和未成功字段，撑杆越杆落地节点从未完成。log step 12、17、20–21 的助跑、快照和植杆几何测试属于会话调试，不能计入这段评分轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 23, + "where": "首步前", + "evidence_zh": "观察：log step 23 以模型提供方过滤提示结束；此前 log step 9 只保存了十步保持姿态的初始基线，log step 12、17、20–22 仍在会话测试和诊断。评分器记录 agent_replays=0、episode_over=0，视频 0.00–0.08 s 无越杆动作。推断：过滤发生在正式撑杆跳方案完成、保存并验证之前，现有临时基线不能定位机器人动作失败事件，按外因中断记 unknown／首步前。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 23 明确出现提供方过滤中断；已有文件只是 log step 8–9 明示的初始保持基线，没有最终完成声明或回放验证，评分器 agent_replays=0。视频全长仅 0.12 s，已检查全部三帧，机器人位于视野外；inputs/ 中没有状态日志或成功参照视频，评分器也未报告 support_s。推断：这是结果尚未完成时的外因截断，应重试并排除于机器人失败归因；不将初始基线的未启动标成“没尝试”，不从会话调试推造接触、现象或根因。节点未开展，故不填 contact_actual。" + }, + "summary_zh": "评分轨迹只包含十步保持姿态的初始基线，撑杆越杆落地节点最终为 0/1；已检查视频全部三帧，未见机器人进入越杆区域。log step 23 的提供方过滤在方案仍处会话调试、尚无最终轨迹回放验证时中断任务，按外因中断待重试，不归为机器人失败，断点记 unknown／首步前且现象、根因留空。视频未覆盖机器人初始位置且没有状态日志，无法判断实际手脚接触，support_s 未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与证据一致：评分轨迹仅是 log step 9 保存的十步保持基线（n_actions=10、stages_reached=0），视频三帧只见跑道、横杆和落垫，机器人在视野外；log step 23 为提供方过滤中断，此前没有保存并验证的正式方案（agent_replays=0），按外因中断记 unknown／首步前、现象与根因留空并写 gap_zh，符合 FAIL-5 / D23。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": "2026-10-31T00:00:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--8nttyzv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df17ebd82cc25204688940050f28d6573e27bfc3645e092d615c975542f3a190", + "video_sha256": "a00f811cf4b73786b28e4df09f1b289d41b3683a1ddadfd64c4605de71ecce28", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2.json new file mode 100644 index 0000000000000000000000000000000000000000..ced5bec7e5f347ff9fda29efe7e95971fd7d152e --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 735, + "sim_steps": 735, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 11.49, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 92, + "agent_resets": 220, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2/replay.mp4", + "duration_s": 7.36, + "fps": 25.0, + "frames": 184, + "sha256": "944d00bd61049e06560bccd2d4098e8149a325373d5a0394d425f23058e35563" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频4.80–6.40 s，机器人携带撑杆沿红色跑道向插斗助跑，双脚交替接触跑道，撑杆随手臂前移。" + }, + { + "t": 6.56, + "log_step": 194, + "text_zh": "观察：视频6.48–6.96 s，机器人在插斗处举杆并向前上方摆起身体，继而收腿；log step 194中最终交付轨迹的裁判事件记录plant与take-off，后者报告support_s=0.15、起跳杆倾角44.1度、助跑速度3.199米/秒。推断：交付轨迹735个控制步对应仿真7.35 s，与视频7.36 s相符，按每控制步0.01 s映射，插杆事件仿真6.55 s对应视频约6.55 s，已与视频6.52–6.60 s举杆处核对。" + }, + { + "t": 7.32, + "log_step": 197, + "text_zh": "观察：视频7.04–7.32 s，机器人在横杆附近抬腿翻转，撑杆斜向上方，视频7.28–7.32 s横杆偏离原支承位置，视频结束前未出现完成过杆后落地并等待两秒的结果。log step 197对最终735步交付文件的两次独立回放均报告success=false、stages仅为plant和take-off、failed=\"the bar did not stay on its pegs\"，且终态哈希一致；inputs/run.json评分器记录deterministic=1、stages_reached=2/4。撑杆越杆落地事件未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频5.20–6.72 s撑杆随机器人持杆手前移、抬起并带动身体摆起；结合开局右手持杆的任务初态，以及log step 194交付轨迹插杆事件仅一个持杆位置grip_from_tip_m=[1.1805]，推断本次为右手握杆。没有双手同时抓杆的可见证据；手指细节受远景分辨率限制。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频4.80–6.52 s机器人双脚在跑道上交替承重并助跑，随后蹬地摆起身体；末段尚无完成过杆后的落地等待。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 7.24, + "log_step": 197, + "where": "操作中", + "evidence_zh": "观察：视频7.20–7.32 s机器人仍在翻转越杆，身体与斜立撑杆经过横杆附近，横杆随后偏离原位置；截至视频7.32 s未完成过杆落地验收。log step 197中最终735步轨迹两次回放均因横杆未留在托钉上判负，仅完成plant、take-off两阶段。断点为正在执行的撑杆越杆落地步骤。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 7.24, + "log_step": 197, + "evidence_zh": "推断：视频7.20–7.32 s，机器人身体及撑杆扫过横杆位置时，红白横杆从原来连接两根立柱的直线位置移开并下落，表明越杆动作碰动了横杆。log step 197中最终交付文件两次独立回放均明确报告\"the bar did not stay on its pegs\"；碰杆的具体机器人部位或是否由撑杆直接触发，远景不足以区分。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.24, + "log_step": 196, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频6.52–7.32 s机器人已经执行植杆、腾空收腿及翻转，但越杆末段的身体与撑杆运动未保持对横杆的净空，导致横杆被碰落。log step 194的交付轨迹裁判事件确认plant及合格take-off，log step 197确认两次最终回放均在全身过杆前掉横杆；agent在log step 196也自述保存轨迹仍有此问题。证据支持控制失败，不能进一步区分轨迹生成、跟踪反馈或具体接触设计。" + } + ], + "gap_zh": "观察：inputs/没有状态日志或成功参考视频；本视频为640×360固定远景，机器人在视频约4.80 s才进入画面，手指与横杆接触细节无法分辨。可确定越杆时横杆脱落，但不能确定最先碰杆的身体部位、撑杆接触对或更细控制根因；不把会话其他试验的滑杆、空中攀杆和提前触地当成本次现象。inputs/run.json评分器未报告support_s，最终回放的metrics也为空，故原生指标值留null；log step 194的0.15 s是起跳阶段事件读数，agent在log step 196自述的0.173 s未作为最终原生指标。", + "unmet": { + "vault_completed": false + } + }, + "summary_zh": "观察：机器人完成助跑、插杆和合格起跳，裁判原生阶段达到2/4，但撑杆越杆落地节点未完成（0/1）。推断：视频约7.24–7.32 s越杆末段身体与撑杆未避开横杆，碰落横杆，属于控制失败；log step 197两次最终回放均确认掉杆判负。观察：缺少状态日志，固定远景不足以确认具体碰杆部位与控制子类，最终support_s指标未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点、时钟映射（735步=7.35 s，失败事件7.344 s）与现象/根因均有日志和帧支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:01:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-pole-vault-i00-privileged--c5ja6o2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--c5ja6o2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e5b3b4a7937b120d25bf15fa537e4f3bb85205dee12056dbb629e41635cd6b10", + "video_sha256": "944d00bd61049e06560bccd2d4098e8149a325373d5a0394d425f23058e35563", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc.json new file mode 100644 index 0000000000000000000000000000000000000000..6100a0ab8c70084541e81b3ebba773a29c79b760 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1200, + "sim_steps": 658, + "horizon": 6000, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 11.52, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 136, + "agent_resets": 48, + "agent_replays": 2, + "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": 1.618, + "peak_processes": 9, + "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-pole-vault-i00-privileged--gzlj4mc/replay.mp4", + "duration_s": 6.6, + "fps": 25.0, + "frames": 165, + "sha256": "6ff4941c4de088d476b1c7ca694c46478122ba9002f1d9bf166e73e943f036d8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 4.8–5.6 s，机器人双脚交替在跑道上支撑并向蓝垫前进，右手处携带斜向前上方的撑杆；没有把杆尖下送插斗并悬挂起跳的动作。" + }, + { + "t": 6.56, + "log_step": 106, + "text_zh": "观察：视频 5.6–6.56 s，机器人继续低位跑入蓝垫前方凹口，未见身体从横杆上方越过，末帧下半身被垫缘遮挡。log step 106 对最终交付文件的官方回放返回 stages=[]、success=false、executed_rows=658，失败原因为越杆前触及零线后的地面或垫子；run.json 的评分器字段 stages_reached=0、replay_success=0、deterministic=1 与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手携杆：视频 4.8–5.6 s 杆身经过右手并随机器人前进，结合任务固定初态右手已合指握杆，推断为右手抓握；未见左手参与共同持杆，细小指面接触不可分辨。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 4.8–6.2 s 双脚交替接触跑道支撑助跑；末段继续进入蓝垫前方凹口，没有完成撑杆腾空越杆。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 6.2, + "log_step": 106, + "where": "首步前", + "evidence_zh": "观察：log step 43 的生成脚本仅输出 run 模式的 3.8 m/s 助跑及横向/偏航纠偏，log step 104 重新运行该脚本生成最终交付文件；log step 103/105 的 NOTES 中 agent 也自述交付只有助跑、起跳控制器未完成。视频 4.8–6.56 s 中机器人持杆沿地面跑入蓝垫前方凹口，未见植杆、悬挂或起跳；log step 106 的交付文件官方回放返回 stages=[]，并报告越杆前触及零线后的地面或垫子而终止。推断：交付是未启动撑杆跳动作的助跑基线，按 docs/03_trajectory.md Step 3.1 标为首步前；视频 6.2 s 仅为末段导航锚点，提前触地作为终止依据，不另立现象。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 6.2, + "log_step": 106, + "evidence_zh": "观察：log step 43 的最终生成脚本仅输出助跑命令，log step 104 用其重新生成交付文件；log step 103/105 的 NOTES 中 agent 自述这是 3.8 m/s 助跑基线、起跳控制器未完成。视频 4.8–6.56 s 显示机器人持杆持续沿地面跑进垫前凹口，未见植杆、悬挂或起跳；log step 106 对交付文件的官方回放返回 stages=[]、success=false。推断：撑杆跳动作未启动，按 docs/03_trajectory.md Step 3.2 的基线规则标为没尝试，不把会话中的起跳实验当成交付中的失败跳跃。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 101, + "source_zh": "日志", + "evidence_zh": "观察：log step 43 的交付生成脚本只输出 run 模式、前向速度命令 3.8 及横向/偏航纠偏，没有植杆或起跳控制；log step 104 用该脚本重新生成最终文件，log step 106 回放确认失败。另在非交付的控制实验中，log step 90 的多组起跳测试仅得到 support_s 0.004–0.018 s 并从杆下通过；log step 101 的跟杆控制测试记录持杆接触很快丢失并最终数值失稳。推断：agent 未能实现可执行的撑杆起跳控制，最终交付仍只含助跑；这些会话实验仅用于解释控制能力缺口，不作为本次视频中的失握或失稳现象。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，最终交付回放的 metrics 为空，未报告 support_s，故原生指标留 null。视频开头机器人在画面之外，末段下半身被蓝垫遮挡，无法区分触发提前触地的是哪一身体部位或撑杆，也无法核验精确承重与指面接触；根因只保留控制大类，不将会话实验的失握、数值失稳或 agent 对摩擦上限的自述当成本次现象或任务不可行的证明。" + }, + "summary_zh": "观察：本次交付只含持杆助跑，视频 4.8–6.56 s 未见植杆、悬挂或起跳，唯一节点完成数为 0/1；log step 106 的交付回放 stages=[]，以越杆前提前触地判负，故断点为撑杆越杆落地的首步前、现象为没尝试。推断：log step 90/101 的会话控制实验未形成可用起跳控制器，log step 43/104 的交付生成脚本仍只执行助跑，支持保留控制根因。观察：无状态日志，末段腿部遮挡，不能确认具体触地部位或量化承重时间；基线是否启动撑杆跳步骤需结合脚本与画面判断，控制根因也依赖会话实验证据推断，故置信度降至 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（0/1 未达成）、时钟、log step 106 回放结果均与视频和 run.json 一致。主要问题：交付轨迹只是 3.8 m/s 的助跑（log 104/105 的 NOTES 与 gen.py 写明“does not clear the bar — jump controller not finished”），不含任何植杆/起跳动作，却被标成“步态”（跳跃不足）并把断点写成“操作中”；按 03 的 baseline 规则应为 首步前 + 没尝试（FAIL-23 同类：不为交付轨迹没有的动作命名现象）。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第 2 轮已按上轮意见改为 首步前 + 没尝试；节点 vault_completed 未达成、时钟、log step 106 回放结果与视频和 run.json 一致，控制根因由会话实验证据支撑且已声明为推断，未发现新的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:17:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--gzlj4mc/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b9fc3deccf8b4a05f0f816c4f84e7070b3de200b56ad5632a04bf4701bfcbabb", + "video_sha256": "6ff4941c4de088d476b1c7ca694c46478122ba9002f1d9bf166e73e943f036d8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--idnldmw.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--idnldmw.json new file mode 100644 index 0000000000000000000000000000000000000000..389a211f277b3be076a85135f5227cfe61d45b5a --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--idnldmw.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--idnldmw", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 726, + "sim_steps": 726, + "horizon": 6000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 12.48, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 492, + "agent_resets": 0, + "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": 13.708, + "peak_processes": 14, + "peak_disk_gb": 0.982, + "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-pole-vault-i00-privileged--idnldmw/replay.mp4", + "duration_s": 7.28, + "fps": 25.0, + "frames": 182, + "sha256": "9e00c68b61ad9e96039ab0b65f7efce195dd292eb61a5212830d3b2e06dd580f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频 5.2–6.4 s，机器人沿红色跑道向插斗跑近，撑杆随右手在腰部附近前进，双脚交替落在跑道上；机器人已开始撑杆跳的助跑与送杆动作。" + }, + { + "t": 6.96, + "log_step": null, + "text_zh": "观察：视频 6.4–7.24 s 的逐帧画面中，机器人把杆的前端送向两块蓝垫之间的深色插斗区域，随后继续向前迈步进入垫间凹槽，腿部逐渐被垫边遮挡；未见骨盆与双踝从横杆上方越过，也未见完成越杆后的落地过程。" + }, + { + "t": 7.24, + "log_step": 229, + "text_zh": "观察：log step 163 保存交付轨迹后输出 726 行、stages=[plant]、failed=passed under the bar；log step 165、197、229 对该交付文件的回放均报告同样的 726 步和终态哈希，且只有 plant（裁判的插杆阶段）被接受，success=false。此结果与视频末段低位前进一致，完整撑杆越杆落地节点未达成；原生阶段进度 0.25 不等于该语义节点已完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 5.2–6.64 s 可见撑杆在右手处随机器人携带、向前下方转动，左臂未参与握杆；结合 inputs/run.json 的固定初态（右手闭合持杆）及 log step 163 交付脚本右手闭合、左手张开的指令，判断实际为右手握杆。远景不能分辨各手指接触点。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.2–6.8 s，机器人双脚在红色跑道上交替支撑并向插斗前进，与右手携杆同时发生；没有完成越杆后的落地支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 6.9, + "log_step": 229, + "where": "操作中", + "evidence_zh": "观察：视频约 6.8–7.24 s，机器人到达插斗后仍低位向前迈步，身体进入垫间凹槽，没有撑起并从横杆上方通过；log step 229 对交付文件的最终验证仅接受 plant，终止原因是 passed under the bar。因此断点属于正在执行的撑杆越杆落地步骤，导航锚点取视频约 6.9 s 的插杆至起跳衔接处。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 6.9, + "log_step": 229, + "evidence_zh": "观察：视频 6.4–7.24 s，机器人靠近插斗并继续跑入垫间，躯干仍近直立、未把骨盆及双踝抬至横杆上方，横杆仍横在前方；log step 229 的交付回放裁判报告 passed under the bar，仅完成插杆。可见的失败是助跑未转化为足够高度的撑杆跳跃。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.9, + "log_step": 163, + "source_zh": "日志", + "evidence_zh": "推断：agent 没有形成可执行的撑杆起跳控制。log step 84 的会话蹬伸测试仅得到最高骨盆高度 0.892 m，log step 86 的跑动接蹬伸测试最高骨盆高度 0.763 m 后持续下降；这些只是控制能力的会话证据，不作为交付动作。log step 163 最终生成器全程使用 run_arms（跑步并指定双臂姿态），右臂只从携杆姿态插值到固定插杆姿态，之后仍给前进指令，未形成起跳、悬挂与抬腿越杆运动；视频 6.8–7.24 s 与 log step 229 的交付回放确认最终只有低位前进。证据支持控制层归因，尚不能确定具体控制子类。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。远景及蓝垫遮挡使手指对向接触、插斗内接触和瞬时离地承载细节无法直接辨认，裁判结果未报告 support_s，故该原生指标留空；其他会话试验的 support_s 不能移作交付指标。log step 6 的任务可行性注释在输入日志中已被截断，agent 在 log step 230 声称手部承载不足、任务不可行，但现有证据不能排除全部合法方案，故不据此标注任务或环境根因。", + "unmet": { + "vault_completed": false + } + }, + "summary_zh": "机器人持杆完成助跑并获得裁判的插杆阶段，原生进度为 0.25，但完整的“撑杆越杆落地”节点始终未完成，语义节点终态为 0/1。视频约 6.8–7.24 s 显示机器人继续低位前进，交付回放裁判判定从横杆下方通过；会话起跳测试及交付脚本支持控制层失败，具体承载与起跳机制因无状态日志、远景遮挡而无法进一步确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频、log 一致：机器人沿跑道助跑、把杆送入插斗区后低位前进进入垫间凹槽，没有腾空越杆；节点 vault_completed 为 false（原生 plant 阶段 0.25 已在证据中说明），断点、步态现象（跳跃未达成，无摔倒）和控制层根因有证据支持，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:02:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--idnldmw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--idnldmw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b27d2fba32cbbade5dd0b0ff8e18a90276382bd8d4ac5db67b1064e1ba35047", + "video_sha256": "9e00c68b61ad9e96039ab0b65f7efce195dd292eb61a5212830d3b2e06dd580f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--jkx393v.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--jkx393v.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ba412fbb0be438f7fe4deb47d8fb84ee3ed27f --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--jkx393v.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--jkx393v", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 878, + "sim_steps": 878, + "horizon": 6000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 13.5, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 159, + "agent_resets": 187, + "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": 2.379, + "peak_processes": 13, + "peak_disk_gb": 0.24, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "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-pole-vault-i00-privileged--jkx393v/replay.mp4", + "duration_s": 8.8, + "fps": 25.0, + "frames": 220, + "sha256": "17bf93e124753b2ac576c97e2846e5e3d53e489f9c986506017045103cb8f005" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频5.2–6.8 s，机器人沿红色跑道持白色撑杆接近蓝色垫块前的插斗区域，双脚交替支承；视频6.8–7.2 s身体短暂升高，但没有越过红白横杆。" + }, + { + "t": 7.04, + "log_step": 132, + "text_zh": "观察：log step 132对交付trajectory.npz的官方回放记载，裁判在仿真6.991 s确认plant，记录一个距杆尖1.1687 m的握点；最终stages只有plant。视频6.96–7.12 s可见机器人在插斗附近上升并使杆转向上方，与该阶段相符；此处不将会话测试的循环索引换算为视频时间。" + }, + { + "t": 7.44, + "log_step": null, + "text_zh": "观察：视频7.12–7.76 s，机器人在横杆前下沉、身体折伏并逐渐被前部蓝垫遮住，撑杆仍在转动；视频8.16–8.76 s白杆已与隐入垫块间隙的身体分离，斜落在前部区域。全片未出现骨盆和双踝从横杆上方越过的完整跳跃。" + }, + { + "t": 8.76, + "log_step": 152, + "text_zh": "观察：log step 132的交付回放裁判在仿真8.775 s以撑杆在未越杆前触及零线后方地面或垫子判负，事件what为pole；log step 152重新生成878行动行并回放，终态哈希与log step 132相同，仍仅plant、success=false。评分字段stages_reached=1、stages_total=4；结合视频未越杆的过程，完整撑杆越杆落地节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频5.6–6.8 s机器人以右手位置携带并转动白杆；log step 130的交付生成器在助跑时保持右手闭合、左手张开，log step 132的交付回放plant事件确认一个持杆握点。推断：实际建立的是右手抓杆，后续未保持；左臂在腾空阶段向杆伸出，但画面不能确认左手形成夹持，不据此记双臂抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频5.2–6.96 s，机器人双脚在红色跑道上交替承重推进，同时携杆；视频7.12 s后身体下沉并被垫块遮挡，不能精确辨认其后的身体触地点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 7.2, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频约7.2 s，机器人在插斗附近短暂升高后下沉，未越过横杆；视频7.44–8.76 s身体逐渐隐入前部垫块间隙，白杆随后独立倒落。log step 132、152确认最终交付仅完成plant，并由撑杆未越杆先触及零线后方地面或垫子结束回合。推断：此次撑杆跳在植杆后的持杆承重阶段失效，未被后续动作修复；视频7.2 s为粗略定位锚点。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 7.2, + "log_step": 132, + "evidence_zh": "观察：视频5.6–6.8 s白杆随机器人右手携行，log step 132的交付回放plant事件亦确认曾有持杆握点；视频7.12–7.76 s机器人下沉而杆继续转动，视频8.16–8.76 s杆与身体分离倒落，始终没有完整越杆。推断：机器人在需要靠杆悬挂并继续上升的阶段未保持住原有持杆接触；具体失握物理步不能由远景辨认。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 130, + "source_zh": "日志", + "evidence_zh": "推断：交付控制器的持杆承载布局与抓握维持方式未能让身体稳定转入杆上悬挂。依据是视频7.12–8.76 s身体下沉、杆最终独立倒落；log step 130的交付生成器先以单右手携杆，起跳后才闭合左手，并用手掌位置逆解追踪杆上点；同类控制器的会话诊断（log step 91，非交付状态日志）中右手held反复在pole和None间切换，左手一直为None，杆在插斗处的负载多次降至零。诊断支持接触与承载未维持，不能据此证明所有合法抓法不可行，也不能把这些测试数值当作交付轨迹的测量值。" + } + ], + "gap_zh": "无逐帧状态日志和成功参考视频；固定远景在视频约5.2 s以前未摄入机器人，后段身体又被前部蓝垫遮挡，不能直接辨认手指对向接触、左手是否短暂夹住杆、准确失握时刻及承载力。交付回放裁判未报告support_s数值，故该原生指标留空；会话测试只辅助根因判断，agent关于单手无法承重和静态悬挂不可行的结论未被验证为任务整体不可行。" + }, + "summary_zh": "交付轨迹完成助跑和裁判plant阶段，但没有完成撑杆越杆落地，语义节点终态为0/1。视频约7.2 s后身体下沉、持杆接触未保持，撑杆随后倒落；交付回放裁判因撑杆未越杆先触及零线后方地面或垫子而判负，证据支持抓取和接触设计未维持所需承载。远景及垫块遮挡限制了失握时刻和左手接触的判断，且没有support_s实测值或已验证可行的替代抓法。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、官方回放裁判结果一致：仅plant阶段达成，节点vault_completed未达成，断点与现象（没保持住）有帧和log step 132的裁判事件支持，根因明确标为推断；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:01:18Z", + "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-pole-vault-i00-privileged--jkx393v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--jkx393v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bcc30bb70d3a4ebee392d35a84ab033e3bcbc3fdc171f757764369e3c8502d46", + "video_sha256": "17bf93e124753b2ac576c97e2846e5e3d53e489f9c986506017045103cb8f005", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--muvvjdq.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--muvvjdq.json new file mode 100644 index 0000000000000000000000000000000000000000..eba5ba395a1c63f62bbc06994a89b3595a711ca1 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-privileged--muvvjdq.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-privileged--muvvjdq", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 775, + "sim_steps": 775, + "horizon": 6000, + "episode_over": 0, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 12.8, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 62, + "agent_resets": 0, + "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": 1.99, + "peak_processes": 12, + "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-pole-vault-i00-privileged--muvvjdq/replay.mp4", + "duration_s": 7.76, + "fps": 25.0, + "frames": 194, + "sha256": "e67cc847d4d654f9f231a8d6f7e7520cb129069c853dc6da2c4b1942d9c4d7e6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.8, + "log_step": 22, + "text_zh": "观察：视频 4.8–6.2 s，机器人沿跑道持杆接近插斗，杆随右侧手臂移动；视频 6.2–6.8 s，杆由近水平转为倾斜，机器人减速并转身，仍在横杆近侧。log step 22 的交付脚本只执行助跑及右腕下压植杆，其保存文件的独立回放只报告 plant 阶段，success=false、done=false。" + }, + { + "t": 7.72, + "log_step": 33, + "text_zh": "观察：视频 6.8–7.72 s，机器人停留在蓝垫前部缺口处，未见身体腾空越过红白横杆，也未完成过杆后落地；横杆仍在原位。评分器 stages_reached=1、stages_total=4、success=0；log step 33 重新生成的 775 行动作与已保存文件逐项相同，仍只有 plant，故完整撑杆跳节点从未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 4.8–6.6 s 撑杆随机器人右侧手臂一起携带和转动，结合 log step 22 的右手闭合、左手张开指令及 plant 回放结果，判为右手握持撑杆；末段手指受远景分辨率限制，不能确认持续承重或每次瞬时滑移。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 4.8–6.7 s，机器人双腿交替在跑道支撑助跑，接近插斗后继续踏步并转身；没有完成越杆腾空。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 6.4, + "log_step": 22, + "where": "操作中", + "evidence_zh": "观察：视频约 6.2–6.8 s，持杆机器人在插斗前减速、转身，未把助跑接成越杆起跳；视频 6.8–7.72 s 仍留在横杆近侧。log step 22 保存并独立回放的交付仅达 plant，未结束回合；log step 33 确认后来会话测试没有改变该动作文件。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 6.4, + "log_step": 22, + "evidence_zh": "观察：视频 6.2–6.8 s，机器人前进幅度迅速减小并转向侧面，脚仍在插斗附近踏步；视频 6.8–7.72 s 未形成越过横杆的跳跃，也没有可见翻倒。log step 22 的交付回放只达到 plant，未达到 take-off 或 clearance，助跑和起跳运动未满足该步要求。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 22 的交付控制器持续使用 run_arms 助跑，只改变右腕角度来植杆，回放确认仅到 plant；视频 6.2–7.72 s 对应地出现减速转身而未越杆。会话中的另外测试（log step 13 的伸腿跳跃、log step 32 的植杆起跳）也未产生合格悬挂，后者可见采样的 support_s 为零或仅数毫秒；这些是解释控制能力缺口的会话证据，并非交付回放动作。由此将无法衔接有效撑杆起跳归于控制，现有证据不足以细分子类。" + } + ], + "gap_zh": "没有逐帧状态日志或成功参考视频；远景及蓝垫遮挡使手指接触、杆载荷和悬挂累计时长不可直接量化，评分器也未报告 support_s，因此原生指标留空。log step 24 及 log step 32 的诊断属于会话测试，不作为本次回放的精确力值或节点时刻。log step 3–4 展示的任务源码注释声称机器人无法撑杆跳，log step 36 也有类似自述，但本作业未提供这些可行性论证的完整测试，不能据此排除所有合法方案或确定任务设计根因。" + }, + "summary_zh": "机器人完成持杆助跑并到达裁判的插杆阶段，完整“撑杆越杆落地”节点未完成，最终为 0/1。视频约 6.4 s 起机器人明显减速并转身，随后一直停留在横杆近侧，失败表现为步态未能接成越杆跳跃，根因仅归到控制。交付文件经回放及再生成核对一致；缺少状态日志，无法确定握力、接触几何和控制跟踪各自的影响，任务不可行的说法也尚未核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 vault_completed 未达成（评分器 stages_reached=1/4、success=0）与视频一致：约 5.6–7.7 s 机器人持杆到达插斗缺口处，未见腾空越杆。断点、步态现象和控制根因有证据支持，且已标明推断与会话测试证据的区别；未发现需修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:03:17Z", + "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-pole-vault-i00-privileged--muvvjdq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-privileged--muvvjdq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9f8fe1b8784163f5429a4314758ab01dbcc34c01a8379af04322503a18d9b5d5", + "video_sha256": "e67cc847d4d654f9f231a8d6f7e7520cb129069c853dc6da2c4b1942d9c4d7e6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--2dyq6or.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--2dyq6or.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5e9a59bc0b2f0132ab023ccbb66b64eb198c20 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--2dyq6or.json @@ -0,0 +1,167 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--2dyq6or", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 1200, + "sim_steps": 10405, + "calls": 381, + "rows": 10305, + "resets": 11, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1307.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.422, + "peak_processes": 12, + "peak_disk_gb": 1.118, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pole-vault-i00-standard--2dyq6or/replay.mp4", + "duration_s": 12.04, + "fps": 25.0, + "frames": 301, + "sha256": "808bf46b77c15f6153246692cbb875705ebe4a96cac8b7b1569298da4de69c01" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–12.00 s 的固定场地远景显示跑道末端、立柱、横杆和蓝色落地区；全段每0.5秒抽帧、全部18种不同解码画面及视频 11.00–12.00 s 逐帧中均未见机器人进入过杆或落地区，没有出现骨盆及双踝越杆并落地的可见事件。" + }, + { + "t": 12.0, + "log_step": 107, + "text_zh": "观察：log step 105 是最后一次重置后执行的助跑与摆杆脚本，log step 107 的机器人服务状态为 episode=12、control_steps=1200、done=false、reason=null；inputs/run.json 的评分字段为 live_success=0、graded_by_live=1。结合视频始终未出现越杆动作，本节点未达成；此前重置回合的测试不计入本轨迹。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0.00–12.00 s 未显示机器人及其持杆手、双脚，无法从画面确认实际握杆、杆尖接触插斗或脚地支撑。log step 105 显示脚本已提交本步骤的动作，故记作已尝试但实际接触未知，不把任务DAG的典型接触方案当成实测接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": null, + "log_step": 105, + "where": "操作中", + "evidence_zh": "观察：log step 96 的控制脚本先重置，执行站立与助跑，再摆动右臂并保持；log step 99 修改阈值，log step 105 将植杆触发改成回合 time_s>8.0 后再次运行，是评分前的最后一次动作尝试。log step 107 的服务状态仍为第12回合、1200个控制步、done=false；视频 0.00–12.00 s 始终没有机器人越杆或落地。推断：失败步骤为已启动但未完成的撑杆越杆落地；机器人在画面外，无法定位具体出错的视频时刻。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整视频和run.json，但没有状态日志或成功参考视频；视频固定远景全程未见机器人，无法查看助跑路线、握杆几何、杆尖植入、离地承重或摔倒。log step 105 打印的右手holding读数交替为0和1、偏航也有变化，但没有完整位姿、接触力或裁判阶段数据，无法据此确认持续失握、摔倒或植杆失准；其OUTCOME与stages均为None，support_s未报告。因而实际接触记未知，失败现象和根因留空，断点视频时刻留null。log step 108 关于中段握杆不适合悬挂的解释属于agent自述，未经本回合画面或状态验证，不据此确定根因；前面各重置回合的测试现象不能替代本次评分尝试的现象。" + }, + "summary_zh": "最后一次评分回合已执行助跑、摆杆与保持指令，但视频 0.00–12.00 s 始终未见机器人进入横杆或落地区，撑杆越杆落地未达成，最终进度0/1。断点为该跳跃步骤的操作中；机器人动作处于镜头外，且缺少状态日志和裁判阶段数据，无法可靠判断具体失败现象及根因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频为固定远景，全程无机器人，节点未达成、接触未知、现象与根因留空并附gap_zh，均有依据；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": "2026-10-31T00:01:29Z", + "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-pole-vault-i00-standard--2dyq6or/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--2dyq6or/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "80edf5ff5f9b0cc5600792fae82cdb255304fd8c9caae2759f241fdcff1805f2", + "video_sha256": "808bf46b77c15f6153246692cbb875705ebe4a96cac8b7b1569298da4de69c01", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--6rgjc8f.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--6rgjc8f.json new file mode 100644 index 0000000000000000000000000000000000000000..e9097b21d9e784787fb284c21631095709061b38 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--6rgjc8f.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--6rgjc8f", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 2200, + "sim_steps": 33917, + "calls": 1158, + "rows": 1308, + "resets": 32, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7377.8, + "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-pole-vault-i00-standard--6rgjc8f/replay.mp4", + "duration_s": 22.04, + "fps": 25.0, + "frames": 551, + "sha256": "d2625df78b86fc781b8e31a29b34f1a59f51dae615e105b07732306f8575c439" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频 15.0–16.0 s，机器人沿红色跑道持杆向蓝垫行进，杆身随右手在腰部附近移动，双腿交替支撑；尚未出现撑杆悬挂或过杆。" + }, + { + "t": 16.6, + "log_step": null, + "text_zh": "观察：视频 16.2–16.6 s，机器人把杆从近水平转到斜向上，身体继续向前并贴到蓝垫入口右侧的前缘，未升到横杆上方；视频 16.8–17.6 s，杆倒向后方跑道，机器人上身前倾下沉，随后大部身体被蓝垫遮住。" + }, + { + "t": 22.0, + "log_step": null, + "text_zh": "观察：视频 17.6–22.0 s 机器人仍低伏在蓝垫前缘，杆斜躺在来向跑道，未见恢复或越杆；视频 22.00 s 的末帧横杆仍横在立柱之间。评分器 reward.live_success=0，与未完成撑杆越杆落地的画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 15.0–16.4 s，机器人右手握着杆中部携杆前进并抬转杆；未见左手同时握杆，后续是否持续握住被蓝垫遮挡。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 15.0–16.6 s，机器人双脚交替在跑道承重前进，同时右手持杆；随后身体贴到蓝垫前缘并下沉。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 16.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 16.4–16.8 s，持杆机器人接近蓝垫时没有完成撑起越杆，身体在入口右侧垫前缘受阻；视频 17.0–17.6 s 上身前倾下沉，此后直到视频 22.00 s 末帧未恢复越杆动作。这是撑杆跳步骤内未修复的失败。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 16.6, + "log_step": null, + "evidence_zh": "观察：视频 16.4–16.8 s，机器人仍以双腿前进，身体抵住蓝垫入口右侧前壁，前进在垫前缘停住；视频 17.0–17.6 s 机器人向前折下并低于垫面，杆落回跑道方向，没有越过横杆。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 401 的最后一次实时控制脚本先用 walk_agile 接近，再以 run_arms、前向命令 4.0 执行助跑，并按蓝垫深度或运行时长触发右臂向 RIGHT_PLANT 的插杆姿态插值；该脚本通过 Robot 客户端向基准仿真服务发送运动命令。视频 16.2–17.6 s 显示实际抬转杆后仍在垫前受阻、身体下沉，未形成所需撑起和越杆，说明这次手臂与全身运动执行未实现跳跃，归为控制；现有记录不足以区分接触设计、姿态跟踪或反馈子类。" + } + ], + "gap_zh": "观察：inputs/ 中只有运行记录和单一场地视角视频，没有状态日志或成功参考视频；视频 0–14 s 机器人尚在画外，蓝垫又遮住视频 17.4 s 后大部身体及插斗附近接触。log step 401 后相关实时查询的输出为空，不能取得最后一次尝试的裁判阶段、精确植杆接触或承重累计 support_s，也不能确认最终由哪条规则判负；早先回合的判负输出不作为本回合证据。控制根因仅能归到大类。" + }, + "summary_zh": "观察：机器人持杆沿跑道接近蓝垫，但没有完成撑杆越杆落地，节点最终为 0/1。观察：视频约 16.6 s 身体在蓝垫前缘受阻，随后前倾下沉，至视频 22.00 s 末帧仍未恢复；推断：最后控制脚本的助跑与插杆运动未能形成有效跳跃，根因归为控制。观察：缺少状态日志及最后一次裁判阶段输出，垫前遮挡使精确植杆、承重和控制子类无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 vault_completed 与视频一致（视频 16.4–22.0 s 机器人在垫前沿受阻、下沉，杆倒在跑道，横杆未动）；现象与根因停在大类控制，有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:17:32Z", + "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-pole-vault-i00-standard--6rgjc8f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--6rgjc8f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c55a8a615c7e56d15672a238de5794f2dbd88eddf3b3b04d31fad04cb57b1d03", + "video_sha256": "d2625df78b86fc781b8e31a29b34f1a59f51dae615e105b07732306f8575c439", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28.json new file mode 100644 index 0000000000000000000000000000000000000000..39a77225d821e172fd0b61b87eb4027267055a87 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--ldpmb28", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 863, + "sim_steps": 5221, + "calls": 19, + "rows": 2612, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2448.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.9, + "peak_processes": 10, + "peak_disk_gb": 0.791, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pole-vault-i00-standard--ldpmb28/replay.mp4", + "duration_s": 8.64, + "fps": 25.0, + "frames": 216, + "sha256": "77b2984bc794ebe3d5ff7218eeff0522af6d8f11dafafac3e625635fce7560bc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": 61, + "text_zh": "观察：视频 6.4–8.60 s，机器人持近乎水平的撑杆从画面左下方向蓝垫近侧跑动，双脚交替接触草地区域；杆尖没有送入跑道末端的深色插斗，没有出现撑杆悬挂、身体从横杆上方通过或落到垫上的过程。" + }, + { + "t": 8.6, + "log_step": 61, + "text_zh": "观察：log step 61 的机器人服务返回 episode=6、resets_left=0，第一次 run_arms 提交即 done=True、reason=failed、stages_reached=0，裁判 outcome 为“touched the ground or the mats beyond the zero line before clearing the bar”；log step 66 确认最后回合仍为 episode 6 且已结束。该结果与视频 8.60 s 机器人仍持杆在垫旁跑动一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 6.4–8.60 s 撑杆中部随机器人手部一起平移，未见脱手；结合任务开局右手握杆及 log step 61 右手闭合命令持续为1，判断可见助跑阶段由右手抓握撑杆。左手早期伸手动作发生在画外，无法确认是否实际形成第二处抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 6.4–8.60 s 机器人双脚交替在跑道近侧的草地区域着地支撑，持杆向垫区跑动；未见完成撑杆起跳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 8.0, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 7.6–8.60 s 机器人从插斗近侧的草地跑向垫旁，撑杆保持近乎水平，没有植入插斗或把身体撑起，撑杆越杆落地这一步未完成。log step 61 的最后回合在 run_arms 助跑提交内被裁判以过杆前触及零线后地面或垫子判负，后续腾空脚本因 done=True 未执行；视频 8.0 s 为未能植杆的粗略导航锚点。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 8.0, + "log_step": 61, + "evidence_zh": "观察：视频 7.6–8.60 s 机器人仍把撑杆横持在身体旁，向前的一端悬在地面上方并从插斗侧方经过，没有形成撑杆尖与插斗的植杆接触；身体继续跑动，没有围绕固定杆尖撑起。log step 61 的裁判返回 stages_reached=0 及过杆前提前触地的判负结果。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 8.0, + "log_step": 61, + "evidence_zh": "推断：log step 61 中 agent 的脚本预先一次性生成 run_arms 助跑和手臂关节命令，试图由早期左手伸手及末段右臂变化完成植杆；实际视频 6.4–8.60 s 机器人跑在跑道侧方，杆保持横持，未能把杆尖对准并送入插斗，直到裁判判负。证据支持助跑与植杆的动作控制未实现预期接触，但不足以区分接触几何设计、轨迹跟踪或具体参数问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "视频 0–约6.2 s 机器人位于固定相机视野之外，无法核实早期左手是否实际接触撑杆。inputs/ 无状态日志和成功参考视频，服务也未报告 support_s 数值或逐帧接触力；无法进一步区分控制子类，也不能确认最终提前触地的具体接触部位。" + }, + "summary_zh": "评分对应 log step 61 重置后的最后回合 episode 6，撑杆越杆落地节点始终未完成，最终为0/1。视频 6.4–8.60 s 显示机器人持近乎水平的杆沿跑道侧方跑到垫旁，没有建立杆尖与插斗的植杆接触，裁判在过杆前提前触地时判负；根因归为控制。早期伸手动作在画外，且无状态接触与承重日志，无法确定更细的控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（vault_completed 未达成、断点 vault_completed、final=0）与视频、log step 61 一致；仅有一处位置描述与画面不符（minor）：机器人先在红色跑道上跑，到跑道末端后才冲过插斗前方，并非全程在草地/跑道侧方。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "vault_completed 未达成、final=0、断点与现象/根因（控制）均与视频和 log step 61 的裁判返回一致；第1轮的位置措辞问题已由画面复核：7.8–8.6 s 机器人在跑道末端之外的草地上，原写法成立。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:22:37Z", + "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-pole-vault-i00-standard--ldpmb28/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--ldpmb28/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cd31f2fb44b181613e94a975841c5fa4a07d40938d15005b5966426dcd8588bd", + "video_sha256": "77b2984bc794ebe3d5ff7218eeff0522af6d8f11dafafac3e625635fce7560bc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--p4oso5r.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--p4oso5r.json new file mode 100644 index 0000000000000000000000000000000000000000..df4a1f64215f6f47db2f02da2a597edcfc68c55d --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--p4oso5r.json @@ -0,0 +1,167 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--p4oso5r", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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, + 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"intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：完整视频仅有视频 0.00 s 的一帧（总长0.04秒），画面是蓝色落地垫、横杆及跑道末端，未见机器人执行撑杆越杆或落地动作。" + }, + { + "t": null, + "log_step": 3, + "text_zh": "观察：log step 3 的机器人服务返回 seconds=0.0、control_steps_watch=0；log step 3、4 的服务调用仅查询状态及读取初始观测。评分器字段 n_actions=0、sim_steps=0、rows=0、resets=0、live_success=0。推断：受评回合未执行动作，撑杆越杆落地节点未达成；此判定结合零动作记录，而非仅据零分。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0、rows=0，未交付动作轨迹；log step 101 出现模型提供方过滤器拦截提示。初始设置与本地模型测试不作为本步骤的实际操作接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 101, + "where": "首步前", + "evidence_zh": "观察：log step 101 的最终消息为“This request was blocked by Gemini's filters”，之后没有调用；评分器记录 n_actions=0、sim_steps=0、rows=0，完整视频仅有视频 0.00 s 的场地静帧。log step 10 写入的入口脚本只查询服务状态，后续日志为本地运动学及MuJoCo测试，未将动作发送给受评服务。推断：模型提供方过滤器在实际动作轨迹交付前中断会话，按外部因素规则记为首步前、断点未知。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "外部中断：log step 101 明示 Gemini 过滤器拦截，受评服务没有执行动作；按 Step 3.5 / CASES.md FAIL-5，保留目录 success=0，但不计为机器人能力失败，不标“没尝试”，现象与根因均留空。视频仅有视频 0.00 s 的一帧，无法提供动态过程或接触证据；本作业无状态日志、无成功参考视频，评分器未报告 support_s。会话中的本地仿真结果不是受评轨迹。" + }, + "summary_zh": "受评回合没有执行动作（评分器 n_actions=0、sim_steps=0），撑杆越杆落地节点为0/1；完整视频只有视频 0.00 s 的场地静帧。log step 101 明示 Gemini 过滤器拦截，属于动作交付前的外部中断，保留目录失败结果，但不归为机器人失败，断点记 unknown／首步前，现象与根因留空。无动态视频和状态日志，无法判断实际运动接触或悬挂承重，support_s 未报告。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与证据一致：受评回合0动作（n_actions=0、sim_steps=0，step 3 返回 seconds=0.0、control_steps_watch=0），视频仅一帧静帧；log step 101 为 Gemini 过滤器拦截，属外部因素，断点 unknown/首步前、现象与根因留空并有 gap_zh，符合 FAIL-5。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:00:03Z", + "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-pole-vault-i00-standard--p4oso5r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--p4oso5r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9da0499e4f4b3fb5e2f9300bd936c10a4c78412cf0f7a925bb5f8f47c0456111", + "video_sha256": "3f3cde5db004b38c9781ef732c105864a37616a2cfe48d4d2a430e8ab451eb8c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--sevnz5j.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--sevnz5j.json new file mode 100644 index 0000000000000000000000000000000000000000..5f01fa44e53c1d86111d5a58a40de92a5ee4b317 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--sevnz5j.json @@ -0,0 +1,199 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--sevnz5j", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 1219, + "sim_steps": 42190, + "calls": 1935, + "rows": 1986, + "resets": 35, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7108.9, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.673, + "peak_processes": 11, + "peak_disk_gb": 1.125, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pole-vault-i00-standard--sevnz5j/replay.mp4", + "duration_s": 12.2, + "fps": 25.0, + "frames": 305, + "sha256": "957a58b1f809d4fe0ce1c408a73900b4988029c47dd51d8ebbd14c9968fdf9c4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": 233, + "text_zh": "观察：视频 10.0–11.4 s，机器人沿红色跑道持杆接近蓝垫前的插斗，撑杆随持杆手向前移动；log step 233 的脚本重置后重放上一回合的助跑和插杆命令，再执行新的起跳控制。" + }, + { + "t": 11.76, + "log_step": null, + "text_zh": "观察：视频 11.6–12.16 s，机器人在两块前垫之间向前倾倒，躯干变为接近水平，身体始终未从横杆上方越过；末段撑杆转向上方，与倒下的机器人分离。" + }, + { + "t": 12.16, + "log_step": 236, + "text_zh": "观察：视频 12.16 s 末帧机器人仍在横杆近侧的垫间槽内，未完成越杆落地。log step 235–236 的机器人服务终态为 episode 36、done=true、reason=failed、stages_reached=1/4，判负原因为未过横杆便接触零线后的地面或垫子；其 1219 个控制步与 reward.n_actions=1219 一致，所述是最后受评回合，而非此前重置测试。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.0–11.5 s 机器人单手持撑杆助跑并送向插斗。结合任务初态右手握杆、log step 233 保持左手闭合命令0及右手闭合命令1，判为右灵巧手抓握撑杆；末段失去握持，log step 235–236 的终态 holding_right=0、holding_left=0。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 10.0–11.5 s 机器人双脚交替接触红色跑道并承重助跑；视频 11.6–12.16 s 身体向垫间槽倾倒。log step 236 的服务终态确认身体或撑杆已在过杆前接触零线后的地面或垫子，画面不能细分首次触地点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 11.7, + "log_step": 233, + "where": "操作中", + "evidence_zh": "观察：视频 11.6–11.9 s，机器人在插斗附近的起跳过程中向前翻倒，未被撑杆带到横杆上方；视频 12.16 s 仍未越杆。log step 235–236 的最后受评回合 episode 36 仅完成 plant 阶段（1/4），并因未过杆便触及零线后的地面或垫子结束。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 11.7, + "log_step": null, + "evidence_zh": "观察：视频 11.6–11.9 s，机器人躯干从直立转为向前接近水平，双腿失去跑道支撑并随身体翻入蓝垫间的槽中；视频 12.0–12.16 s 身体继续低于横杆，未恢复为合法撑杆越杆动作。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 12.0, + "log_step": 235, + "evidence_zh": "观察：视频 10.5–11.5 s 撑杆随机器人持杆手移动，视频 11.8–12.16 s 撑杆向上旋转而机器人倒下，末段两者分离。log step 233 的最后回合脚本仍向右手发送闭合命令1，并未计划开手；log step 235–236 的 episode 36 终态 holding_right=0、holding_left=0，确认原有握持已丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 233 的最后回合控制器按固定循环阶段切换伸腿、屈腿和收腿目标，使用幅值300 N的计算前馈力经手臂雅可比转置生成力矩，并持续命令右手闭合；循环没有依据持杆状态或悬挂反馈切换动作。视频 11.6–12.16 s 显示该控制未协调好持杆和身体起跳，出现翻倒及脱杆，log step 235–236 也只报插杆1/4且双手未持杆，支持归为控制失败；缺少接触力和跟踪误差，不能进一步确定具体控制子类。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，也没有成功参考视频；现有固定远景不能辨认手指接触几何，无法确定失去握持与身体失稳的精确先后，以及首次越线触地的是身体还是撑杆。reward 和终态服务输出均未报告 support_s，故该原生指标保留 null；不能据此将失败归于特定力矩参数、抓握几何或环境不可行。" + }, + "summary_zh": "观察：最后受评回合 episode 36 中，机器人持杆助跑并到达裁判插杆阶段（1/4），但唯一语义节点“撑杆越杆落地”未完成，终态为0/1。观察：视频 11.6–12.16 s 机器人在插斗附近向前翻倒并失去撑杆，未越杆便触及零线后的地面或垫子，服务因此判负；推断：最后脚本的持杆与起跳协调失败，根因保留为控制。观察：没有状态日志，远景不能细分脱杆与失稳的先后、首次触地点或合格悬挂时长。", + "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 12.2 s 与最后受评回合 episode 36 的 sim_time 12.19 s 对应；末帧机器人在垫间槽内未越杆，服务终态 stages 1/4、失败原因与 holding=0 均与标签一致。节点、断点、现象与根因均有证据支持，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": "2026-10-31T00:01:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--uapyukp.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0ac445db8128d78080222b25e449ea40e893b8 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--uapyukp.json @@ -0,0 +1,194 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--uapyukp", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 784, + "sim_steps": 57011, + "calls": 3261, + "rows": 36322, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 5640.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.384, + "peak_processes": 9, + "peak_disk_gb": 0.368, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pole-vault-i00-standard--uapyukp/replay.mp4", + "duration_s": 7.88, + "fps": 25.0, + "frames": 197, + "sha256": "ddc7346284dc87156f34d7980c3337a62abef7e88a4c0c220f11f8b0dd69ea87" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 4.5–6.2 s，机器人右手持杆沿红色跑道跑向蓝垫前的缺口；视频 5.2 s 可见杆随右手向前移动。" + }, + { + "t": 6.32, + "log_step": null, + "text_zh": "观察：视频 6.24–6.60 s，机器人在横杆前屈腿、身体倾倒并下坠到两侧蓝垫之间的低处，未见骨盆和双脚从横杆上方通过。" + }, + { + "t": 7.84, + "log_step": null, + "text_zh": "观察：视频 6.88–7.84 s 逐帧检查中，机器人未重新升到横杆上方，末帧身体仍被垫体遮住，杆在缺口附近斜立；没有完成越杆及其后的落地验收。run.json 的 reward.success=0、live_success=0，与未完成该节点一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.5–6.1 s，机器人右侧单手握持杆的中段并携杆助跑；没有看到左手同时握杆。末段手指与杆的接触被身体和垫体遮挡，不能确认持续承重抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 4.5–6.2 s，机器人双脚交替接触红色跑道支承助跑；视频约 6.3 s 屈腿后身体下坠到蓝垫前方缺口内。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": 6.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 6.24–6.60 s，机器人已持杆助跑到横杆前，在屈腿动作中身体倾倒并降入蓝垫缺口，没有升到横杆上方；视频直至 7.84 s 未恢复并完成撑杆越杆。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 6.3, + "log_step": null, + "evidence_zh": "观察：视频 6.24 s 机器人上身尚高于垫面，视频 6.28–6.40 s 屈腿、躯干倾倒并迅速降低，视频 6.48–6.60 s 身体已倒入垫体之间的低处；这一支撑丧失发生在越杆之前，并非完成越杆后的落地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.3, + "log_step": 841, + "evidence_zh": "推断：log step 841 的最终控制脚本在定长助跑与插杆动作后，直接切换到 joints 模式并将双侧髋、膝拉到 1.6、2.0 rad 的屈腿目标，未依据植杆承重或持杆状态调整这一转换；log step 843 启动该脚本。视频 6.2–6.6 s 对应可见屈腿后下坠、未形成越杆抬升，说明这次跑动到撑杆腾空的控制衔接未成功。缺少该次尝试的力和关节跟踪数据，不能进一步区分接触设计与轨迹跟踪问题。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频。场地远景中手指、杆尖与插斗接触以及垫体后方身体均难以辨清，无法确认合法植杆、承重悬挂时长或具体触地接触对；support_s 未由 reward 报告，保留 null。log step 843–848 未记录最终脚本返回的裁判 outcome、stages_reached 或完整执行反馈，因此不将早先重置测试的裁判结果移用于本次评分，也不确定具体终止规则；控制根因仅判宽类。" + }, + "summary_zh": "机器人完成持杆助跑并进入蓝垫前的缺口，但在视频约 6.3 s 的屈腿起跳动作中失去支撑、身体下坠，未从横杆上方通过，撑杆越杆落地节点始终未完成（0/1）。最终脚本的跑动到屈腿腾空控制衔接未成功；缺少该次尝试的裁判明细、杆尖接触与承重数据，不能确定具体犯规及更细的控制原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点 vault_completed 未达成、final=false 与视频和 reward 一致；断点（持杆助跑后约 6.3 s 在缺口处屈腿倒入垫间）与视频逐帧相符，平衡现象与宽类控制根因证据充分且已标为推断，缺少力/关节数据故不细分合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:02:59Z", + "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-pole-vault-i00-standard--uapyukp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--uapyukp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b152599298031406891d00108059253760311b44530a07d30a92597a7f30b3f1", + "video_sha256": "ddc7346284dc87156f34d7980c3337a62abef7e88a4c0c220f11f8b0dd69ea87", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--v9v8aes.json b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--v9v8aes.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a6726ea56b1feb1192dc2bd2b8318e9331e2b1 --- /dev/null +++ b/phase2/embodied-olympics-fun/pole_vault/trajectories/embodied-olympics-fun-pole-vault-i00-standard--v9v8aes.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-pole-vault-i00-standard--v9v8aes", + "taskKey": "embodied-olympics-fun/pole_vault", + "dag_sha256": "563d65428d5344656f3de560235015c833808d9cce8bab83d845705ceab114c3", + "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": 6000, + "sim_steps": 119020, + "calls": 13244, + "rows": 12746, + "resets": 47, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 6442.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.721, + "peak_processes": 19, + "peak_disk_gb": 2.65, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pole-vault-i00-standard--v9v8aes/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "6c4928a586390a9f60399d002464220fa03fed65c173239fd0ea99d1adc5e326" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的场地视角可见跑道末端、插斗区域、灰色立柱、红白横杆和蓝垫，未见机器人；沿全片每隔约两秒检查、视频 12.0–19.75 s 每隔约0.25秒检查及视频 59.0–60.0 s 末尾检查，均未见机器人在立柱间过杆或落到蓝垫。" + }, + { + "t": null, + "log_step": 413, + "text_zh": "观察：log step 413 是最后一次实际运行 gen.py 的 robot 调用，脚本输出 PLANT timeout、TAKEOFF trigger 和 SWING，末尾从服务响应打印 OUTCOME: time stages 0 / 4 reason failed；inputs/run.json 的评分字段 graded_by_live=1、success=0、n_actions=6000。log step 7 的服务说明规定只评分最后一个回合。" + }, + { + "t": null, + "log_step": 414, + "text_zh": "观察：log step 414 只把脚本中的插杆触发条件从 t > 14.6 改回 t > 13.5 并检查语法，未调用机器人重跑；log step 415–416 仅更新笔记并总结。推断：评分回合仍是 log step 413 的尝试，不能将 agent 在 log step 416 自述的较早“直立”版本当作本次结果；结合裁判阶段0/4和视频中未出现越杆动作，该事件节点从未完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频所检帧中机器人及手与杆均不在画面内，且没有状态日志，无法核实这次尝试的实际抓握、植杆或脚部支撑接触；log step 413 的动作阶段名不作为接触证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "support_s", + "value": null, + "unit": "s", + "threshold": 0.15, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "vault_completed", + "t": null, + "log_step": 413, + "where": "操作中", + "evidence_zh": "观察：log step 413 中 agent 的控制脚本执行了最后一次助跑、插杆姿态转换和摆动动作序列，服务返回 time、stages 0/4、failed；其后的 log step 414–416 没有重新运行机器人。视频 0.0–60.0 s 所检帧中未见机器人经过插斗、横杆或蓝垫。推断：本次尝试已启动撑杆跳步骤但未完成，断点属于该步骤操作中；因动作发生区不在视频画面内，无法给出可信的视频失败时刻。" + }, + "unmet": { + "vault_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中有完整视频和运行记录，但没有状态日志或成功参照视频；所检视频帧均未显示机器人，只有场地目标区域。log step 413 的 post-swing 输出含 pit=-63、rol=96、hR=0，来自 agent 脚本对传感器数据的处理；没有可见动作可核对其倾倒、释放位置或视频时间，故不据此填平衡、没保持住等现象。agent 在 log step 408、410、416 将失败猜测为起跳速度不足，但未给出本次回合的实际速度、杆尖接触或承重数值，无法确定感知、接触设计或控制中的哪种根因；两层留空。log step 414 的脚本回退未重跑确实不能替换最后实时回合，但此前配置也没有通过，尚不足以把本次未越杆归因于交付选择。support_s 未在评分字段中报告，保留 null。" + }, + "summary_zh": "本次评分尝试未完成“撑杆越杆落地”，最终进度为0/1；最后实际运行是 log step 413，裁判返回 time、stages 0/4、failed。log step 414 只回退脚本并检查语法，没有重跑，因此 agent 在 log step 416 对较早配置的“直立”描述不能替换最后回合。视频全程所检帧及视频 59.0–60.0 s 末尾均未显示机器人，缺少状态日志，无法核实实际接触、失败动作和物理根因，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "独立复核：视频全程（每3 s一帧，视频12–20 s每0.5 s一帧）只见场地、插斗和蓝垫，未见机器人，节点 vault_completed 为 false、接触未知、断点 vault_completed 与证据一致；log step 413 是最后一次实时回合（stages 0/4），step 414 未重跑，该处理正确。现象和根因留空且有 gap_zh 说明，没有发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:01:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--v9v8aes/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-pole-vault-i00-standard--v9v8aes/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c80d79401ad5511a61ec7b8576a7453bbcbd84ffed772c27f2ea620ad177d0ed", + "video_sha256": "6c4928a586390a9f60399d002464220fa03fed65c173239fd0ea99d1adc5e326", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--mvdtzvn.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--mvdtzvn.json new file mode 100644 index 0000000000000000000000000000000000000000..f9c302ad087e71caef5489ae3cff9075b21d8908 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--mvdtzvn.json @@ -0,0 +1,483 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-privileged--mvdtzvn", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 4960, + "sim_steps": 4960, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 12, + "stages_total": 12, + "fell": 0, + "replay_s": 39.67, + "bad_trajectory": 0, + "metric_gates": 12.0, + "metric_time_s": 49.595, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 349, + "agent_resets": 0, + "agent_replays": 6, + 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7.76–8.56 s，机器人走到画面右上角锥桶的右侧，从上侧边线延长线的远侧移向近侧，随后沿原路返回起点方向。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体沿上侧直道前进并在远左锥外侧横向换道。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过远左角橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 16.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.64, + "log_step": null, + "text_zh": "观察：视频 16.24–17.04 s，机器人已返回最左中央锥的画面左侧，在锥桶外侧从中央线远侧移到近侧，随后向第一段中央间隙前进。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体返回起点并第一次绕过起点中央锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过起点中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 19.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.04, + "log_step": null, + "text_zh": "观察：视频 18.64–19.44 s，机器人向画面右方行进，在最左与第二枚中央锥之间由中央线近侧移到远侧；双脚继续交替落地。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体上行穿过第一与第二枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第一、第二枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 21.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.52, + "log_step": null, + "text_zh": "观察：视频 21.12–21.92 s，机器人继续向画面右方行进，在第二与第三枚中央锥之间由中央线远侧移到近侧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体上行穿过第二与第三枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第二、第三枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 23.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.76, + "log_step": null, + "text_zh": "观察：视频 23.36–24.16 s，机器人在第三与第四枚中央锥之间由中央线近侧移到远侧，并继续向最右中央锥的外侧行进。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体上行穿过第三与第四枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第三、第四枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 26.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.16, + "log_step": null, + "text_zh": "观察：视频 25.76–26.56 s，机器人位于最右中央锥的画面右侧，在该锥远端由中央线远侧移到近侧，开始折返。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体在第四枚中央锥远端横移并折返。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第四枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 28.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.16, + "log_step": null, + "text_zh": "观察：视频 27.76–28.56 s，机器人已折返向画面左方移动，在第四与第三枚中央锥之间由中央线近侧移到远侧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体下行再次穿过第四与第三枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第四、第三枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 30.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.44, + "log_step": null, + "text_zh": "观察：视频 30.04–30.84 s，机器人向画面左方行进，在第三与第二枚中央锥之间由中央线远侧移到近侧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体下行再次穿过第三与第二枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第三、第二枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 32.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 32.32, + "log_step": null, + "text_zh": "观察：视频 31.92–32.72 s，机器人向画面左方行进，在第二与第一枚中央锥之间由中央线近侧移到远侧，随后继续返回起点外侧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体下行再次穿过第二与第一枚中央锥之间。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过第二、第一枚中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 34.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 34.76, + "log_step": null, + "text_zh": "观察：视频 34.36–35.16 s，机器人再次到达最左中央锥的画面左侧，由中央线远侧移到近侧，随后走向画面下侧直道。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体第二次绕过起点中央锥并转入右侧直道。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过起点中央橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [ + [ + 43.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.76, + "log_step": null, + "text_zh": "观察：视频 43.36–44.16 s，机器人在画面右下角锥桶的右侧，由下侧边线延长线外侧移向内侧，随后向画面左方返回。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体沿下侧直道前进并绕过远右锥折返。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过远右角橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [ + [ + 49.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 49.6, + "log_step": null, + "text_zh": "观察：视频 48.60–49.60 s 的逐帧序列显示机器人沿中央线近侧返回，末帧躯干到达并越过画面左侧起终点白线，双腿仍支撑行进；inputs/run.json 的评分器字段 success=1、stages_reached=12、metric_time_s=49.595。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触木质地面，支撑身体沿右半场返回并用躯干冲线。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干经过起终点附近橙锥周围，未见锥桶被拨动；推断：结合评分器 success=1、stages_reached=12，本段通过未触锥。" + } + ] + } + }, + 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+ "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:15:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--mvdtzvn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--mvdtzvn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e91c31528fbba43173ce4e270b52260d59326a7ead366ae1e5db26ede57337d2", + "video_sha256": "a9d52fc18ebc28ba052d9b35cfa7a78d3eea76bbfb9ccdadcb1e56007ba14b9d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--rxs74v7.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--rxs74v7.json new file mode 100644 index 0000000000000000000000000000000000000000..5da1c5dbb78683ce753e82bfcbe07422a18aae87 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--rxs74v7.json @@ -0,0 +1,502 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-privileged--rxs74v7", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "outcome": { + "success": 0, + "reward": 0.8333, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 6000, + "sim_steps": 6000, + "horizon": 6000, + "episode_over": 1, + "progress": 0.8333, + "stages_reached": 10, + "stages_total": 12, + "fell": 0, + "replay_s": 27.76, + "bad_trajectory": 0, + "metric_gates": 10.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 131, + "agent_resets": 155, + "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-slalom-i00-privileged--rxs74v7/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "f8857b1c9e2778b212fdd21f4787696f509d35f3f1678d9f60a848404adbe147" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 10, + "final": 10, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 8.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.6, + "log_step": 129, + "text_zh": "观察：视频 8.4–8.8 s，机器人在画面右上角锥桶右侧，从上侧边线延长线的远侧走到近侧。log step 127 将此十门轨迹保存为交付，log step 129 重现相同事件和末态哈希，log step 130 对交付文件的新进程重放确认 gates=10。推断：log step 107 记控制周期为0.01 s，交付6000步对应视频60.0 s；以视频 8.4–8.8 s 的远左过线和视频 59.76–60.0 s 的末次起点过线核对该时钟，采用约视频 8.6 s（重现事件仿真 8.585 s）。后续节点同用此经视频核对的交付事件时钟，非agent工作时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体跑向远左锥并步行转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 19.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.2, + "log_step": 129, + "text_zh": "观察：视频 18.8–19.6 s，机器人位于最左中央锥的画面左侧，绕锥由中央线远侧移到近侧；视频 20.0 s 已到中央线近侧。log step 129 的交付重现记录第二门在仿真 19.239 s 达成，与上述视频吻合，取约视频 19.2 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体返回起点并绕中央锥转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 23.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.8, + "log_step": 129, + "text_zh": "观察：视频 23.76–24.16 s，机器人向画面右侧走，在第一、第二中央锥之间由中央线近侧越到远侧；log step 129 的交付重现记录此门在仿真 23.771 s 达成，取约视频 23.8 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体上行穿过第一段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 28.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.1, + "log_step": 129, + "text_zh": "观察：视频 28.0–28.52 s，机器人向画面右侧走，在第二、第三中央锥之间从中央线远侧移到近侧；log step 129 的交付重现记录此门在仿真 28.057 s 达成，取约视频 28.1 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体上行穿过第二段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 32.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 32.5, + "log_step": 129, + "text_zh": "观察：视频 32.48–32.88 s，机器人在第三、第四中央锥之间向右行进，由中央线近侧移到远侧；log step 129 的交付重现记录此门在仿真 32.498 s 达成，取约视频 32.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体上行穿过第三段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 36.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.8, + "log_step": 129, + "text_zh": "观察：视频 36.64–37.04 s，机器人在最右中央锥右侧，由中央线远侧绕到近侧；随后视频 38.0–44.0 s 持续转向返回。log step 129 的交付重现记录顶部门在仿真 36.759 s 达成，取约视频 36.8 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体绕过顶部中央锥并转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 47.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 47.1, + "log_step": 129, + "text_zh": "观察：视频 46.8–47.2 s，机器人已向画面左侧返回，在最右中央锥间隙由中央线近侧移到远侧；log step 129 的交付重现记录此门在仿真 47.049 s 达成，取约视频 47.1 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体下行穿过第三段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 51.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 51.4, + "log_step": 129, + "text_zh": "观察：视频 51.16–51.56 s，机器人向画面左侧返回，在第二、第三中央锥之间从中央线远侧移到近侧；log step 129 的交付重现记录此门在仿真 51.447 s 达成，取约视频 51.4 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体下行穿过第二段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 55.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.9, + "log_step": 129, + "text_zh": "观察：视频 55.56–55.96 s，机器人向画面左侧返回，在第一、第二中央锥之间从中央线近侧移到远侧；log step 129 的交付重现记录此门在仿真 55.875 s 达成，取约视频 55.9 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体下行穿过第一段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 59.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.9, + "log_step": 129, + "text_zh": "观察：视频 58.0–60.0 s，机器人在最左中央锥的左侧继续转弯，末尾从中央线远侧绕到近侧，没有跌倒。log step 129 的交付重现记录第十门在仿真 59.88 s 锁存，log step 130 的交付文件重放确认包含 bottom cone, second time；取约视频 59.9 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落地，支撑机体再次绕起点中央锥转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部及躯干在此段与邻近橙色锥桶保持分离，未见碰动锥桶；交付重放在log step 130以time结束，未因触锥中止。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": 130, + "text_zh": "观察：视频 59.88–60.0 s，机器人仍在最左中央锥外侧转身，远右角锥在画面右下方，机器人没有在该锥右侧跨越下边线延长线。log step 130 对交付轨迹的重放只列前十门，未列far-right cone。推断：前一门已锁存，机器人继续转身进入右半场是朝远右锥出发的起始动作，但该门未完成；成功参照视频 41.68 s 的远右锥外侧通过形态在本次末段没有出现。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 59.88–60.0 s，机器人双脚继续接触地面支撑转身，尚未展开到远右锥的长直道行进。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：视频 59.88–60.0 s，机器人腿部及躯干仍与起点中央锥分离；这里实际避开的是起点锥，尚未接近远右锥。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": 130, + "text_zh": "观察：视频末帧 60.0 s，机器人还在起点中央锥外侧，没有完成远右锥后返回右半场冲线的过程；log step 130 对交付文件的重放记录gates=10、success=false。推断：前置far_right_rounded未达成，终点门也未达成，未开始最后返回冲线。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": 60.0, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 10.0, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "far_right_rounded", + "t": 60.0, + "log_step": 130, + "where": "操作中", + "evidence_zh": "观察：视频 59.76–60.0 s，机器人仍直立，绕起点中央锥后继续转身，未向远右锥完成右侧长直道行进。log step 129 的交付重现记录第十门于仿真 59.88 s 达成，log step 130 的交付文件重放为6000步、time_s=60.0、gates=10、failed=time。推断：再绕起点中锥已完成；下一步绕过远右锥在出发转身阶段未完成，故断点取该步，非已锁存的第十门。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": true, + "up_gap_3_4_passed": true, + "top_rounded": true, + "down_gap_3_4_passed": true, + "down_gap_2_3_passed": true, + "down_gap_1_2_passed": true, + "bottom_rounded_2": true, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 60.0, + "log_step": 130, + "evidence_zh": "观察：视频 20.0–36.8 s 的上行绕锥、视频 36.8–47.2 s 的顶部转向和视频 47.2–60.0 s 的返回段中，机器人保持站立、以小步行进和转弯；视频最后一秒仍在起点中央锥旁转身，远右锥及返回终点两段尚未完成。交付重放log step 130记录60.0 s只完成10/12门，评分器fell=0。推断：行进与转向速度不足以在规定回合内走完整条路线，现象为步态过慢。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 60.0, + "log_step": 125, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 104 打印所用walk接口的前向命令上限0.8 m/s；会话探测log step 125测得walk身体速度约0.65–0.75 m/s，log step 116测得转弯速度约0.24–0.59 m/s。交付重现log step 129显示上行段从仿真 20.97 s 到35.38 s、下行段至仿真 58.22 s才走完；这些慢速绕行与视频 22.0–36.8 s、视频 46.8–60.0 s一致。推断：agent实现的步行绕锥及转向控制未能兼顾速度与合法过锥，导致后续远右段来不及完成；只归到控制层，现有证据不足以细分轨迹生成、跟踪或参数问题，也不支持所有合法控制方案均不可行。" + } + ], + "gap_zh": "本次没有逐帧状态日志，跨线时刻按已核对视频的交付重现事件取约数；视频不能分辨毫米级擦碰，避开接触由可见间距及未触发触锥判负共同支持。控制根因由交付慢速行进和会话探测推断，缺少足以进一步区分控制子类的记录；不采纳agent在log step 132所称所有混合步态方案的全程仿真用时至少需72–75秒的普遍不可行结论。" + }, + "summary_zh": "观察：机器人在本次交付视频中按顺序通过前10/12个检查点，约视频 59.9 s完成第二次绕起点中央锥，评分器记录未摔倒；log step 130的新进程交付重放报告time_s=60.0、gates=10，该值用于原生用时指标。推断：机器人绕锥行走和转向过慢，在继续转身准备右侧出发时回合结束，断在绕过远右锥，最后冲线也未开始。无逐帧状态日志，精细跨线时刻及控制子类仍有不确定性。", + "conf": 7, + 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], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 17.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.6, + "log_step": null, + "text_zh": "观察：视频 16.8–18.4 s，机器人已返回最左中央锥的画面左侧，由中央线远侧移至近侧，完成第一次起点外侧过线；到达约为视频 17.6 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 22.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.3, + "log_step": null, + "text_zh": "观察：视频 21.6–22.8 s，机器人在第一与第二中央锥之间由中央线近侧跑到远侧；到达约为视频 22.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 24.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.2, + "log_step": null, + "text_zh": "观察：视频 23.6–24.8 s，机器人在第二与第三中央锥之间由中央线远侧跑到近侧；到达约为视频 24.2 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 26.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.3, + "log_step": null, + "text_zh": "观察：视频 25.6–27.2 s，机器人在第三与第四中央锥之间由中央线近侧跑到远侧，再继续向远端前进；到达约为视频 26.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 29.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.4, + "log_step": null, + "text_zh": "观察：视频 28.8–30.0 s，机器人在最右中央锥右侧，由中央线远侧移至近侧；到达约为视频 29.4 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 37.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.7, + "log_step": null, + "text_zh": "观察：视频 36.8–38.4 s，机器人开始下行，在第四与第三中央锥之间由中央线近侧跑到远侧；到达约为视频 37.7 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 41.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 40.8–42.4 s，机器人下行经过中间两枚中央锥之间，由中央线远侧跑到近侧；到达约为视频 41.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 44.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.9, + "log_step": null, + "text_zh": "观察：视频 44.4–45.6 s，机器人在第二与第一中央锥之间由中央线近侧跑到远侧，随后继续朝起点外侧运动；到达约为视频 44.9 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 48.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.9, + "log_step": null, + "text_zh": "观察：视频 47.2–49.4 s，机器人在最左中央锥左侧较远处绕行，从中央线远侧跨到近侧，完成第二次起点外侧过线；到达约为视频 48.9 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落在运动场地面，支撑身体完成本段跑动及转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕过本段橙色锥桶或从锥间通过，未见身体碰动锥桶；评分器允许轨迹继续通过后续检查点。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [ + [ + 59.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58.8, + "log_step": null, + "text_zh": "观察：视频 55.2–58.8 s，机器人沿中央线近侧向远端跑，在视频约 57.2 s 越过远线后仍向画面右侧跑；视频约 59.1 s 完全出画。" + }, + { + "t": 59.8, + "log_step": 415, + "text_zh": "推断：评分器 stages_reached=11、metric_gates=11，且检查点按顺序锁存，因此远右检查点已完成。log step 317 的生成器在远右门点后开始 turn，log step 319 的同生成器试跑仅再执行索引 0–20 的转身步即到控制时钟 60 s；log step 324 添加保存和结束保护，log step 403 重新生成提交文件，log step 411–415 对该文件两次重放均以 time 结束。按日志循环每步 0.01 s 估计门点在视频约 59.8 s；已用视频 57.2 s 的远线通过及视频约 59.1 s 的出画核对路线，但过线本身在画外，时间约有半秒不确定性。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 55.2–58.8 s，机器人双脚交替接触地面，支撑向远右检查点跑动；最后的过线发生在画外。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人跑到画面右下角锥桶右侧较远处，未见与该锥桶接触；评分器确认第十一检查点完成。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.92, + "log_step": 415, + "text_zh": "观察：视频 57.2–59.0 s，机器人越过远线后继续向右跑并出画；已检查视频 59.04–60.00 s 的密集帧及视频 59.96 s 末帧，机器人没有返回画面左侧起终点白线。提交文件的两次重放输出均为 success=false、failed=time（log step 411–415），评分器只记 11/12 个检查点。" + }, + { + "t": 59.8, + "log_step": 324, + "text_zh": "推断：log step 317、324 的提交生成逻辑会在远右门点后执行转身，再向起点返回；结合 log step 319 同生成器试跑的 turn 输出、log step 403 的重新生成以及 log step 415 的文件重放结果，本次已进入最终返程转向，但未完成返程过线。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "最终返程转身发生在画外；缺少逐帧状态及接触日志，无法直接确认这一步实际的脚地接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 11.0, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "finish_crossed", + "t": 59.8, + "log_step": 415, + "where": "操作中", + "evidence_zh": "推断：评分器已锁存前十一点，剩下的是返回起点并用躯干越线。视频 57.2–59.0 s 显示机器人继续向远端外跑并出画，视频 59.04–60.00 s 未返回终点线；log step 317、324 的生成逻辑及 log step 319 的同生成器 turn 输出表明末段正在转向返程，提交文件重放在 log step 415 以 time 结束。断点锚定视频约 59.8 s 的最终返程转向，画外时刻为估计。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": true, + "up_gap_3_4_passed": true, + "top_rounded": true, + "down_gap_3_4_passed": true, + "down_gap_2_3_passed": true, + "down_gap_1_2_passed": true, + "bottom_rounded_2": true, + "far_right_rounded": true, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 59.0, + "log_step": 415, + "evidence_zh": "观察：视频 55.2–59.0 s，机器人跑向远端，越过远线后仍向外跑，转弯范围很大并离开视野；直到视频 60.00 s 都没有回到左侧终点线。评分器 gates=11，提交重放以 time 结束（log step 415）。推断：末段行进与转向未及时完成返程距离；这是未完成路线的步态问题，不能把时限本身当作现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 45.6–49.4 s 可见机器人绕起点中锥时走到起点外较远处；视频 57.2–59.0 s 又在远线外持续向外跑。log step 317 的生成代码以 run(4.0,yr,0) 前进，直到 x>=10.2 才将目标航向从 0 改为 -1.0，并等远右门点锁存后再原地 turn；log step 324 将该路线保存为生成器，log step 403 重新运行它生成最终文件。与可见的大范围绕行相符，速度、航向及转向衔接的控制未把运动限制在足以完成返程的范围内；证据不足以进一步区分参数调试或反馈控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无逐帧状态日志。机器人在视频约 59.1 s 后完全出画，远右门点的完成由评分器有序计数确认，视频约 59.8 s 的到达和返程转向时间由同生成器日志估计，不能直接看见精确过线或最终脚地接触。其余过线时间为固定远景画面的约半秒精度判断，毫米级接触不能由画面排除。评分器 reward 未单独报告 time_s，原生指标该值保留 null；日志重放明确报告 failed=time。控制根因可定位到路线执行与转向衔接，缺少逐步跟踪误差，故不细分子类。" + }, + "summary_zh": "机器人按顺序完成前十一个检查点，最终为 11/12，未完成越过终点线。末段越过远线后继续向外跑，返程转向未能及时带机器人返回，断点为越过终点线，现象为步态，根因保守归为控制。机器人在视频约 59.1 s 后出画，远右门点及最终转向时刻依评分器计数和同生成器日志估计；缺少逐帧状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "前十一个节点与评分器 11/12 一致，视频抽查（7.7、17.6 s 附近、46–60 s 每秒）时间在约一秒内；断点 finish_crossed、步态现象与控制根因有日志和视频支持，远右门点 59.8 s 已标为推断并说明不确定性。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": "2026-10-31T00:30:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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[ + { + "t": 6.9, + "log_step": null, + "text_zh": "观察：视频 5.0–8.75 s，机器人走到画面右上角锥桶的右侧，绕锥从上边线延长线近侧走到远侧后转向返回；约视频 6.9 s 通过该延长线。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从远左角锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 15.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.9, + "log_step": null, + "text_zh": "观察：视频 13.5–17.75 s，机器人回到最左中央锥附近，在该锥的画面左侧绕行，从中央线远侧走到近侧；约视频 15.9 s 首次跨线，随后朝中央一二锥间行进。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从起点中央锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 19.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.5, + "log_step": null, + "text_zh": "观察：视频 18.5–20.5 s，机器人从最左中央锥的近侧向右前方行进，在第一段中央锥间隙由中央线近侧穿到远侧，过线约在视频 19.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第1、2锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 22.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.4, + "log_step": null, + "text_zh": "观察：视频 21.5–23.5 s，机器人在中间两枚中央锥之间继续向画面右侧行进，由中央线远侧穿到近侧，过线约在视频 22.4 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第2、3锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 25.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.2, + "log_step": null, + "text_zh": "观察：视频 24.0–26.0 s，机器人在最右一段中央锥间隙由中央线近侧穿到远侧，随后走向最右中央锥的外端，过线约在视频 25.2 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第3、4锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 28.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.5, + "log_step": null, + "text_zh": "观察：视频 26.25–31.25 s，机器人绕到最右中央锥的画面右侧，从中央线远侧转到近侧，再掉头向画面左侧行进；跨线约在视频 28.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从远端第4中央锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 33.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.2, + "log_step": null, + "text_zh": "观察：视频 32.0–34.25 s，机器人掉头后在最右一段中央锥间隙向画面左侧行进，由中央线近侧回到远侧，过线约在视频 33.2 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第4、3锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 36.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.1, + "log_step": null, + "text_zh": "观察：视频 35.0–37.0 s，机器人在中间两枚中央锥之间向画面左侧返回，由中央线远侧回到近侧，过线约在视频 36.1 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第3、2锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 38.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.7, + "log_step": null, + "text_zh": "观察：视频 37.75–39.75 s，机器人在最左一段中央锥间隙继续返回，由中央线近侧回到远侧，过线约在视频 38.7 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从中央第2、1锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 42.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.4, + "log_step": null, + "text_zh": "观察：视频 40.0–44.5 s，机器人再次绕到最左中央锥的画面左侧，从中央线远侧转到近侧，随后向右下方跑出；本次跨线约在视频 42.4 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从起点中央锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [ + [ + 50.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.7, + "log_step": null, + "text_zh": "观察：视频 48.5–52.75 s，机器人到达右下角锥桶，在该锥的画面右侧绕行，从下边线延长线远侧走到近侧，跨线约在视频 50.7 s，随后转向起终点。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从远右角锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [ + [ + 56.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 56.88, + "log_step": null, + "text_zh": "观察：视频 55.8–56.88 s，机器人在中央线近侧沿下边线外侧向画面左侧冲刺，末帧躯干到达起终点线延长处；锥桶仍在原处且机器人保持直立。" + }, + { + "t": 56.88, + "log_step": 18, + "text_zh": "观察：log step 18 的交付保存及裁判重放输出列出全部十二个已通过阶段（含 finish），success=true、failed=null；inputs/run.json 的评分器字段 replay_success=1、stages_reached=12、metric_time_s=56.896。推断：结合视频 55.8–56.88 s 的冲线过程，终点节点约在视频 56.9 s 达成；最后一次躯干碰撞网格过线的物理插值时刻无法从25帧/秒画面独立精确读出。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人以双脚交替落地支撑腿部和躯干，完成本段行走、跑动或转弯；支撑对象为运动场地面。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部与躯干从终点角锥桶及沿途锥桶旁通过，未见碰动锥桶。推断：本次评分轨迹成功，裁判的触锥即终止规则未触发，支持该段无接触通过。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "unit": "s", + "threshold": 60.0, + "direction": "lower_better", + "value": 56.896 + }, + { + "name": "gates", + "unit": "count", + "threshold": 12, + "direction": "higher_better", + "value": 12.0 + } + ], + "failure": null, + "summary_zh": "机器人依次完成绕远左锥、两次绕起点中锥、上下行全部六次穿锥、绕顶部及远右锥和终点冲线，十二个事件节点全部达成；视频末秒仍直立冲线，评分器记录12个检查点、用时56.896秒且重放成功。log step 18 保存交付，log step 19 验证重新生成的动作文件一致，log step 22 确认两次重放均成功且末态哈希一致；会话中的其他参数测试不计入本轨迹。没有逐帧状态日志，节点过线时间依据固定视角及前后帧近似定位，约有0.5秒不确定性；精确骨盆投影、末次躯干网格过线及微小擦碰不能单凭画面独立复核，以本次裁判成功结果补足，成功示例仅用于对照路线外观。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 12/12、replay_success=1、fell=0，十二个节点均达成且时间顺序与视频相符；无失败、无断点，接触标签符合实际（腿/躯干 支撑+避开），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": "2026-10-31T00:13:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--t7qv7qx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--t7qv7qx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ae4620ba477514634b667eb2d5f501a82e7acf07b1433dcc1572c249c6f2f4fb", + "video_sha256": "10c0344ebc100d5409e7a5dcd7898ec0a260c522b4a557d57f636229932c327b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--vhpz9sg.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--vhpz9sg.json new file mode 100644 index 0000000000000000000000000000000000000000..6c09b046bf8e869b3f1eb4e1055dcb8857687364 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--vhpz9sg.json @@ -0,0 +1,543 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-privileged--vhpz9sg", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 4489, + "sim_steps": 4489, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 12, + "stages_total": 12, + "fell": 0, + "replay_s": 20.96, + "bad_trajectory": 0, + "metric_gates": 12.0, + "metric_time_s": 44.884, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 26, + "agent_resets": 76, + "agent_replays": 3, + "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-slalom-i00-privileged--vhpz9sg/replay.mp4", + "duration_s": 44.92, + "fps": 25.0, + "frames": 1123, + "sha256": "1993b561cf115553f02544f47df7c9dceac65620ba043144faec66ed07f8ef8b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 12, + "final": 12, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 7.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.2, + "log_step": null, + "text_zh": "观察：视频 6.6–7.8 s，机器人在画面右上角锥桶右侧转弯，足部位置从上边线延长线远侧移到近侧，随后沿中央线远侧返回。" + }, + { + "t": 7.2, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 7.2 s 于远线外跨过上边线延长线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚在木质场地交替落地，支撑机器人沿上侧直道前进并在远左锥外转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从画面右上角锥桶右侧绕行，画面未见碰撞或锥桶移动。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 14.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 14.0–15.6 s，机器人在最左中央锥桶左侧转弯，由中央线远侧移动至近侧，随后向右进入一二锥间隙。" + }, + { + "t": 14.6, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 14.6 s 于起点外侧首次跨过中央线，方向为远侧到近侧。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚接触地面支撑返程、减速及首次绕起点中央锥的转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干绕过最左中央锥桶左侧，未见锥桶被撞动。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 16.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.8, + "log_step": null, + "text_zh": "观察：视频 16.0–17.6 s，机器人从最左中央锥右侧进入第一段锥间隙，足部和身体位置由中央线近侧转到远侧。" + }, + { + "t": 16.8, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 16.8 s 在第一、第二中央锥之间向远侧跨线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替踏地，支撑机器人在第一段中央锥间隙上行过线。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干穿行于第一、第二中央锥之间，未见与两锥碰撞。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 19.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.6, + "log_step": null, + "text_zh": "观察：视频 18.8–20.2 s，机器人向画面右方推进，在中间两枚中央锥之间由中央线远侧移到近侧。" + }, + { + "t": 19.6, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 19.6 s 在第二、第三中央锥之间向近侧跨线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替接触地面，支撑机器人转向并上行通过第二段间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干在第二、第三中央锥间转弯通过，未见锥桶移动或碰撞。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 22.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.0, + "log_step": null, + "text_zh": "观察：视频 21.2–22.6 s，机器人在最右一段中央锥间隙前进，足部位置由中央线近侧移到远侧，随后绕向最右中央锥外端。" + }, + { + "t": 22.0, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 22.0 s 在第三、第四中央锥之间向远侧跨线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替落地，支撑机器人上行穿过第三段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从第三、第四中央锥之间通过，画面未见碰撞。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 24.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 23.2–24.8 s，机器人已处于最右中央锥右侧，在该锥外侧掉头，足部位置从中央线远侧移到近侧。" + }, + { + "t": 24.0, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 24.0 s 于第四中央锥远端向近侧跨线，完成顶部绕锥。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚踏地支撑机器人在第四中央锥远端转弯掉头。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从最右中央锥右侧绕过，画面未见碰撞或拨动该锥。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 26.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.6, + "log_step": null, + "text_zh": "观察：视频 25.8–27.2 s，机器人转为向画面左方行进，在最右一段中央锥间隙由近侧移至远侧。" + }, + { + "t": 26.6, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 26.6 s 在第四、第三中央锥之间向远侧跨线，属于返程过线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替接触场地，支撑机器人下行穿过第三段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干再次穿行于第三、第四中央锥之间，未见碰撞。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 29.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.2, + "log_step": null, + "text_zh": "观察：视频 28.2–29.8 s，机器人继续向左，在中间两枚中央锥之间从中央线远侧移到近侧。" + }, + { + "t": 29.2, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 29.2 s 在第三、第二中央锥之间向近侧跨线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替踏地，支撑机器人在返程中通过第二段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避让第二、第三中央锥并从两者之间通过，未见撞动锥桶。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 31.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 30.0–32.4 s，机器人在最左一段中央锥间隙向左行进；视频 31.0–31.8 s，身体和足部由中央线近侧转到远侧，随后到达最左中央锥外侧。" + }, + { + "t": 31.4, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 31.4 s 在第二、第一中央锥之间向远侧跨线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚接触地面支撑机器人返程穿过第一段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从第一、第二中央锥之间通过，画面未见碰撞。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 33.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.8, + "log_step": null, + "text_zh": "观察：视频 33.0–34.6 s，机器人再次在最左中央锥左侧掉头，由中央线远侧移到近侧，之后向右下方直道前进。" + }, + { + "t": 33.8, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 33.8 s 于起点外侧再次向近侧跨过中央线。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚踏地支撑机器人第二次绕最左中央锥转弯并驶向下侧直道。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干第二次从最左中央锥左侧绕过，未见锥桶被碰动。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [ + [ + 41.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.0, + "log_step": null, + "text_zh": "观察：视频 39.0–40.4 s，机器人绕至画面右下角锥桶的右下方；视频 40.6–41.4 s，机器人在该锥右侧由下边线延长线近侧转回远侧，然后向左返回。" + }, + { + "t": 41.0, + "log_step": 74, + "text_zh": "推断：骨盆约在视频 41.0 s 于远线外跨回下边线延长线，完成远右绕锥；此前在远线内移到下边线外不计为该节点。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替接触地面，支撑机器人沿下侧直道奔行并在远右锥外减速转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从画面右下角锥桶右侧绕行，画面未见碰撞或锥桶移动。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [ + [ + 44.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.88, + "log_step": null, + "text_zh": "观察：视频 43.84–44.88 s，机器人沿中央线近侧向左奔跑；视频 44.80 s 躯干接近左侧起终点白线，视频 44.88 s 躯干到达并越过该白线，末帧机器人仍保持站立。" + }, + { + "t": 44.88, + "log_step": 74, + "text_zh": "推断：结合视频 44.88 s 的冲线画面与评分器 success=1、stages_reached=12，终点节点在视频约 44.88 s 达成。过线时间为画面估计，误差约 0.5 s。log step 74 是最终交付轨迹的重放结果，裁判列出全部十二点且 success=true，与本次画面路线一致；未使用会话测试时间替代视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替踏地支撑机器人沿中央线近侧返回并用躯干冲过起终点线。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从起终点下方角锥内侧跑过，未见与该锥接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "unit": "s", + "threshold": 60.0, + "direction": "lower_better", + "value": 44.884 + }, + { + "name": "gates", + "unit": "count", + "threshold": 12, + "direction": "higher_better", + "value": 12.0 + } + ], + "failure": null, + "summary_zh": "观察：本次视频中机器人依次绕远左锥、首绕起点中锥、上行穿过三段间隙、绕顶部中锥、下行穿过三段间隙、再绕起点中锥和远右锥，最后在视频约 44.88 s 冲过终点，十二个节点均达成；评分器报告 success=1、gates=12、time_s=44.884。观察：机器人以双脚支撑行进和转弯，画面未见倒地或撞动锥桶；log step 74、78 的最终交付重放成功且末态哈希一致。推断：固定远景下各次骨盆过线时间存在约 0.5 s 估计误差，缺少逐帧状态日志使微小擦碰及碰撞网格精确冲线时刻无法独立量测；成功参考仅用于辨认视角中的路线和过线外观。", + "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，十二个节点均达成，裁判 stages 12/12、metric_time 44.884 s；抽查画面与各节点时间和路线一致，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": "2026-10-31T00:12:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--vhpz9sg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-privileged--vhpz9sg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7e5f057c2aa7cae42df8270eae61043b243de7305d0dda7baf01bea4ecc285c3", + "video_sha256": "1993b561cf115553f02544f47df7c9dceac65620ba043144faec66ed07f8ef8b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--xdfxy4w.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--xdfxy4w.json new file mode 100644 index 0000000000000000000000000000000000000000..473902960205a9ce689bfce535fd63e5665d74ed --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-privileged--xdfxy4w.json @@ -0,0 +1,509 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-privileged--xdfxy4w", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "outcome": { + "success": 0, + "reward": 0.8333, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 6000, + "sim_steps": 6000, + "horizon": 6000, + "episode_over": 1, + "progress": 0.8333, + "stages_reached": 10, + "stages_total": 12, + "fell": 0, + "replay_s": 44.18, + "bad_trajectory": 0, + "metric_gates": 10.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 165, + "agent_resets": 0, + "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": 1.699, + "peak_processes": 16, + "peak_disk_gb": 1.046, + "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-slalom-i00-privileged--xdfxy4w/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "7b6c60369649a114f2a17bf2b33f91476ca40007da213e52a02dc39b311db685" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 10, + "final": 10, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 6.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.6, + "log_step": null, + "text_zh": "观察：视频 6.0–7.0 s，机器人在画面右上角锥桶的右侧向上绕行，越过上边线延长线，随后回转；锥桶保持原位。以视频约 6.6 s 作为首次通过锚点，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干绕远左锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕远左锥时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 17.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.4, + "log_step": null, + "text_zh": "观察：视频 17.0–18.0 s，机器人已返回最左中央锥的画面左侧，并由中央线远侧走到近侧，随后朝第一段中央锥间隙前进；约视频 17.4 s 通过，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干首次绕起点中央锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人首次绕起点中央锥时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 20.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.2, + "log_step": null, + "text_zh": "观察：视频 19.8–20.8 s，机器人向画面右侧行进，在第1、2中央锥之间由中央线近侧移到远侧；约视频 20.2 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干上行穿过第1、2中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人上行穿过第1、2中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 24.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.4, + "log_step": null, + "text_zh": "观察：视频 24.0–25.0 s，机器人在第2、3中央锥之间继续向画面右侧行进，由中央线远侧移到近侧；约视频 24.4 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干上行穿过第2、3中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人上行穿过第2、3中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 28.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.0, + "log_step": null, + "text_zh": "观察：视频 27.6–28.6 s，机器人在第3、4中央锥之间由中央线近侧移到远侧，随后走向最右中央锥的外侧；约视频 28.0 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干上行穿过第3、4中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人上行穿过第3、4中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 31.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.8, + "log_step": null, + "text_zh": "观察：视频 31.4–32.4 s，机器人在最右中央锥的画面右侧绕行，由中央线远侧移到近侧，随后转身下行；约视频 31.8 s 通过，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干绕顶部中央锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人绕顶部中央锥时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 39.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 39.2, + "log_step": null, + "text_zh": "观察：视频 38.6–39.6 s，机器人已向画面左侧返回，在第4、3中央锥之间由中央线近侧移到远侧；约视频 39.2 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干下行穿过第4、3中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人下行穿过第4、3中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 42.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.4, + "log_step": null, + "text_zh": "观察：视频 41.8–42.6 s，机器人下行至第3、2中央锥之间，由中央线远侧移到近侧；约视频 42.4 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干下行穿过第3、2中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人下行穿过第3、2中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 46.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46.0, + "log_step": null, + "text_zh": "观察：视频 45.4–46.4 s，机器人继续向画面左侧行进，在第2、1中央锥之间由中央线近侧移到远侧；约视频 46.0 s 过线，视觉误差约 0.3 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干下行穿过第2、1中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人下行穿过第2、1中央锥间隙时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 50.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.2, + "log_step": null, + "text_zh": "观察：视频 49.6–50.6 s，机器人再次在最左中央锥的画面左侧绕行，由中央线远侧移到近侧；随后视频 52–58 s 绕转并沿右半场向远端前进。以视频约 50.2 s 为第二次过线锚点，视觉误差约 0.3 s。" + }, + { + "t": 50.2, + "log_step": 327, + "text_zh": "观察：log step 326 生成并保存最终配置的动作文件；log step 327 对该文件的新进程重放报告有序 stages 到 bottom cone, second time，共10点，time_s=60.0、failed=time、executed_rows=6000；log step 343 再次重放得到相同末态哈希，log step 356 重建文件逐元素相同。这与视频中的十次过点及右侧末段一致，其他调参回合的触锥不属于本次评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替踏在运动场地板上，支撑腿部和躯干第二次绕起点中央锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人第二次绕起点中央锥时从橙色锥桶旁经过，未见腿部或躯干撞动锥桶；交付文件的裁判重放以 time 结束而非触锥（log step 327）。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.6, + "log_step": 327, + "text_zh": "观察：视频 58.0–60.0 s，机器人沿右半场向画面右端前进，最后一秒仍直立迈步，至视频 60.0 s 位于右下角锥桶的右上方，尚未越过下边线延长线；没有绕到该锥的近侧。log step 327 的最终文件重放仅列前10点，未列 far-right cone。成功参考视频 42.2–43.4 s 则能看到机器人在该锥画面右侧越过下边线延长线，此比较只用于辨认可见判据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 50.2–60.0 s，机器人双脚交替接触地板，完成起点外侧转向并沿右半场向远右锥行进。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：视频 59.0–60.0 s，机器人从远右锥旁接近外侧，未见撞动锥桶；交付文件裁判重放报告 failed=time（log step 327），此处尚未完成绕锥。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": 327, + "text_zh": "观察：视频 58.0–60.0 s，机器人仍在远右锥附近向远端行进，未绕完远右锥，也没有返回画面左侧起终点线；log step 327 对交付文件的裁判重放报告10/12点、success=false。成功参考视频 48.4–49.6 s 可见完成远右绕锥后返回画面左侧并用躯干冲线，本次没有这一段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": 60.0, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 10.0, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "far_right_rounded", + "t": 59.6, + "log_step": 327, + "where": "操作中", + "evidence_zh": "观察：视频约 50.2 s 已第二次绕过起点中央锥，之后机器人转向并沿右半场奔向远右锥；视频 59.0–60.0 s 仍在该锥旁前进，未跨过下边线延长线。log step 327 对最终交付文件的裁判重放报告前10个有序检查点已过、failed=time、time_s=60.0；log step 343 验证相同结果与末态哈希。推断：前十步均已完成，首个未完成且正在执行的步骤是绕过远右锥，导航锚点取视频 59.6 s。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": true, + "up_gap_3_4_passed": true, + "top_rounded": true, + "down_gap_3_4_passed": true, + "down_gap_2_3_passed": true, + "down_gap_1_2_passed": true, + "bottom_rounded_2": true, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 59.6, + "log_step": 327, + "evidence_zh": "观察：视频 17.0–50.6 s 机器人持续绕行、穿过中央锥间隙，至视频约 50.2 s 才完成第10点；视频 58.0–60.0 s 它仍直立向远右锥迈步，没有跌倒或可见碰撞，却尚未绕完远右锥和折返。log step 327 报告最终文件在仿真 60.0 s 结束于10点。推断：行进速度与转向耗时不足以在比赛时限内跑完路线，属于步态不足。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 138, + "source_zh": "日志", + "evidence_zh": "观察：会话测试 log step 138 中，agent 脚本给 run 策略角速度命令0.5 rad/s，测得多数速度下稳定转向约0.28–0.33 rad/s；log step 136 中 walk_falcon 转向较快，log step 65 的直行测试则仅约0.70 m/s。log step 256 的路径计算把角速度0.28 rad/s对应到约0.91 m/s的穿锥速度；log step 298、326 将此速度配置及低速圆弧转向保存到交付生成器，log step 327 重放仍只有10点。视频 17.0–50.6 s 的缓慢绕行与末段未完成相符。推断：agent 未获得兼顾转向跟踪、避锥和全程速度的运动控制方案，导致路线耗时过长；证据不足以细分为某一反馈算法或参数错误。", + "note_zh": "会话测试只用于解释控制能力，未把其他回合的触锥计入本次现象；测试也不能证明所有合法控制方案都不可行。" + } + ], + "gap_zh": "输入没有逐帧状态日志；固定远景分辨率较低，骨盆跨线时刻为约0.3秒精度的视觉估计，微小接触以最终文件裁判重放的 time 结局辅助排除。控制根因结合会话测量与交付配置推断，无法独立验证 agent 自述的“硬动态极限”，也不能唯一归结于具体控制子类。原生 time_s=60.0 取自 log step 327 的交付文件裁判重放报告，gates=10 亦与 reward.metric_gates 一致；未把 reward.replay_s（重放计算耗时）当比赛用时。" + }, + "summary_zh": "观察：评分轨迹依序完成前10/12个检查点，视频约 50.2 s 第二次绕过起点中央锥，随后沿右半场前往远右锥，视频 60.0 s 结束时仍未完成远右绕锥和返回冲线。推断：断点为绕过远右锥，现象为全身·步态不足；日志测量及交付配置支持运动控制未兼顾转向与全程速度，裁判重放在仿真 60.0 s 以 time 结束。无状态日志，过线时间采用视觉近似，控制瓶颈的具体子类及 agent 所称不可突破的动态极限未获独立证实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "前10点与grader的stages_reached=10、progress 0.8333一致；50.2 s帧机器人在最左锥左侧，59.8 s帧机器人在右下角锥右上方尚未越过下边线延长线，断点far_right_rounded、步态现象与控制根因（标为推断）有证据支持，未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 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"1bdeb42c5cbf14ecbaa82d1e2552838f3a17b7c8d00d7e4c82fa9e1d50cffff8", + "video_sha256": "7b6c60369649a114f2a17bf2b33f91476ca40007da213e52a02dc39b311db685", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--5e7fn3k.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--5e7fn3k.json new file mode 100644 index 0000000000000000000000000000000000000000..7799580903e3b03ac13e19228b379505b8c71978 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--5e7fn3k.json @@ -0,0 +1,559 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--5e7fn3k", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 4853, + "sim_steps": 25110, + "calls": 1014, + "rows": 25110, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3014.0, + "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": 0.0, + "peak_memory_gb": 0.326, + "peak_processes": 10, + "peak_disk_gb": 0.896, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-slalom-i00-standard--5e7fn3k/replay.mp4", + "duration_s": 48.56, + "fps": 25.0, + "frames": 1214, + "sha256": "211b8146c4db496e140b9687a2fbe24ad584bed8271b4806460255d52b15f5e2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 10, + "final": 10, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": 82, + "text_zh": "观察：视频 6.8、7.2、7.4、7.6、8.0 s，机器人在画面右上角锥桶的远端转弯，由上边线延长线的外侧回到场内一侧；骨盆过线约在视频 7.5 s，远景估时误差约 0.5 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替蹬地支撑，沿左侧跑到远线外并转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干绕过画面右上角锥桶，转弯时与锥桶保持分离。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 16.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.5, + "log_step": 83, + "text_zh": "观察：视频 15.5、16.0、16.25、16.5、16.75、17.5 s，机器人回到最左中央锥的起点外侧，绕着它由中央线远侧移到近侧，随后面向前方开始穿锥；过线约在视频 16.5 s，误差约 0.5 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚接触地面，支撑返回起点中锥并缓慢转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从起点外侧绕过最左中央锥，未见锥桶被碰动。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 19.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.8, + "log_step": 87, + "text_zh": "观察：视频 19.4、19.6、19.8、20.0 s，机器人在从左起第一段中央锥间隙中前进，由中央线近侧转到远侧；骨盆跨线约在视频 19.8 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地支撑，沿第一段间隙斜向前跑动。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从起点中锥近侧绕出，在第一与第二中央锥之间无接触通过。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 22.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.6, + "log_step": 91, + "text_zh": "观察：视频 22.3、22.5、22.7、22.9、23.0 s，机器人在中间两枚中央锥之间由中央线远侧移到近侧；骨盆跨线约在视频 22.6 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触地面，支撑身体向前并横向换侧。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避开第二、第三中央锥，通过二三锥间隙。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 25.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.9, + "log_step": 96, + "text_zh": "观察：视频 25.6、25.8、26.0、26.2 s，机器人在最右一段中央锥间隙由中央线近侧移到远侧，之后继续向第4锥远端行进；跨线约在视频 25.9 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地，支撑身体完成第三次上行换侧。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避开第三、第四中央锥，从其间无接触通过。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 29.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.0, + "log_step": 100, + "text_zh": "观察：视频 28.5、28.75、29.0、29.25、29.8 s，机器人在最右中央锥的画面右侧绕行，由中央线远侧转到近侧，随后转向返回；跨线约在视频 29.0 s，误差约 0.5 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在地面承重，配合转身绕过顶部中央锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干绕在第4中央锥的远端，转身过程中与锥桶分离。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 33.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.5, + "log_step": 105, + "text_zh": "观察：视频 33.2、33.4、33.6、33.8、34.0 s，返程机器人在最右一段中央锥间隙由中央线近侧移到远侧；这是顶部转弯后的下行穿越，约在视频 33.5 s 跨线，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地支撑，沿返程方向跑动并换侧。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避开第四、第三中央锥，返程穿过三四锥间隙。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.0, + "log_step": 108, + "text_zh": "观察：视频 35.6、35.8、36.0、36.2 s，返程机器人在中间两枚中央锥之间由中央线远侧移到近侧；跨线约在视频 36.0 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触地面，支撑身体沿返程方向前进。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避开第三、第二中央锥，返程通过中间间隙。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 38.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.6, + "log_step": 112, + "text_zh": "观察：视频 38.2、38.4、38.6、38.8、39.0 s，返程机器人在第一段中央锥间隙由中央线近侧移到远侧，然后继续向起点外侧前进；跨线约在视频 38.6 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地，支撑身体完成最后一次下行换侧。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干避开第二、第一中央锥，从第一段间隙穿回远侧。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 42.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.1, + "log_step": 117, + "text_zh": "观察：视频 41.5、41.7、41.9、42.1、42.3、42.5、43.0 s，机器人在起点白线外第二次绕过最左中央锥，由中央线远侧移到近侧，随后转向右半场的长直道；跨线约在视频 42.1 s，误差约 0.4 s。" + }, + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：机器人服务在 log step 119 返回终局 outcome=\"touched a cone\"、stages=10；这是最后一次现场回合的裁判结果，与视频依次完成前十个门点的路线相符，节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在地面交替支撑，绕起点中锥转弯后重新加速。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人腿部和躯干从起点外侧第二次绕过中央锥，与其保持分离。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：视频 47.5、47.8、48.0、48.2、48.4、48.48、48.52 s，机器人沿右半场向右下角锥桶接近，末帧腿足区域与该锥位置重叠，尚未绕到其画面右侧再跨回下边线延长线；视频到此结束。log step 119 的服务终局为 outcome=\"touched a cone\"、stages=10，未通过第11门点。" + }, + { + "t": 48.52, + "log_step": 120, + "text_zh": "推断：log step 81 重置后开始的 episode 6 是本视频对应的评分回合；log step 120 确认 control_steps=4853，log step 7 的服务规格给出 control_dt=0.01 s，因此末步对应视频约 48.53 s，与视频 48.48–48.52 s 的触锥位置及视频总长 48.56 s 核对一致；未把 steps[].t 的 agent 工作时间用于视频计时。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 44.0–48.52 s，机器人双脚交替接触运动场地面，支撑身体沿右半场跑向远右锥。" + }, + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：候选“意外碰撞”。视频 48.48–48.52 s 的腿足区域与远右锥重叠，log step 119 服务确认触锥；接触发生在下肢区域，不能可靠区分左右足或具体碰撞几何。现有接触方式均不贴切，非预期擦碰不记作主动推扫或成功避开。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.52, + "log_step": 119, + "text_zh": "观察：视频 48.52 s，机器人仍在画面右下角的远右锥旁；此前视频 44.0–48.52 s 仅显示它向远线跑去，没有绕远右锥后返回左侧起终点线的过程。服务终局 stages=10，前置 far_right_rounded 未完成，故终点事件未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 10, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "far_right_rounded", + "t": 48.5, + "log_step": 119, + "where": "操作中", + "evidence_zh": "观察：视频 47.5–48.52 s，机器人正在沿右侧跑向远右锥，尚未完成绕行，末段腿足区域与锥桶重叠；log step 119 的机器人服务返回 outcome=\"touched a cone\"、stages=10、done=true。此前十个门点已完成，未修复的失败发生在“绕过远右锥”的行进过程中。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": true, + "up_gap_3_4_passed": true, + "top_rounded": true, + "down_gap_3_4_passed": true, + "down_gap_2_3_passed": true, + "down_gap_1_2_passed": true, + "bottom_rounded_2": true, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 48.5, + "log_step": 119, + "evidence_zh": "观察：视频 48.2、48.4、48.48、48.52 s，机器人未与右下角锥桶拉开绕行间隙，腿足区域最终与锥桶重叠；机器人服务在 log step 119 明确返回“touched a cone”，现场回合立即结束。机器人保持直立，画面未显示跌倒；这是触锥碰撞事件。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 118 中 agent 的脚本以 goto(...,[10.7,-3.2],3.7,limit=8) 指令朝远右锥外侧的目标点跑动；log step 24 的 goto 实现按当前位置估计和航向误差，每次下发 0.3 s 的跑动速度与转向命令。视频 47.5–48.52 s 显示机器人在接近锥桶时没有形成足够横向间隙，log step 119 返回触锥终止，说明末段行进控制未实现避锥。目标次序正确，现有资料不足以进一步把位置估计误差、转向响应或控制参数的影响分开，故根因只标到“控制”。" + } + ], + "gap_zh": "没有逐帧状态日志或接触对；门点时刻由固定远景及前后帧估计，约有 0.4–0.5 s 误差，触锥事实由同一现场回合的服务裁判补充确认，具体左右足不可分辨。日志中的 xy 是 agent 视觉定位算法的估计，不是仿真真值，不能据此确定感知偏差或控制子类。gates=10 来自 log step 119 的裁判 stages；评分器未单独报告完成全程的 time_s，故该原生指标留 null，服务的仿真终止时刻约 48.53 s 不作为完成成绩。" + }, + "summary_zh": "观察：评分视频对应最后一次现场回合 episode 6，机器人依次完成前十个门点，包括完整往返穿锥和第二次绕起点中锥，最终进度为 10/12。观察：视频约 48.5 s，机器人在跑向远右锥时触锥终止，尚未完成远右绕锥或返程冲线；推断：末段行进控制未实现足够绕锥间隙。缺少逐帧状态及接触对，门点时刻为远景估时，根因保留在控制大类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度 10/12 与 log step 119 的服务终局 stages=10 一致，抽查帧（7.5、42.1、48.5 s）与标注相符；断点 far_right_rounded、触锥碰撞现象和控制根因有证据支撑，时钟换算（control_steps 4853×0.01 s≈48.53 s）有核对。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:19:20Z", + "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-slalom-i00-standard--5e7fn3k/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--5e7fn3k/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "31966fbff352a3d61032b39b86c6603cb09586c8e6e27f89442865d46270f9b2", + "video_sha256": "211b8146c4db496e140b9687a2fbe24ad584bed8271b4806460255d52b15f5e2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--m3xtttt.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--m3xtttt.json new file mode 100644 index 0000000000000000000000000000000000000000..6824ed1d0b308d4f72d607c7e0e98a60bb239841 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--m3xtttt.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--m3xtttt", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 1777, + "sim_steps": 11886, + "calls": 439, + "rows": 5585, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3092.0, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "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-slalom-i00-standard--m3xtttt/replay.mp4", + "duration_s": 17.8, + "fps": 25.0, + "frames": 445, + "sha256": "cf21e0325c6be6f82dac0062b6d17777d6d829ef81f5428654f73153721f7830" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 0–7.2 s，机器人从起点向画面右上方行进；视频 7.4–7.8 s 在远左角锥的画面左侧倾倒。视频 8.0–17.76 s 仍停留在该锥左侧附近，未绕到其右侧跨过上边线延长线。" + }, + { + "t": 17.76, + "log_step": 143, + "text_zh": "观察：log step 143 的最后现场回合输出 stages=0、did not finish: down for too long；log step 144 的服务状态为 episode=6、done=true、reason=failed。该回合的倒地与视频 7.4–7.8 s 相符。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–7.2 s，机器人双脚交替接触运动场地板，支撑本体向远左锥方向行进；视频 7.6–8.4 s 失去足底支撑后身体落地。尚未到达远左锥，未观察到与该锥的接触。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人从起点出发后未返回画面最左中央锥的左侧绕行，倒地后一直在场地远端附近；首绕起点中锥未发生。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人始终在中央线远侧行进或倒地，未在第一段中央锥间隙由近侧跨向远侧；其前置首绕起点中锥也未发生。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人未进入中间两枚中央锥之间由中央线远侧跨向近侧；它在上边线附近倾倒，未开始上行穿锥序列。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人未在最右一段中央锥间隙由中央线近侧跨向远侧；倒地位置在上边线附近，未开始上行穿锥序列。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人未走到最右中央锥的右侧绕行，也未由中央线远侧移到近侧；它在远左角锥左侧附近倒地。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人没有绕过顶部中央锥后折返，未在最右中央锥间隙完成下行由近侧至远侧的跨线。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人没有开始下行穿锥，未在中间两枚中央锥之间再次由远侧跨向近侧。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人没有开始下行穿锥，未在最左中央锥间隙再次由近侧跨向远侧。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人出发后未返回起点中央锥，未完成下行穿锥后的第二次绕行。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人没有进入中央线近侧的右半场，未到画面右下角锥的右侧跨过下边线延长线。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.76, + "log_step": null, + "text_zh": "观察：视频 0–17.76 s，机器人未完成此前的绕锥序列，也未沿中央线近侧返回画面左侧终点；末帧仍在场地远端附近。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": null, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "far_left_rounded", + "t": 7.5, + "log_step": 143, + "where": "操作中", + "evidence_zh": "观察：视频 7.2 s 机器人仍在向远左锥行进，视频 7.4–7.8 s 身体倾斜并倒地，位置尚在画面右上角锥的左侧；之后直到视频 17.76 s 都未完成绕锥。log step 143 的最后现场回合报告 down for too long，log step 144 确认 episode=6 已失败。" + }, + "unmet": { + "far_left_rounded": false, + "bottom_rounded_1": false, + "up_gap_1_2_passed": false, + "up_gap_2_3_passed": false, + "up_gap_3_4_passed": false, + "top_rounded": false, + "down_gap_3_4_passed": false, + "down_gap_2_3_passed": false, + "down_gap_1_2_passed": false, + "bottom_rounded_2": false, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.5, + "log_step": 143, + "evidence_zh": "观察：视频 7.4 s 机器人开始明显倾斜，视频 7.6–7.8 s 身体落到地板，随后翻动但未恢复正常站立行进；视频 16.6–17.76 s 仍低伏在远左锥的画面左侧。log step 143 报告该现场回合因倒地过久结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.5, + "log_step": 136, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 136 的交付脚本以路径横向误差修正朝向，并在误差增大时降低跑步速度；log step 141 又增大纠偏增益。log step 144 打印的最后回合记录显示，倒地前已有连续 mode=2、偏航角和位置估计变化；视频 7.4–7.8 s 显示该行进控制最终失去支撑，且远左锥仍在前方、没有可见阻挡接触。因而归为行进控制未维持平衡；现有证据不足以细分为某个确定参数或感知错误。", + "note_zh": "agent 在 log step 145–146 将原因解释为低速跑步未进入稳定步态、纠偏时摔倒；该具体阈值机制未独立验证，根因保留在“控制”。" + } + ], + "gap_zh": "无逐帧状态日志，不能核实各部位的精细地面接触及关节受力；现有固定远景足以判定未到第一检查点和倾倒。log step 144 的末回合打印内容在中段被截断，不能独立重建倒地瞬间的速度指令及步态切换机制；agent 在 log step 145–146 的具体原因解释只作自述。评分器 reward 未报告 time_s 或 gates，故两项 native_metrics.value 均为 null。" + }, + "summary_zh": "评分回合为最后一次现场 episode 6：机器人向远左锥行进，但在视频 7.4–7.8 s 尚未绕到该锥时失衡倒地，十二个检查点最终均未达成。log step 143 报告倒地过久结束，故断点为绕过远左锥，现象为全身·平衡，根因保守归为控制。无逐帧状态日志，且关键控制打印中段截断，无法独立验证 agent 自述的低速步态阈值机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧核对：机器人沿上边线向画面右上角锥行进，视频约 7.4–7.8 s 倒地，之后爬起但直到 17.76 s 仍在该锥左侧、未跨过其延长线，十二个节点均未达成、断点 far_left_rounded、现象全身·平衡、根因保守归控制均有证据支持。未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:17:03Z", + "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-slalom-i00-standard--m3xtttt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--m3xtttt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "57a9f972d10e3d7a23a227a9ac605651537fa976d33d13dba10bcd7e50cc4123", + "video_sha256": "cf21e0325c6be6f82dac0062b6d17777d6d829ef81f5428654f73153721f7830", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--ozzvjkp.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--ozzvjkp.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1c2f5091f75043a67f60f82545a38b59033a4d --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--ozzvjkp.json @@ -0,0 +1,514 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--ozzvjkp", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 6000, + "sim_steps": 86343, + "calls": 8257, + "rows": 12655, + "resets": 29, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2386.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.342, + "peak_processes": 9, + "peak_disk_gb": 0.404, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-slalom-i00-standard--ozzvjkp/replay.mp4", + "duration_s": 60.04, + "fps": 25.0, + "frames": 1501, + "sha256": "8136103ab70ee7abac636793707b9a6ac4ffdacc717763fae8f3e3682dcc9e3b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 11, + "final": 11, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 6.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 5.8–7.8 s，机器人从画面右上角锥桶的近侧走到远侧，在锥桶右方跨过上边线延长线；按骨盆对应地面位置估计于视频约 6.8 s 达到，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替落在场地地面，支撑机器人沿左侧跑至远端并转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：双腿及躯干从远左橙锥外侧绕过，画面中未见碰动锥桶。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 17.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.4, + "log_step": null, + "text_zh": "观察：视频 16.4–18.2 s，机器人在最左中央锥的画面左侧绕行，从中央线远侧移到近侧；骨盆过线估计为视频约 17.4 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚交替支撑机器人从远端返回起点并绕行中央起点锥。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人从起点中央橙锥的外侧通过，未见锥桶被碰动。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 21.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.4, + "log_step": null, + "text_zh": "观察：视频 20.8–22.0 s，机器人向画面右方上行，在最左两枚中央锥之间从中央线近侧走到远侧；骨盆过线估计为视频约 21.4 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触地面，支撑上行穿过第一段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干经过第1与第2中央橙锥之间，未见碰动两锥。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 24.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.8, + "log_step": null, + "text_zh": "观察：视频 24.0–25.6 s，机器人上行至中间两枚中央锥之间，从中央线远侧移至近侧；骨盆过线估计为视频约 24.8 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：双脚在地面交替支撑，机器人向远端跑过第二段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从第2与第3中央橙锥之间穿过，未见碰动两锥。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 27.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.6, + "log_step": null, + "text_zh": "观察：视频 27.2–28.4 s，机器人在最右一段中央锥间隙上行，由中央线近侧移至远侧；骨盆过线估计为视频约 27.6 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地，支撑上行通过最后一段锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从第3与第4中央橙锥之间穿过，未见碰动两锥。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [ + [ + 30.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 29.2–31.2 s，机器人走到最右中央锥的画面右侧，绕其远端由中央线远侧转到近侧；骨盆过线估计为视频约 30.0 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触场地，支撑在顶部中央锥外侧转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：双腿及躯干从最右中央橙锥的外侧绕过，未见碰动该锥。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [ + [ + 35.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35.8, + "log_step": null, + "text_zh": "观察：视频 35.2–36.4 s，机器人已折返朝画面左方行进，在最右中央锥间隙从中央线近侧移到远侧；骨盆过线估计为视频约 35.8 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替支撑身体，下行穿过三四锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从第4与第3中央橙锥之间返回，未见碰动两锥。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [ + [ + 41.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.0, + "log_step": null, + "text_zh": "观察：视频 40.4–42.0 s，机器人继续向画面左方行走，在中间两枚中央锥之间由中央线远侧移到近侧；骨盆过线估计为视频约 41.0 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚持续交替接触地面，支撑下行穿过二三锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从第3与第2中央橙锥之间返回，未见碰动两锥。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 44.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.8, + "log_step": null, + "text_zh": "观察：视频 44.0–45.6 s，机器人在最左中央锥间隙折返通过，从中央线近侧移到远侧；骨盆过线估计为视频约 44.8 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替落地，支撑下行走过第一段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从第2与第1中央橙锥之间返回，未见碰动两锥。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [ + [ + 50.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.2, + "log_step": null, + "text_zh": "观察：视频 48.4–51.6 s，机器人再次走到起点中央锥的画面左侧，从中央线远侧转至近侧；骨盆过线估计为视频约 50.2 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替支撑，在起点中央锥外侧再次转弯，随后沿右半场向远端跑去。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干第二次从起点中央橙锥外侧绕过，未见碰动该锥。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [ + [ + 58.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58.8, + "log_step": 79, + "text_zh": "观察：视频 58.0–60.0 s，机器人在画面右下角锥的右方继续转弯，身体对应地面位置从下边线延长线内侧移到外侧；骨盆过线估计为视频约 58.8 s，受小尺寸画面和步态影响误差约 1 s。log step 79 的最后回合服务结果为 stages_reached=11、stages_total=12，与此顺序进度一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚交替接触地面，支撑沿右半场跑到远端并绕远右锥转弯。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：机器人双腿及躯干从远右橙锥的外侧绕过，末段帧未见碰动该锥。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": 79, + "text_zh": "观察：视频 59.0、59.2、59.4、59.6、59.8、60.0 s，机器人仍在画面右下角远端锥附近直立迈步转向，未回到画面左侧起终点线，躯干没有越线。log step 79 打印最后回合服务结果 failed / time / 11 / 12 / 仿真 60.0 s；log step 80 的服务状态确认为 episode 30、control_steps=6000、done=True。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 59.0–60.0 s，机器人双脚交替接触场地，在远右锥外继续转向准备返程；结束前尚未跑回终点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": 60.0, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 11, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "finish_crossed", + "t": 59.0, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：视频 58.0–60.0 s，机器人已绕到远右锥外侧，随后仍在该锥附近迈步转向，距画面左侧终点仍有整段场长；末帧直立，没有完成返程冲线。log step 79 的服务返回最后回合 failed、outcome=time、stages_reached=11/12、sim_time_s=60.0，log step 80 确认该回合为 episode 30。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": true, + "up_gap_3_4_passed": true, + "top_rounded": true, + "down_gap_3_4_passed": true, + "down_gap_2_3_passed": true, + "down_gap_1_2_passed": true, + "bottom_rounded_2": true, + "far_right_rounded": true, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 59.0, + "log_step": 79, + "evidence_zh": "观察：视频 33.6–47.6 s，机器人以较慢步行完成下行穿锥；视频 51.6–57.2 s 才跑到右侧远端，视频 59.0–60.0 s 仍在远右锥附近转向，未跑完最后返程。推断：整段行进速度不足以在回合内冲线；末段仍保持支撑，所见失败是行进过慢。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：该控制器未能兼顾快速行进与绕锥转向，最终采用的慢速穿锥和逐段减速转弯使冲线来不及。依据：log step 72 的脚本将下行穿锥改为 walk_falcon，log step 73 的默认参数为直线 vleg=2.8、上行 vweave=1.05、绕锥 vorb=0.5；log step 77 的会话测试改用较快 run 下行后，服务返回 touched a cone、8/12，不能把这次测试的碰锥记成本次视频的现象。log step 79 恢复上述默认控制器，最后回合视频 33.6–47.6 s 的下行和视频 57.2–60.0 s 的转弯确实缓慢，最终服务结果为 11/12。证据支持速度与转向协调不足，尚不能指定为某个反馈增益或逆解错误。" + } + ], + "gap_zh": "没有状态日志，固定远景中的骨盆投影过线时刻主要依靠前后帧估计，多数误差约 0.5 s，远右锥约 1 s；细微擦碰不能仅凭像素排除。原生指标取 log step 79 打印的最后回合服务结果，未将 agent 会话时间映射为视频时间；log step 17 的打印代码表明该结果直接读取服务的 outcome、stages_reached、stages_total、sim_time_s。缺少最后回合逐步速度及控制误差记录，根因仅标到“控制”，不认定某个参数错误或机器人本身无法完成任务。" + }, + "summary_zh": "评分对象为最后的 episode 30；机器人依次完成前十一处绕锥和穿线检查点，最终进度 11/12。视频 59.0–60.0 s 仍在远右锥附近转向，尚未返回终点；失败现象为步态过慢，日志中的快行测试与最终慢速控制方案支持速度、转向协调不足的控制归因。没有状态日志，骨盆过线时间为视觉近似，无法细分到某个控制参数。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分对象为最后的 episode 30；服务结果 11/12、outcome=time 与视频末帧（机器人在远右锥附近，未回终点）一致，节点、断点、步态现象和控制根因均有证据支持，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": 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"video_sha256": "8136103ab70ee7abac636793707b9a6ac4ffdacc717763fae8f3e3682dcc9e3b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--pe6lijq.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--pe6lijq.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3d8f51bbbfb83833a6233c2517b310f5f3f53d --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--pe6lijq.json @@ -0,0 +1,340 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--pe6lijq", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 515, + "sim_steps": 7462, + "calls": 332, + "rows": 7462, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1361.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.398, + "peak_processes": 10, + "peak_disk_gb": 1.105, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-slalom-i00-standard--pe6lijq/replay.mp4", + "duration_s": 5.16, + "fps": 25.0, + "frames": 129, + "sha256": "7e365a9ddd631fa36991711789d13a7ff5bbac0644ee553a4c02a9756bc5f23f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–5.12 s 中，机器人从画面左上起点沿上侧白线向右行进；末段仍在远左锥的起点侧，未在远线外跨过上边线延长线。" + }, + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 5.04–5.12 s，机器人脚部逼近并与右上角远左锥重叠，末帧锥桶轮廓被碰动；log step 81 的最后现场回合 episode 6 服务反馈为 touched a cone、stages 0/12，log step 182 再次确认。与成功参考视频 7.60–8.40 s 机器人在该锥右侧绕行过线的画面相比，本次没有绕到锥外。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–5.12 s，机器人双脚交替落地，支撑身体沿上侧向远左锥行进。" + }, + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：候选“碰撞/擦碰”；视频 5.04–5.12 s 显示脚部与远左橙锥重叠并碰动锥桶，log step 81 裁判确认 touched a cone，因此不是避开。现有接触方式没有描述意外碰撞的条目；画面不能可靠区分左右脚或足与小腿。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未从远端返回起点中锥外侧，也未在该处由远侧跨向近侧；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未进入上行绕中央锥阶段，未在第一段中央锥间隙由近侧跨向远侧；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未在中间中央锥间隙由远侧跨向近侧；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未在最右中央锥间隙由近侧跨向远侧；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未绕到最右中央锥远端跨中央线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未开始下行绕锥，未在最右中央锥间隙完成下行过线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未在中间中央锥间隙完成下行过线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未在第一段中央锥间隙完成下行过线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人没有完成下行绕锥或第二次绕起点中锥；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未前往画面右下角远右锥，也未跨下边线延长线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.12, + "log_step": 81, + "text_zh": "观察：视频 0.00–5.12 s 只显示机器人沿上侧向第一个远左锥行进，机器人未沿中央线近侧返回起终点白线，未完成躯干冲线；log step 81 的 episode 6 在触锥后结束，裁判 stages 0/12，前置有序检查点亦未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "unit": "s", + "threshold": 60.0, + "direction": "lower_better", + "value": null + }, + { + "name": "gates", + "unit": "count", + "threshold": 12, + "direction": "higher_better", + "value": 0 + } + ], + "failure": { + "breakpoint": { + "ref": "far_left_rounded", + "t": 5.1, + "log_step": 81, + "where": "操作中", + "evidence_zh": "观察：视频 4.72–5.12 s，机器人仍直行接近画面右上角远左锥，尚未绕到远线外，末帧脚部碰动该锥；log step 81 记录最后现场回合 episode 6 的裁判反馈 touched a cone、stages 0/12、done=True，之后未恢复或重开回合。" + }, + "unmet": { + "far_left_rounded": false, + "bottom_rounded_1": false, + "up_gap_1_2_passed": false, + "up_gap_2_3_passed": false, + "up_gap_3_4_passed": false, + "top_rounded": false, + "down_gap_3_4_passed": false, + "down_gap_2_3_passed": false, + "down_gap_1_2_passed": false, + "bottom_rounded_2": false, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.1, + "log_step": 81, + "evidence_zh": "观察：视频 5.04–5.12 s，机器人前进中的脚部进入远左锥所在位置，末帧锥桶被碰动，机器人仍直立；log step 81 由机器人服务读取的裁判 outcome 为 touched a cone，回合即结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "note_zh": "控制脚本实现错误：重复定义使旧路线覆盖修改后的路线。", + "source_zh": "日志", + "evidence_zh": "推断：log step 79 的脚本试图将首目标改为 (10.60,1.40)，但用全文件首次出现的 out = [] 作为截断边界；log step 83 显示三份 plan，log step 85 显示三份 Ctrl/full_run，log step 87 显示拼接边界实际落在锥桶检测函数内部，后面的旧定义会覆盖前面的修改。log step 81 最后现场回合实际打印首目标 (10.6,2.3)，随后裁判触锥，与视频 5.04–5.12 s 的碰撞一致；因此归因于执行脚本仍使用旧控制路线，无法进一步分解其定位和跟踪误差。" + } + ], + "gap_zh": "没有逐帧状态日志；视频末段分辨率不足以确定触锥的是左脚还是右脚、足部还是小腿，触碰事实由末帧及最后现场回合裁判反馈共同确认。评分 reward 未报告原生 time_s，故该指标留 null；gates=0 来自 log step 81 和 log step 182 读取的最终裁判 stages 0/12。日志中后续 mock 的完成路线属于离线测试，不是评分回合；无法据此认定任务时限不可实现。" + }, + "summary_zh": "本次评分采用最后现场回合 episode 6：机器人已沿上侧向远左锥行进，但在视频约 5.1 s 脚部碰到该锥，被裁判终止，十二个有序检查点均未完成。日志显示补丁重复拼接控制模块，后面的旧函数覆盖修改后的路线，最后实际仍朝旧首目标行进。缺少逐帧状态日志，无法确定具体触锥侧别或进一步拆分定位与跟踪误差；后续离线测试不计入本次进度。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "graded episode 为 episode 6（log step 81 control_steps 515 ≈ 视频 5.16 s，相符）；视频 0–5.12 s 机器人沿上侧行进至远左锥并在末帧碰动该锥，所有 12 个节点 false、breakpoint far_left_rounded、现象被挡/碰撞与控制根因均有 log step 81/83/85/87 与帧支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:08:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-slalom-i00-standard--pe6lijq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--pe6lijq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "544b4e0812d31fee9cf4d65acaa4cc9cb6f0d8c16134239067b37eaba6c25824", + "video_sha256": "7e365a9ddd631fa36991711789d13a7ff5bbac0644ee553a4c02a9756bc5f23f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--segaxca.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--segaxca.json new file mode 100644 index 0000000000000000000000000000000000000000..9428cd5c8921070d3fbae2e254f07e2771f0156c --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--segaxca.json @@ -0,0 +1,345 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--segaxca", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 1470, + "sim_steps": 12242, + "calls": 441, + "rows": 6122, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 5564.9, + "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": 0.177, + "peak_processes": 11, + "peak_disk_gb": 0.313, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-slalom-i00-standard--segaxca/replay.mp4", + "duration_s": 14.72, + "fps": 25.0, + "frames": 368, + "sha256": "a20b33708f7b82fe514456e9e05719293f66e7012ca3ce1b0ebe0206ef9d8b67" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 0.0–4.6 s，机器人沿画面上方侧线向远左角锥跑去；视频 4.8–6.8 s，机器人从该锥画面右侧继续向远线外冲，未见在锥外侧完成上边线延长线的有效跨越。" + }, + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 7.0–14.68 s，机器人一直留在远线外，逐渐向中央线延长线方向移动，未返回起点；log step 101 中，机器人服务返回最后现场回合 episode=6、stages_reached=0、outcome=\"left the prescribed path\"、sim_time_s=14.7。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "推断：结合未出现有效绕锥过线的画面和服务门点计数为0，首个绕锥检查点从未锁存；成功参考视频 7.6–8.8 s 可见机器人在远左锥外侧跨过上边线延长线，该参考仅用于辨认验收动作。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.5–14.68 s，机器人双脚交替落在运动场地板上，支撑整机跑动、减速和转向。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "观察：视频 4.4–6.8 s 的放大画面显示机器人经过远左角锥旁并继续向远线外移动，腿和躯干与锥桶有可见间隙，未见撞动锥桶。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人由起点跑向远左角后始终留在远端，未返回起点中央锥，更未在其起点外侧由远侧跨到近侧；log step 101 的服务门点计数为0。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人没有绕回起点中央锥，也没有从近侧穿过第一与第二中央锥之间的间隙；log step 101 的服务门点计数为0。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人沿上侧直跑并在远线外移动，未在第二与第三中央锥间由远侧跨至近侧；log step 101 的服务门点计数为0。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人没有进入中央蛇形路线，未在第三与第四中央锥间由近侧跨至远侧；log step 101 的服务门点计数为0。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "推断：视频 12.0–14.68 s，机器人在远线外朝中央线延长线偏移，log step 101 的服务以“left the prescribed path”结束回合且stages_reached=0；这不是完成前五个门点之后的绕顶部中锥动作，前置事件均未达到，故本节点从未成立。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人未完成上行路线或开始下行蛇形，未在第三与第四中央锥间作下行方向的跨线；log step 101 的服务门点计数为0。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人未回到第二与第三中央锥之间，也未执行下行由远侧到近侧的跨线；log step 101 的服务门点计数为0。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人未执行下行蛇形，未在第一与第二中央锥间由近侧跨至远侧；log step 101 的服务门点计数为0。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人仅从起点向远端跑去，未返回起点中央锥，未出现完成下行之后的第二次绕起点中锥；log step 101 的服务门点计数为0。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 0.0–14.68 s，机器人没有沿右侧路线向远右角锥跑去，末段仍在中央线延长线远侧附近，未跨下边线延长线；log step 101 的服务门点计数为0。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.68, + "log_step": 101, + "text_zh": "观察：视频 13.68–14.68 s，机器人仍位于远线外，没有沿近侧返回或用躯干越过画面左侧起终点线；log step 101 的服务门点计数为0且判定失败。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "value": 14.7, + "unit": "s", + "threshold": 60.0, + "direction": "lower_better" + }, + { + "name": "gates", + "value": 0, + "unit": "count", + "threshold": 12, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "far_left_rounded", + "t": 5.2, + "log_step": 100, + "where": "操作中", + "evidence_zh": "观察：视频约 4.8–5.6 s，机器人越过远左锥所在远线后继续向画面右侧外冲，未完成绕锥所需跨线；视频 5.6–14.68 s 一直未补回此检查点。log step 98 启动最后现场回合，log step 100 返回 episode=6、control_steps=1470、done=true；log step 101 的服务最终裁判结果为门点0、偏离规定路径（仿真 14.7 s）。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 5.2, + "log_step": 100, + "evidence_zh": "观察：视频 4.8–6.8 s，机器人未沿远左锥绕行弧线转回，持续向远线外走；视频 7.0–14.68 s 在远端继续偏移，未进入返回起点的路线。视频末秒 13.68–14.68 s 仍由双脚支撑，未见倒地；log step 101 的现场裁判判其偏离规定路径。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "log_step": 100, + "source_zh": "日志 / 视频 / agent 自述", + "evidence_zh": "推断：定位估计失真使闭环脚本无法正确跟踪首个绕锥点。log step 99 的脚本定位输出在k016–k019间将y估为2.77、2.01、2.01、3.00，伴随航向估计跳动；log step 100 的k036–k040又把y估为0.54、1.39、0.45、0.81、0.09，而视频 12.0–14.68 s 显示机器人连续缓慢移动，没有对应的大幅反复横跳。log step 37 的定位代码用暗色连通区域底端投影地面，log step 42 的融合代码用视觉位移方向修正航向；agent 在log step 106自述定位尖峰被接受并污染航向估计。尖峰的真实幅度及其与转向误差各自的贡献尚未独立核验。" + } + ], + "gap_zh": "没有逐帧状态日志，无法独立量化真实骨盆坐标、航向及每次视觉定位误差；感知归因由脚本估计日志、代码、视频连续运动及agent自述共同支持，不能确认其自述的精确误差幅度或排除同时存在的转向跟踪误差。视频关键时刻已放大检查，节点终值另有现场服务门点计数支持。", + "unmet": { + "far_left_rounded": false, + "bottom_rounded_1": false, + "up_gap_1_2_passed": false, + "up_gap_2_3_passed": false, + "up_gap_3_4_passed": false, + "top_rounded": false, + "down_gap_3_4_passed": false, + "down_gap_2_3_passed": false, + "down_gap_1_2_passed": false, + "bottom_rounded_2": false, + "far_right_rounded": false, + "finish_crossed": false + } + }, + "summary_zh": "评分对象为最后现场回合episode 6：机器人向远左锥跑去后冲到远线外，未完成首个绕锥点，最终节点为0/12；视频约 5.2 s 可见绕锥路线偏差，至视频 14.68 s 未修复，服务在仿真 14.7 s 以偏离规定路径结束回合。定位日志跳变与视觉位移修正航向的实现支持感知失败归因，但无状态日志，不能独立量化真实定位误差或区分全部控制误差；原生指标采用log step 101服务裁判字段sim_time_s=14.7、stages_reached=0。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点全为未达成（服务 stages_reached=0）与视频一致：机器人沿上边线跑到远端角锥后从锥内侧（y<2.5）穿过远线向外漂移，从未在锥外跨过延长线；断点 far_left_rounded、步态现象和感知根因有视频与脚本日志支持，且 gap_zh 已如实说明不确定处。", + "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": "2026-10-31T00:22:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--segaxca/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--segaxca/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a889ba5e90a79db00a8cb94921364237e00e4d7cd790ad33b35e875cb3dfa14a", + "video_sha256": "a20b33708f7b82fe514456e9e05719293f66e7012ca3ce1b0ebe0206ef9d8b67", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--xwostzj.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--xwostzj.json new file mode 100644 index 0000000000000000000000000000000000000000..34f556ef1bb364ec64937172ff6dc9fb7acbfd34 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--xwostzj.json @@ -0,0 +1,398 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--xwostzj", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 3365, + "sim_steps": 181044, + "calls": 6308, + "rows": 179923, + "resets": 45, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7067.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.606, + "peak_processes": 9, + "peak_disk_gb": 0.844, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-slalom-i00-standard--xwostzj/replay.mp4", + "duration_s": 33.68, + "fps": 25.0, + "frames": 842, + "sha256": "5876e2914a6c9df4467f7d850a9238484c3a689cd67c3fa72d02fdf54d3d011b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [ + [ + 8.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频7.5–9.0 s，机器人已到远线以外、处于画面右上角锥桶右侧，随后由上边线延长线近侧转到远侧；视频8.25–8.75 s之间可见脚下位置跨过该延长线，约记视频8.4 s（骨盆投影时刻有约0.3 s误差）。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替落在运动场地面上，支撑直行、绕远左锥转身和返回。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "机器人腿部与躯干从远左橙锥的远端外侧绕过，与锥桶保持明显间隔。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [ + [ + 20.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频19.5–20.5 s，机器人处于最左中央锥的画面左侧，在起点外侧由中央线延长线远侧移到近侧，之后转向进入近侧半场；约在视频20.0 s跨线，未见与起点中锥接触。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚在地面支撑，沿起点外侧的大弧线转弯，再走向上行绕锥入口。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "机器人腿部与躯干在起点中锥的起点外侧绕行，与该锥保持较大间隔。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [ + [ + 27.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.9, + "log_step": null, + "text_zh": "观察：视频27.4–28.4 s，机器人在第1与第2中央锥之间，从中央线近侧行至远侧，脚下位置约在视频27.8–28.0 s越线；随后视频28.4 s已明确进入远侧半场，约记视频27.9 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替接触地面，支撑从近侧半场斜向跑过第一段中央锥间隙。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "机器人腿部与躯干从第1和第2中央橙锥之间通过，未见碰动两锥。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频28.2–33.64 s，机器人向第2与第3中央锥之间行进，先向画面上边线附近绕出一段大弧线，再转回中央线；视频32.8、33.2及33.64 s均显示其脚下位置仍在中央线远侧，尚未由远侧跨到近侧，故未达到本点。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替着地支撑转弯，继续向二三中央锥间隙行进，至视频结束仍保持站立。" + }, + { + "who": "腿/躯干", + "how": "避开", + "note_zh": "机器人腿部与躯干从第2中央橙锥远侧留出明显间隔绕过，向第3锥前的间隙接近；截至视频33.64 s未见接触锥桶。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人最后仍在二三锥间隙的远侧，未继续到三四锥间隙进行上行过线；前置上行过二三锥也未完成。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未到达最右中央锥的远端，未从其画面右侧由远侧跨到近侧。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未绕过顶部中央锥，未开始下行穿过三四锥间隙。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人仍在上行绕锥阶段，未开始下行，未在二三锥间完成下行过线。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未开始下行，未在一二锥间完成下行过线；先前的视频27.9 s过线为上行，不能替代本节点。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未完成下行三次过线，也未返回起点中锥作第二次绕行；视频20.0 s附近仅是第一次绕行。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未进入最后的右侧外圈跑段，未到达画面右下角锥的远端跨越下边线延长线。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.64, + "log_step": null, + "text_zh": "观察：视频0–33.64 s中，机器人未完成前十一点，也未沿中央线近侧返回起终点白线；结束时仍在场地中段远侧。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "unit": "s", + "threshold": 60.0, + "direction": "lower_better", + "value": null + }, + { + "name": "gates", + "unit": "count", + "threshold": 12, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "up_gap_2_3_passed", + "t": 33.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频28.2–33.64 s，机器人正在绕第2中央锥、向二三锥间隙过线，行进弧线延伸至上边线附近；视频最后一秒仍在中央线远侧，未完成该过线，未见跌倒或锥桶被碰动。log step 379记录最后重置为episode 46，log step 380所称第8点属于之前的第45回合；本次以视频中的未完成过线为断点。" + }, + "unmet": { + "far_left_rounded": true, + "bottom_rounded_1": true, + "up_gap_1_2_passed": true, + "up_gap_2_3_passed": false, + "up_gap_3_4_passed": false, + "top_rounded": false, + "down_gap_3_4_passed": false, + "down_gap_2_3_passed": false, + "down_gap_1_2_passed": false, + "bottom_rounded_2": false, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 33.2, + "log_step": null, + "evidence_zh": "观察：视频27–33.64 s，机器人持续双足行进，向上边线附近绕行后转回中央线；视频32.8–33.64 s仍在中央线远侧，尚未完成二三锥间过线，未见跌倒、失稳或碰动锥桶。推断：结合inputs/run.json的wall_s=7203、time_limit_s=7200及任务文本的到时按当前回合评分说明，本次在预算耗尽时路线仍未走完；按docs/DECISIONS.md D25(c)当前口径归为全身·步态，不据此推断机械步态缺陷或控制故障。" + } + ], + "root_causes": [], + "gap_zh": "无逐帧状态日志；过线时间按固定远景中身体与脚下位置估计，精度约0.3–0.5秒。观察：inputs/run.json的wall_s=7203、time_limit_s=7200，task_text的Time limit节说明挂钟预算到时停止并按当时回合评分；log step 379的服务状态为episode=46、done=False、reason=None、resets_left=5，log step 380–381继续输出本回合前段行进，视频33.64 s末帧仍站立、未完成二三锥间过线。推断：视频在33.68 s结束对应agent的7200秒挂钟预算耗尽时，第46回合仍在进行，不能把此次截断记作裁判60秒超时；未将挂钟或agent时间换算成视频时间。reward未报告本回合time_s、gates，故两个原生指标值留空；末段没有相应服务状态或裁判reason，根因无法区分策略选择、转向控制响应或位置估计误差，故留空。关于I1的分歧：同意未见机械步态缺陷，但docs/DECISIONS.md D25(c):647–651的Now将结束时合法路线仍在进行映射为步态，docs/03_trajectory.md:296–297亦明确到时仍行进采用此标签；按当前口径保留，是否应改为空现象仍属该开放点，未自行裁定。" + }, + "summary_zh": "本次评分视频完成绕过远左锥、首绕起点中锥和上行过一二锥三个节点，最终3/12；log step 380中先前回合到达第8点的agent自述不属于本次进度。视频33.64 s机器人仍站立行进、未完成二三锥间过线，断点为up_gap_2_3_passed；结合wall_s=7203、time_limit_s=7200及任务文本，推断本回合在agent挂钟预算耗尽时被截断，步态标签按D25(c)暂行口径保留。无末段服务状态、裁判reason和逐帧状态日志，无法独立核实回合最后状态或判定根因，故根因留空，并将置信度由8降至7。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点进度（3/12，视频8.4/20.0/27.9 s）与断点up_gap_2_3_passed经帧核对成立，第46回合与视频对得上；但失败现象“步态·推进不足”只是推断、没有可见失败支撑，且gap_zh未写明视频实为被7200 s挂钟预算截断的未结束回合。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度3/12（8.4/20.0/27.9 s）、断点up_gap_2_3_passed经帧核对成立；步态现象遵循DECISIONS D25(c)的Now文本，根因留空并有gap_zh，时钟未换算。未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:22:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--xwostzj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--xwostzj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--xwostzj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--xwostzj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d990fc3f5c0b81e55c2d761a2cef8ecf90d8efcae23c947b41b2b065976ee7c3", + "video_sha256": "5876e2914a6c9df4467f7d850a9238484c3a689cd67c3fa72d02fdf54d3d011b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--y72kxjp.json b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--y72kxjp.json new file mode 100644 index 0000000000000000000000000000000000000000..a1fa610643f9f1a349f582f60932f06d6e8ac425 --- /dev/null +++ b/phase2/embodied-olympics-fun/slalom/trajectories/embodied-olympics-fun-slalom-i00-standard--y72kxjp.json @@ -0,0 +1,334 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-slalom-i00-standard--y72kxjp", + "taskKey": "embodied-olympics-fun/slalom", + "dag_sha256": "eddbeedc210ae44d826949d09afcd298b145620ec9c1d2e018f46fd1f3885201", + "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": 612, + "sim_steps": 103477, + "calls": 9883, + "rows": 51750, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 6389.9, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.708, + "peak_processes": 9, + "peak_disk_gb": 0.288, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-slalom-i00-standard--y72kxjp/replay.mp4", + "duration_s": 6.16, + "fps": 25.0, + "frames": 154, + "sha256": "495cabc397cd0fb397d9baf87ce7434b32f71e59cb73416283dfc90700b6df12" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "far_left_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人从画面左上侧起点沿远侧跑道向右行进，末段下肢与右上角远左锥位置重叠，未显示骨盆在远线外跨过上边线延长线。log step 845 重置至 Episode 51，log step 846 执行最终脚本；log step 849 的机器人服务状态确认该回合已结束，outcome 为 touched a cone，stages 为 0 of 12。参考成功视频 7.60–9.00 s 可见机器人在角锥画面右侧留出间距绕行，本次未出现这一完整过线过程。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–6.12 s，机器人双脚交替接触木质场地，支撑躯干沿远侧跑道前进至远左角锥。" + }, + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：候选“非预期碰触”。视频 6.08–6.12 s，下肢与远左角锥的位置重叠；log step 849 的机器人服务确认 touched a cone。接触发生在下肢附近，但无法分清左右脚或具体连杆；现有抓握、推/扫、压/擦等值均不适于这种非预期碰触。" + } + ] + }, + "bottom_rounded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人未返回起点中央锥外侧，也未由中央线远侧跨到近侧；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "up_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有在中央第一段锥间隙由近侧跨到远侧；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "up_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有在中央第二段锥间隙由远侧跨到近侧；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "up_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有在中央第三段锥间隙由近侧跨到远侧；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "top_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有绕至最右中央锥远端并由中央线远侧跨到近侧；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "down_gap_3_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有开始下行，也没有下行穿过中央第三段锥间隙；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "down_gap_2_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有开始下行，也没有下行穿过中央第二段锥间隙；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "down_gap_1_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有开始下行，也没有下行穿过中央第一段锥间隙；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "bottom_rounded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有下行返回起点中央锥，更没有第二次绕过它；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "far_right_rounded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有进入近侧跑道并到达画面右下角锥桶；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 849, + "text_zh": "观察：视频 0.00–6.12 s，机器人仅沿远侧外圈从起点向远左角锥行进，机器人没有沿近侧跑道返回并以躯干跨过画面左侧终点线；log step 849 的 Episode 51 服务结果为碰锥终止，stages 为 0 of 12。推断：本节点的前置检查点未完成，本节点亦未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_s", + "unit": "s", + "threshold": 60.0, + "direction": "lower_better", + "value": 6.12 + }, + { + "name": "gates", + "unit": "count", + "threshold": 12, + "direction": "higher_better", + "value": 0 + } + ], + "failure": { + "breakpoint": { + "ref": "far_left_rounded", + "t": 6.1, + "log_step": 849, + "where": "操作中", + "evidence_zh": "观察：视频 5.20–6.12 s，机器人沿远侧跑道接近并在远左角锥处转向，下肢与锥桶位置重叠，视频随即结束，尚未完成首个绕锥检查点。log step 849 的机器人服务报告 Episode 51、done=True、outcome=touched a cone、stages=0 of 12、仿真时间 6.12 s；与视频末段位置及结束时刻一致。" + }, + "unmet": { + "far_left_rounded": false, + "bottom_rounded_1": false, + "up_gap_1_2_passed": false, + "up_gap_2_3_passed": false, + "up_gap_3_4_passed": false, + "top_rounded": false, + "down_gap_3_4_passed": false, + "down_gap_2_3_passed": false, + "down_gap_1_2_passed": false, + "bottom_rounded_2": false, + "far_right_rounded": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 6.1, + "log_step": 849, + "evidence_zh": "观察：视频 6.00–6.12 s，机器人仍直立，双腿来到远左角锥桶处，末帧下肢与锥桶位置重叠；log step 849 的机器人服务将本次最终回合判为 touched a cone 并立即结束，检查点仍为 0/12。碰锥事实由服务确认，画面不足以分辨具体碰撞连杆。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.1, + "log_step": 852, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：本次绕锥运动未建立足够的角锥避碰间距，归于控制，不能进一步确定子类。log step 852 显示本次执行脚本先作 heading=0 的定段冲刺（n_chunks=26），随后转向并行走绕远左锥，目标顺序与任务一致；视频 5.20–6.12 s 显示机器人在角锥处转向时下肢逼近锥桶，log step 849 的服务结果确认碰锥。log step 853 将首段改为 n_chunks=28 发生在回合结束之后，没有再执行，不能作为本次已经修复或参数问题已获验证的证据。" + } + ], + "gap_zh": "没有状态日志或逐连杆接触记录；末段视频分辨率不足以确定碰锥的是哪只脚或哪条连杆。服务记录可确定碰锥和零检查点，但现有执行日志未给出碰撞前逐步位置估计、目标与实测轨迹，因此控制根因只保留大类，不能确定具体控制子类。原生指标 time_s=6.12、gates=0 取自 log step 849 的本次机器人服务终态（sim_time_s 与 stages），不是整段 agent 工作时间或先前试验结果。" + }, + "summary_zh": "本次评分是 log step 845–849 的最终 Episode 51；视频 0.00–6.12 s 中机器人仅沿远侧跑道跑向远左角锥，十二个有序检查点均未完成。机器人在视频约 6.1 s 绕远左锥时发生碰锥，服务以 touched a cone 终止，断点为 far_left_rounded，归于控制层面的避碰间距不足。没有状态日志，画面不能确认具体碰撞连杆，执行记录也不足以区分更细的控制根因；早先测试和终止后的脚本修改不计入本次进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和日志一致：最终回合 Episode 51（log 845–849）视频 6.12 s 在远左锥处碰锥终止，0/12 节点未达，断点 far_left_rounded、被挡/碰撞、控制（大类）均有证据支持；时间均标明钟。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:14:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-slalom-i00-standard--y72kxjp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-slalom-i00-standard--y72kxjp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "71b52a035adf8bc52cbe2a323047394fd7c105c4566fce5010e5efd1e2a0ed62", + "video_sha256": "495cabc397cd0fb397d9baf87ce7434b32f71e59cb73416283dfc90700b6df12", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq.json new file mode 100644 index 0000000000000000000000000000000000000000..088e5de2eaff1bc0fc47030764c23e49eb8a47fd --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 716, + "sim_steps": 716, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 5.94, + "bad_trajectory": 0, + "metric_hop_air_s": 0.273, + "metric_hop_m": 0.24, + "metric_hop_rise_m": 0.058, + "metric_jump_air_s": 0.195, + "metric_step_air_s": 0.051, + "metric_step_m": 0.448, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 859, + "agent_resets": 0, + "agent_replays": 60, + "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": 1.548, + "peak_processes": 12, + "peak_disk_gb": 1.393, + "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-triple-jump-i00-privileged--hjjfvfq/replay.mp4", + "duration_s": 7.2, + "fps": 25.0, + "frames": 180, + "sha256": "e8ded1c376b462208cde014e1de9c7ef054babfd4ff5e1045a8f2c8cb8ffd866" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.8, + "log_step": 568, + "text_zh": "观察：视频 6.48–6.76 s 机器人在起跳线附近腾空，视频约 6.8 s 单脚落回白线前方的红色跑道。log step 568 对最终交付文件的两次独立重放均记录 stages=[hop, step]，hop_air_s=0.273、hop_rise_m=0.058、hop_m=0.24，与评分器字段一致；据此确认合格同脚落地，视频达成时刻为近似值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人助跑时双脚交替支撑红色跑道，起跳后单脚承接在跑道上；视频约 6.8 s 可见足部落地，腾空时脚离开跑道。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 6.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.92, + "log_step": 568, + "text_zh": "观察：视频约 6.8–6.96 s 第一次落地后机器人继续短促换脚跳，落点仍在起跳线旁的红色跑道上，身体高度继续下降；log step 568 对最终交付文件的两次重放均接受 step，step_air_s=0.051、step_m=0.448。推断：结合短促换脚动作及交付重放的阶段记录，将跨步跳达成锚定在视频约 6.92 s；远景不能精确分辨首次接触的物理帧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：第一次落地后的支撑脚在红色跑道上承重、再次离地，随后另一脚承接短促落地；实际换脚顺序由视频末段动作和最终交付文件的 step 验收共同确认。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.16, + "log_step": 568, + "text_zh": "观察：视频 6.96–7.16 s 机器人再次离地后躯干持续倾转，身体降至近乎水平，末帧上肢落在起跳线稍前方的红色跑道上，黄色沙坑仍明显在其右前方，未曾触沙。log step 568 对最终文件的两次重放均以 the jump did not come down in the sand 结束，jump_air_s=0.195，只有 hop、step 两个阶段被接受。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 6.92–6.96 s 机器人以跨步跳落地脚支撑红色跑道后离地；最后落回跑道，未接触黄色沙坑。" + }, + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 7.16 s 机器人上肢与红色跑道相接并承受摔落。推断：结合 agent 在 log step 565、576 对最终文件的自述，将该作用端辨认为右手固定拳垫；画面能确认上肢触地，但单靠远景不能可靠分清手的左右侧。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "value": 0.273, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "step_air_s", + "value": 0.051, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "jump_air_s", + "value": 0.195, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "hop_rise_m", + "value": 0.058, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "hop_m", + "value": 0.24, + "unit": "m", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "step_m", + "value": 0.448, + "unit": "m", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "mark_m", + "value": null, + "unit": "m", + "threshold": 7.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": 7.0, + "log_step": 568, + "where": "操作中", + "evidence_zh": "观察：视频约 6.96–7.16 s，机器人完成前两次跑道落地后，在最后一跳中躯干大幅倾转，最终上肢落在沙坑前的红色跑道上，未恢复或进入黄色沙坑；log step 568 的最终文件重放记录与该末段一致，裁判判定最后一跳未落入沙坑。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.0, + "log_step": 568, + "evidence_zh": "观察：视频 6.96–7.16 s 机器人躯干从倾斜转至近乎水平，上肢先降至红色跑道，形成摔落，黄色沙坑始终未被触及；这不是保持站姿但跳得较短的落地。log step 568 显示裁判因未落入沙坑终止；评分器 fell=0 不改变视频中可见的翻倒姿态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.0, + "log_step": 565, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频 6.92–7.16 s 显示从跨步落地到最后腾空的身体高度下降、躯干倾转持续扩大，腿部蹬伸未形成能把身体送至沙坑的受控运动。log step 565 的最终文件说明记录采用低层关节目标和单脚支撑力矩，log step 568 的两次实际重放仍只有 0.195 s 最后腾空并落回硬地；结合这些证据，归因为跳跃支撑与姿态控制未奏效。没有最终交付的关节跟踪、接触力或重心速度日志，不细分反馈控制、轨迹或参数调试。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；视频为固定远景，机器人只占少量像素。前两步的细小足部接触、同异脚身份与阈值由最终交付文件的两次一致裁判重放辅助确认，节点时刻约有 0.1 s 级误差；右手身份和 x=2.572 m 仅见 agent 对最终文件的自述，画面只能独立确认上肢在沙坑前触地。缺少最终轨迹的力、速度及关节跟踪数据，控制根因无法细分。" + }, + "summary_zh": "评分轨迹完成单足跳同脚落地和跨步跳异脚落地，共达成 2/3 个语义节点；最终交付文件两次重放均接受 hop、step，原生阶段进度为 2/4。视频约 7.0–7.16 s 机器人在最后一跳中躯干倾转并摔落于沙坑前的红色跑道，断点为跃入沙坑，证据支持跳跃控制未奏效。固定远景与缺失状态日志限制了精确足部接触时刻、左右手辨认及控制子类归因。", + "conf": 8, + "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：机器人在起跳线附近连续跳跃，末段躯干倾倒落在跑道上，未入沙坑；hop/step 达成、jump_in_sand 未达成，断点与平衡/控制归因与视频及评分器字段（stages 2/4）一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:05:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--hjjfvfq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "560b3c90611b0501ed45559c241bbf8f1a75e9da7d6bf228b7b298d11f01205a", + "video_sha256": "e8ded1c376b462208cde014e1de9c7ef054babfd4ff5e1045a8f2c8cb8ffd866", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jjivihe.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jjivihe.json new file mode 100644 index 0000000000000000000000000000000000000000..975e9a33e8f3e96adb6207c12c96a791caf94934 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jjivihe.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--jjivihe", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 712, + "sim_steps": 712, + "horizon": 6000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 5.48, + "bad_trajectory": 0, + "metric_hop_air_s": 0.349, + "metric_hop_m": 0.731, + "metric_hop_rise_m": 0.069, + "metric_step_air_s": 0.051, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2637, + "agent_resets": 9, + "agent_replays": 5, + "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": 29.304, + "peak_processes": 31, + "peak_disk_gb": 0.981, + "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-triple-jump-i00-privileged--jjivihe/replay.mp4", + "duration_s": 7.16, + "fps": 25.0, + "frames": 179, + "sha256": "c55f854b6bb2f8fba11387201de8f443611fd29ea21c0ae1f6ba8e519737e2b6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.96, + "log_step": 211, + "text_zh": "观察：视频 6.60–6.92 s 机器人在白色起跳线附近腾空并前移，视频约 6.96 s 在红色跑道上落地，尚远离沙坑；log step 211 对最终交付的 712 行轨迹重放，裁判 stages=[hop]，hop_air_s=0.349、hop_rise_m=0.069、hop_m=0.731，确认同脚落地合格。" + }, + { + "t": 6.96, + "log_step": 195, + "text_zh": "推断：log step 195 对 best8 配置的诊断记录仿真 6.963 s 由左脚完成 hop；该配置在 log step 211 打包交付，且 log step 283、293 的最终重放指标及终态哈希一致。log step 14、15 给出每控制步 0.01 s，最终 712 步对应 7.12 s，与视频 7.12 s 的终止画面及视频约 6.96 s 的落地核对一致，故节点时间取视频约 6.96 s，误差约一帧；足侧和精细阈值由裁判记录辅助确认。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.20–6.60 s 机器人以腿足在红色跑道上助跑、支撑及蹬地；视频约 6.96 s 足部落回跑道。推断：结合 log step 195 的裁判阶段记录，本次起跳与合格落地均为左脚；腾空期间没有地面支撑。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": 195, + "text_zh": "观察：视频 6.96–7.12 s 机器人在起跳线前方低伏并向前翻倒，手部降至红色跑道，未形成另一脚承接身体的合格落地；沙坑仍在前方。log step 195 对最终所用 best8 配置的裁判诊断记录 landed_on=[left_hand]、in_the_sand=False，原因为 the step did not land on the other foot on the runway。" + }, + { + "t": 7.12, + "log_step": 293, + "text_zh": "观察：log step 293 最终交付文件重放仍只记录 stages=[hop]，执行 712 行后以跨步跳未由另一脚落在跑道上判负；inputs/run.json 的评分器字段 stages_reached=1、metric_step_air_s=0.051、deterministic=1，与视频末段的翻倒相符。跨步跳虽有短暂腾空，未完成异脚落地。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 6.96–7.00 s 机器人先由足部在红色跑道上承接第一跳，随后身体低伏、短暂弹起，开始跨步跳衔接；未见另一脚完成承重落地。推断：结合 log step 195，起始支撑脚为左脚。" + }, + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 7.08–7.12 s 机器人前倒，手部触及红色跑道承接身体。推断：log step 195 对最终配置的裁判诊断将首次触地部位识别为左手固定拳垫；远景画面本身不足以独立分辨左右手。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.12, + "log_step": 293, + "text_zh": "观察：视频 0.00–7.12 s 的黄色沙坑始终没有机器人进入；视频 7.12 s 机器人终止在白色起跳线前方的红色跑道上，距离沙坑入口仍很远。log step 293 最终重放只达到 hop，跨步跳失败后回合终止，未开始最后跃入沙坑及触沙后的两秒验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.349 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.051 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.069 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 0.731 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "step_landed", + "t": 7.0, + "log_step": 293, + "where": "操作中", + "evidence_zh": "观察：视频约 6.96 s 第一跳落地后，机器人在视频 7.00–7.12 s 的跨步跳衔接中低伏、前倒并以手触地；log step 293 最终交付重放只接受 hop，明确因跨步跳未由另一脚落在跑道上判负。该步在终止前未修复。" + }, + "unmet": { + "hop_landed": true, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.0, + "log_step": 195, + "evidence_zh": "观察：视频 6.96–7.12 s 机器人第一跳落地后身体迅速下沉、前翻，手部最终触地，未保持足部承重以完成异脚落地。log step 195 对最终配置的裁判事件将跨步跳首次触地部位记为 left_hand；log step 293 的最终文件重放给出相同跨步跳失败原因。评分字段 fell=0 并不表示画面中没有失衡，该任务以具体阶段的非法落地判负。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 6.96–7.12 s 显示机器人已经到达第一跳落地点并开始跨步跳衔接，却未能控制身体姿态和落地支撑，身体前倒至手部先接地；log step 195 的最终配置诊断与 log step 293 的交付重放均确认这一落地失败。log step 294 中 agent 说明其使用腿部逆运动学和压缩—伸展控制器，目标顺序也是同脚后异脚，现有证据支持运动控制未能完成衔接；不足以细分为反馈、逆解或某个参数错误。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；场地远景中的机器人像素较少，精确左右足、左右手和腾空阈值依靠与最终交付一致的裁判重放及配置诊断辅助判断，时间仅近似到视频帧。缺少关节跟踪误差、接触力及力矩记录，无法确定控制子类，也不能将 agent 自述的踝力矩瓶颈视为已验证的物理原因。" + }, + "summary_zh": "评分轨迹完成单足跳同脚落地（视频约 6.96 s），最终达到 DAG 的 1/3；裁判原生进度 0.25 是四个阶段中的 hop，与 DAG 将 jump 和 landing 合并的三步分母不同。机器人在跨步跳衔接中失衡前倒，视频 7.12 s 由手触地后终止，未完成异脚落地或跃入沙坑，根因归为控制。远景与无状态日志限制了接触细节和控制子类的判断，左右侧及精细验收采用最终交付一致的裁判诊断辅助确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "hop_landed 在视频约 6.96 s 达成、step_landed 与 jump_in_sand 未达成、断点 step_landed 均与帧和裁判诊断（log step 195/211/293：stages=[hop]，7.118 s 左手落地判负）一致；时间换算（0.01 s/控制步，712 步=7.12 s）有依据，平衡现象和控制根因有证据且克制。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": "2026-10-31T00:05:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--jjivihe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--jjivihe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb6d195c4c8aa011431c479eea5d70b7e8c0b03ff91639765fb8dc9c19febf00", + "video_sha256": "c55f854b6bb2f8fba11387201de8f443611fd29ea21c0ae1f6ba8e519737e2b6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8f53987cdc92ab116a1fcee92c07f98bcb1b35 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 705, + "sim_steps": 705, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 5.44, + "bad_trajectory": 0, + "metric_hop_air_s": 0.266, + "metric_hop_m": 0.592, + "metric_hop_rise_m": 0.067, + "metric_step_air_s": 0.088, + "metric_step_m": 0.901, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6240, + "agent_resets": 5, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp/replay.mp4", + "duration_s": 7.08, + "fps": 25.0, + "frames": 177, + "sha256": "0eef3f9c57b82728a4b0ba187373c2a7a77f0d0820294c8dfbdabf326f7c2839" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.92, + "log_step": null, + "text_zh": "观察：视频 6.56–6.88 s，机器人越过白色起跳线腾空前移，约视频 6.92 s 一脚重新落在红色跑道上；此时仍在沙坑前。远景只能近似定位落地时刻。" + }, + { + "t": 6.92, + "log_step": 186, + "text_zh": "观察：log step 186 对交付 trajectory.npz 的官方重放报告 stages=[hop, step]、hop_air_s=0.266、hop_rise_m=0.067、hop_m=0.592，与本次评分字段完全一致；裁判已接受单足跳同脚落地。推断：结合交付参数中的左脚起跳方案（log step 182）和视频落地，接受该节点约于视频 6.92 s 达成；事件完成后保持。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚交替支撑红色跑道助跑，随后单脚蹬地并以同脚承接落地；结合交付脚本（log step 182）推断该脚为左脚。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 7.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.04, + "log_step": 186, + "text_zh": "观察：视频 6.92 s 首次落地后机器人继续前移，视频 6.96–7.00 s 双腿交换位置并下降，约视频 7.04 s 前伸的另一脚落在红色跑道上。log step 186 的交付文件官方重放记录 step 已通过，step_air_s=0.088、step_m=0.901，且与评分字段一致。推断：异脚落地约于视频 7.04 s 达成；具体接触先后由裁判阶段记录补足，事件在后续失稳后仍保留。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人由同脚落地后的支撑脚再次离地，另一脚接触红色跑道承接跨步跳；结合交付脚本与官方重放（log step 182、186）推断依次为左脚、右脚。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.04, + "log_step": 186, + "text_zh": "观察：视频 7.00–7.04 s，机器人在白线前方不远的红色跑道上身体前倾、骨盆快速降低；视频 7.04 s 末帧中机器人与黄色沙坑仍相隔明显距离，全片未触沙。log step 186 的官方重放在 705 个控制步结束，仅有 hop、step，失败原因为“another part than the landing foot touched the ground before the jump”。推断：跨步跳落地后的单脚承接失稳，在最后一跳起跳前已终止，未形成入坑跳跃或触沙后的验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人在跨步跳落地后以落地脚承接身体，身体随即降低并出现额外部位触地；结合交付脚本推断落地脚为右脚。实际支承仍在红色跑道上，未接触沙坑；远景不能独立确定额外触地部位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.266 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.088 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.067 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 0.592 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 0.901 + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": 7.04, + "log_step": 186, + "where": "操作中", + "evidence_zh": "观察：视频 7.00–7.04 s，机器人跨步跳落地时身体继续向前倾倒并下沉，末帧停在红色跑道上。log step 182 保存的 705 行交付轨迹及 log step 186 对该文件的官方重放均报告：hop、step 完成，但最后一跳起跳前有落地脚之外的部位触地。推断：前两节点已完成，未被修复的失败发生在承接并准备跃入沙坑时，断点为 jump_in_sand。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.04, + "log_step": 186, + "evidence_zh": "观察：视频 6.92–7.04 s，机器人在连续落地过程中由较直立姿态变为明显前倾、下肢折叠、身体下沉；最后仍在硬跑道上。log step 186 的交付文件官方重放确认，step 完成后、jump 起跳前出现落地脚以外部位触地。推断：这是单脚承接未稳住身体而失去支撑的平衡失稳；没有发生一次可见的最后跳跃后落在坑前的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：交付控制序列未能在跨步跳落地后控制身体俯仰和单脚支撑，使身体下沉并以额外部位触地，最后一跳无法开始。依据视频 6.92–7.04 s 的前倾下沉，以及 log step 182 保存结果、log step 184 重生成结果和 log step 186 对交付文件官方重放一致的起跳前非法接触失败；这些记录支持控制问题，不能进一步证明某个增益、关节目标或反馈环节是唯一原因。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频；本视频为远景固定机位，机器人前段在画外，末段像素有限，无法独立辨清非落地脚触地的具体身体部位、毫秒级接触先后及精确足部位移。前两阶段的裁判接受由交付文件官方重放（log step 186）和本次评分一致佐证，落地时间取已检查帧的近似值。agent 在 log step 336 声称距离受硬件限制，但其后续会话实验不是交付轨迹，也未排除所有合法方案，因此不归因为任务或环境，控制子类亦保留未定。" + }, + "summary_zh": "机器人完成单足跳同脚落地和跨步跳异脚落地，最终完成 2/3 个 DAG 节点；原生裁判记为 2/4 阶段、进度 0.5。约视频 7.04 s，机器人在第三跳起跳前的单脚承接中前倾下沉，出现额外部位触地而终止，未跃入沙坑，证据支持控制层面的平衡失稳。远景及无状态日志限制了具体触地部位、精确时刻和控制子原因的判断，未采用 agent 对任务物理不可行的自述作为根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "hop_landed、step_landed 达成、jump_in_sand 未达成，与评分字段（stages=[hop, step]、progress 0.5、705 步）和 log step 182/184/186 一致；断点 jump_in_sand、平衡现象和未定子类的控制根因均有证据支持，未发现需要修改的错误。远景下机器人很小，视频只能近似定位落地时刻。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:02:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--jqjf7tp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "638d59f107417bf3d17e88b0b37b42e23fd244814b72b445db8a05f5c1a7dcf0", + "video_sha256": "0eef3f9c57b82728a4b0ba187373c2a7a77f0d0820294c8dfbdabf326f7c2839", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--n3ve7wr.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--n3ve7wr.json new file mode 100644 index 0000000000000000000000000000000000000000..d4754792c1335578e36934c22e3ce0f12686161a --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--n3ve7wr.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--n3ve7wr", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 660, + "sim_steps": 660, + "horizon": 6000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 5.38, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 4.279, + "peak_processes": 14, + "peak_disk_gb": 0.252, + "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-triple-jump-i00-privileged--n3ve7wr/replay.mp4", + "duration_s": 6.64, + "fps": 25.0, + "frames": 166, + "sha256": "013680e2d788a3305bfa7601b8763492308afd1d514ffb982b710004697f9a80" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频 5.2–6.60 s，机器人沿红色跑道向白色起跳线助跑，双腿交替支撑并有跑步腾空；末帧仍在起跳线附近，未出现越线后同一只起跳脚承接的落地。" + }, + { + "t": null, + "log_step": 19, + "text_zh": "观察：log step 18 的生成脚本只循环调用 660 次 run 助跑命令，log step 19 修正保存调用后成功写出 trajectory.npz；评分器 n_actions=660、stages_reached=0、episode_over=0，与视频止于助跑的过程一致。后续 log step 49–64 的单足跳控制试验没有写回该交付文件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.2–6.60 s，机器人的左右脚交替接触红色跑道，支撑身体向起跳线助跑；未观察到合格单足跳落地。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": null, + "text_zh": "观察：视频 5.2–6.60 s 只显示起跳线前的助跑及抵近起跳线，未发生单足跳落地后再次蹬地、由异脚落地的跨步跳。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": null, + "text_zh": "观察：视频 0–6.60 s 黄色沙坑始终空着；机器人在视频 6.60 s 仍在白色起跳线附近，未跃入沙坑，更未开始触沙后的两秒验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "hop_landed", + "t": null, + "log_step": 19, + "where": "操作中", + "evidence_zh": "观察：视频 5.2–6.60 s，机器人正在执行首步包含的助跑，文件在起跳线附近结束，没有完成单足跳同脚落地；log step 18–19 保存的脚本仅含 660 步 run，评分器 episode_over=0。推断：最早未完成的在做步骤为 hop_landed，但视频没有可定位的不可逆失误时刻，因此 t 留空。" + }, + "unmet": { + "hop_landed": false, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 65 记录模型提供方过滤中断；log step 19 仅保存助跑初稿，后续 log step 49–64 仍在测试单足跳，没有交付轨迹重放验证记录，评分器 agent_replays=0、episode_over=0。视频在助跑接近起跳线时结束，没有显示合格跳跃的完整起落，也没有显示摔倒或裁判判负事件；没有状态日志，远景无法精确测量足侧离地时差及骨盆升高。推断：这是结果尚未完成验收前的外因中断，目录 success=0 原样保留，但不能据此认定机器人已发生某种运动失败；按外因中断及 CASES.md FAIL-23 的交付范围规则，现象和根因均留空。log step 11、49–64 中的试验成败不能替代评分轨迹的节点值或失败现象；原生指标在评分器最终字段中均未报告，故填 null。" + }, + "summary_zh": "交付轨迹只执行助跑，在视频 6.60 s 抵近白色起跳线时结束，单足跳同脚落地、跨步跳异脚落地和跃入沙坑均未完成，终态为 0/3。断点归于包含助跑的 hop_landed；log step 19 保存后仍继续测试跳跃，log step 65 被模型提供方过滤中断，未完成交付验收，因此保留目录失败结果而不虚构机器人失败现象或根因。视频没有显示完整起落，且无状态日志，无法确定精确腾空指标。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：交付轨迹只有 660 步助跑，视频 5.2–6.60 s 机器人在起跳线前结束，三个节点均未达成（0/3）。因 log step 65 的外因中断发生在交付验证之前（agent_replays=0），现象和根因留空并写 gap_zh 符合规则；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:03:00Z", + "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-triple-jump-i00-privileged--n3ve7wr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--n3ve7wr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0a3566405da871b81c669217047464eb752a17f2b509ff1473a445eaac31cd55", + "video_sha256": "013680e2d788a3305bfa7601b8763492308afd1d514ffb982b710004697f9a80", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--neexhy6.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--neexhy6.json new file mode 100644 index 0000000000000000000000000000000000000000..faf725912e01b21ec233d20d14909a09ae8bdf56 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--neexhy6.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--neexhy6", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 806, + "sim_steps": 806, + "horizon": 6000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 5.68, + "bad_trajectory": 0, + "metric_hop_air_s": 0.438, + "metric_hop_m": 2.245, + "metric_hop_rise_m": 0.262, + "metric_step_air_s": 0.599, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 44, + "agent_resets": 54, + "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": 0.909, + "peak_processes": 18, + "peak_disk_gb": 0.242, + "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-triple-jump-i00-privileged--neexhy6/replay.mp4", + "duration_s": 8.08, + "fps": 25.0, + "frames": 202, + "sha256": "1aeacc73b278a461c15f5b950b508db5d6d8c000b8cdf13acbed4f0b6fc542bf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 7.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.1, + "log_step": 132, + "text_zh": "观察：视频 6.64–7.12 s，机器人从白色起跳线附近蹬地，腾空越线后落回红色跑道；视频 7.12–7.44 s 继续由单脚承重。log step 132 对最终交付文件的两次独立重放均记录 stages=[hop]，与评分器 stages_reached=1 及 hop_air_s=0.438、hop_rise_m=0.262 一致，确认同脚落地获裁判接受；达成时刻取视频约 7.1 s，误差约 0.1 s。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 6.16–7.12 s，机器人足部在红色跑道上助跑、蹬地并在越线后承重落地；结合 log step 103 的该段动作记录及最终重放的 hop 阶段，起跳及承接脚为左脚。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.04, + "log_step": 132, + "text_zh": "观察：视频 7.12–7.44 s，机器人在单足跳落地后屈腿再蹬地；视频 7.52–7.96 s 腾空时躯干逐渐前翻至近水平，视频 8.00–8.04 s 身体翻倒、低伏在红色跑道上，未出现另一只脚单独承接的合法落地。log step 132 的最终文件重放明确判负“the step did not land on the other foot on the runway”，且 stages 只有 hop。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 7.12–7.48 s，机器人在红色跑道上由单足承重、屈腿后再次蹬地；视频 8.00–8.04 s 身体翻倒落回跑道，未由另一脚形成合法支撑。末次首先触地的具体部位无法从远景分辨。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.04, + "log_step": 132, + "text_zh": "观察：视频 0–8.04 s 的场地全景及末段逐帧检查中，黄色沙坑始终无人触及；机器人最终翻倒在沙坑前的红色跑道上。log step 132 的最终文件重放只记录 hop，并在 step 落地时终止，尚未开始从合法跨步跳落地脚跃入沙坑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.438 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.599 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.262 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 2.245 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "step_landed", + "t": 7.8, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频约 7.44 s，机器人在 hop 落地后再次起跳；视频 7.76–8.04 s 躯干前翻至近水平后翻倒在跑道上，未完成异脚落地。log step 121 保存的最终文件为 806 行，log step 122 和 log step 132 对该文件的独立重放均只通过 hop，并以 step 未合法落地终止；后续没有修复。" + }, + "unmet": { + "hop_landed": true, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.8, + "log_step": 132, + "evidence_zh": "观察：视频 7.60–7.96 s，机器人腾空时头胸持续向下，躯干由前倾转至近水平；视频 8.00–8.04 s 身体翻倒落在红色跑道上，未以另一只脚承接身体。log step 132 的交付文件重放确认在本次跨步跳落地时判负。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 的关节控制轨迹未能保持跨步跳的身体姿态并形成合法承接。视频 7.60–8.04 s 的前翻与翻倒，在 log step 122、log step 132 的最终文件独立重放中均稳定复现为同一 step 落地判负；log step 114 的同一 hop 参数续接试验也全部在 step 落地失败。log step 134 中 agent 自述使用开环关节控制、未实现完整三级跳；证据支持控制失败，但不足以区分关节轨迹、增益或反馈机制的具体问题。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "没有状态日志或成功参考视频。场地相机中机器人较小，不能精确区分末次先触地的是哪一身体部位，也不能独立量出各脚离地间隔；hop 的合法性由可见跳跃结合最终交付重放的原生阶段确认。缺少关节目标与实际跟踪、接触力等记录，控制根因不再细分；会话中其他 hop+step 成功试验不计入本次轨迹进度。" + }, + "summary_zh": "机器人完成助跑和越线后的单足跳同脚落地，三个语义节点中完成 1 个；评分器原生四阶段只通过 hop，原生进度为 0.25。视频约 7.8 s，机器人在跨步跳腾空中前翻，随后翻倒于红色跑道，未完成异脚落地，也未进入沙坑；最终交付文件的多次独立重放确认同一失败，根因支持控制层面。无状态日志，远景不足以精确辨认末次首先触地部位或进一步区分控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "hop 达成、step 未达成、跳入沙坑未达成与评分器 stages_reached=1 一致；断点 step_landed 及平衡/控制标签有视频和重放证据支持，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": "2026-10-31T00:04:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--neexhy6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--neexhy6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a154826a560c998b5a58b9681f73bca56ed632d79de265bda9a9f8ec80a51eac", + "video_sha256": "1aeacc73b278a461c15f5b950b508db5d6d8c000b8cdf13acbed4f0b6fc542bf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy.json new file mode 100644 index 0000000000000000000000000000000000000000..08e07e388ab95b4852a3fb394c43c48e213f4271 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 806, + "sim_steps": 806, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 6.16, + "bad_trajectory": 0, + "metric_hop_air_s": 0.275, + "metric_hop_m": 1.6, + "metric_hop_rise_m": 0.14, + "metric_jump_air_s": 0.526, + "metric_step_air_s": 0.176, + "metric_step_m": 3.305, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 80, + "agent_resets": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy/replay.mp4", + "duration_s": 8.08, + "fps": 25.0, + "frames": 202, + "sha256": "2f66f177779a129ebbeda0492cbb869a91dc67c33973cdc991b466ef57fb5e62" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.88, + "log_step": null, + "text_zh": "观察：视频 6.60–6.84 s 机器人越过白色起跳线腾空，视频约 6.88 s 一只脚落在红色跑道，随后屈腿吸收落地；时间按逐帧画面近似标定。" + }, + { + "t": 6.88, + "log_step": null, + "text_zh": "推断：本次评分 reward.stages_reached=2，按裁判的阶段顺序为 hop、step；metric_hop_air_s=0.275、metric_hop_rise_m=0.14、metric_hop_m=1.6，与视频第一次越线落地相符，支持同脚落地及严格腾空条件已通过。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人用脚接触红色跑道助跑、蹬地，越线腾空后由一只脚承重落地；远景不足以独立辨认左右足，未将会话测试中的足侧直接移用于交付轨迹。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 7.32, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.32, + "log_step": null, + "text_zh": "观察：视频 6.88–7.08 s 机器人在首次落地后压低身体并再次蹬地；视频 7.12–7.24 s 向前跨腿腾空，视频约 7.32 s 在沙坑前的红色跑道上再次单足承重，随后继续准备最后一跳。" + }, + { + "t": 7.32, + "log_step": null, + "text_zh": "推断：本次评分 reward.stages_reached=2、metric_step_air_s=0.176、metric_step_m=3.305，结合视频第二次落地，支持裁判已接受异脚落地及跳间接触条件；事件在完成后锁存。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人由前一次落地脚支撑、蹬离红色跑道，跨腿飞行后在红色跑道上单足落地承重；足侧的合法交替由本次评分阶段结果支持。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "观察：视频约 7.32–7.52 s 机器人由第二次落地脚蹬地，视频 7.56–8.00 s 继续向沙坑方向腾空、翻转并收腿；确实开始了最后一跳。" + }, + { + "t": 8.04, + "log_step": null, + "text_zh": "观察：视频 8.00–8.04 s 机器人下降后以腿部及身体低伏姿态落在黄色沙坑前的红色跑道上，末帧身体仍在沙坑边界之前，未见触沙。评分仅到达 2/4 个原生阶段，success=0，未通过 jump 与 landing 验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人先由一只脚支撑红色跑道并蹬地，腾空后腿部及身体在沙坑前的红色跑道上承重着地；没有观察到与黄色沙坑接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.275 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.176 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.526 + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.14 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 1.6 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 3.305 + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": 8.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 7.32 s 前两次落地已完成，机器人随后实施第三次跳跃；视频 8.00–8.04 s 身体在黄色沙坑之前的红色跑道着地，未进入沙坑，且视频随即结束。此步未完成，前两步由本次评分的两个已达阶段支持。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 8.0, + "log_step": null, + "evidence_zh": "观察：视频 7.56–8.04 s 机器人最后一次腾空向沙坑前进，期间翻转、收腿，但落地点仍在黄色沙坑前的红色跑道上，跳跃的水平距离不足以入坑。此任务允许任意部位触沙，关键可见失败是坑前着地；本次评分 metric_jump_air_s=0.526、stages_reached=2 与该过程一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 在 log step 107 的脚本中优化腾空时的关节姿态偏移，在 log step 121 的脚本中调节支撑腿髋、膝、踝的蹬地力矩，并按实际落地点选择保存轨迹，目标始终为跳入沙坑；视频 7.56–8.04 s 的最终执行仍只能落在坑前。结合本次评分 deterministic=1、bad_trajectory=0，证据支持蹬地与腾空动作的控制未达到所需跳远效果；没有证据进一步锁定某一参数或控制子类。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "没有状态日志和成功参考视频；场地远景中的机器人较小，节点时刻约有 0.1–0.2 秒误差，无法独立分辨左右足及首次触地的精确身体链节，前两步严格规则由本次评分阶段数和指标辅助确认。会话中 log step 77–78 的重放为 777 个动作、两次落地点约 0.955/2.543 米，和本次评分的 806 个动作、1.6/3.305 米不符，属于较早测试，不用于交付轨迹计时；后续调参输出及 agent 在 log step 130 自述的约 6.69 米也不当作本次最终成绩。日志末尾 log step 134 仅启动搜索，没有最终报告或交付版本的完整逐步诊断，故根因只标到控制。" + }, + "summary_zh": "机器人完成单足跳同脚落地与跨步跳异脚落地，分别约在视频 6.88 s、7.32 s，最终为 2/3 个语义节点（评分器原生阶段为 2/4）。最后一跳虽已腾空并调整身体姿态，视频 8.00–8.04 s 仍落在沙坑前跑道上，断在跃入沙坑，支持跳跃距离不足的步态现象与控制层根因。无状态日志，远景限制足侧和具体控制原因的判断，会话测试结果与交付轨迹分开使用。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个已达节点（视频约 6.88 s、7.32 s）与评分 stages_reached=2、画面一致；最后一跳在视频 8.04 s 落在沙坑前的红色跑道上，断点为 jump_in_sand、操作中，现象步态（与 CASES FAIL-3 的三级跳案例一致）和根因只标到控制均有证据支持。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": "2026-10-31T00:03:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--qzlrugy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d638989be9ac7d03d602bc8818416d4d9b5a7d9c423bfe90cdbbfd1c5dff790b", + "video_sha256": "2f66f177779a129ebbeda0492cbb869a91dc67c33973cdc991b466ef57fb5e62", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2a5da7af7d7b0e33d761284d3f35aeb88d420a --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 709, + "sim_steps": 709, + "horizon": 6000, + "episode_over": 0, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 11.0, + "bad_trajectory": 0, + "metric_hop_air_s": 0.345, + "metric_hop_m": 0.804, + "metric_hop_rise_m": 0.08, + "metric_step_air_s": 0.069, + "metric_step_m": 0.821, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 196, + "agent_resets": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.999, + "peak_processes": 9, + "peak_disk_gb": 0.262, + "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-triple-jump-i00-privileged--vgcjqru/replay.mp4", + "duration_s": 7.12, + "fps": 25.0, + "frames": 178, + "sha256": "aaaf532950298e621e01484599fc48aa7ef7f2b9adcd5e4a341116c6d573bbc7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.98, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.98, + "log_step": 174, + "text_zh": "观察：视频 6.52–6.88 s 机器人在白色起跳线附近蹬地、腾空越线，视频 6.96–7.00 s 在红色跑道上承接落地。log step 174 的控制试验记录 hop 已达成、起跳和落地脚均为左脚；其 hop_air_s=0.345、hop_rise_m=0.080、hop_m=0.804 与本次评分器字段相同，终态哈希也与 log step 420 的交付报告一致。" + }, + { + "t": 6.98, + "log_step": 412, + "text_zh": "推断：结合视频落地动作、评分器 stages_reached=2 及前两阶段指标，单足跳在视频约 6.98 s 达成；脚侧和细小离地先后由一致的裁判记录补充，远景不能独立分辨。log step 412 的交付脚本在 hop 达成后才进入跨步跳。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.2–6.98 s 机器人双腿交替支撑红色跑道助跑，随后单脚蹬地、腾空并由单脚承接；结合 log step 174 的一致裁判记录，蹬地和承接均为左脚。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 7.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.08, + "log_step": 174, + "text_zh": "观察：视频 7.00–7.08 s 机器人在上一落地后短暂离地、换腿，末帧身体前倾且仍在红色跑道上，未入沙坑。log step 174 记录 step 于仿真 7.084 s 由右脚落地达成，step_air_s=0.069、step_m=0.821、终态 steps=709，与交付动作数及评分器指标一致；评分器 stages_reached=2。" + }, + { + "t": 7.08, + "log_step": 404, + "text_zh": "推断：视频约 7.08 s 为跨步跳达成时刻。log step 404 所读工具说明每控制步为 0.01 s，交付的 709 步覆盖仿真 7.09 s，与视频 7.12 s 时长在一帧内相符；log step 412 的 652 步助跑结束点对应仿真 6.52 s，已与视频 6.52 s 起跳线后开始跳跃动作核对。此处仅用一致的控制时钟辅助定位，未将 agent 工作时间映射成视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 6.98–7.08 s 机器人以腿足在红色跑道承重，并在两次支撑之间短暂腾空；结合 log step 174 的一致裁判记录，左脚支撑蹬离，右脚承接跨步跳落地。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.08, + "log_step": 412, + "text_zh": "观察：视频 0–7.08 s 沙坑始终无人触及，视频末段机器人仅到白色起跳线稍前的红色跑道；在跨步跳落地后视频结束，没有第三次向黄色沙坑起跳的动作。log step 412 的最终生成脚本在 ref.has(\"step\") 后退出循环并立即保存，未包含第三跳及触沙后的验收控制段；评分器仅记录两阶段，episode_over=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.345 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.069 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.08 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 0.804 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 0.821 + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": null, + "log_step": 412, + "where": "首步前", + "evidence_zh": "观察：视频 7.00–7.08 s 只显示跨步跳的短暂腾空和跑道落地，未显示第三跳蹬地或触沙；log step 412 的交付脚本一达到 step 就保存并结束，log step 413 核实文件只有 709 行，评分器 episode_over=0、stages_reached=2。推断：前两步已达成且未失去，未修复的缺项是根本未启动的跃入沙坑；“首步前”指该断点步骤尚未开始，非整条轨迹未运动，故不另造失败瞬间。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 7.08, + "log_step": 412, + "evidence_zh": "观察：视频 7.08 s 机器人仍处于跑道上跨步跳落地姿态，黄色沙坑内没有机器人；log step 412 的最终脚本只有助跑、单足跳和跨步跳，达到 step 后直接保存，没有开始第三跳。推断：这是交付回合内跃入沙坑未被尝试，而非已执行第三跳但距离不足。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 中无状态日志或成功参考视频；相机远景下机器人很小，视频前约 5.16 s 机器人尚未进入画面，脚侧、精确离地时差和骨盆升高依赖与交付指标及终态哈希一致的 log step 174 裁判记录补充。log step 158 的第三跳试验出现小腿提前触地，但其指标和终态不同于交付，不能当成本次轨迹的摔倒或第三跳失败；后续 log step 376–392 主要给出第三跳测试代码与启动记录，缺少足以确定为何最终交付未加入第三跳的结果及决策证据，因此根因留空。" + }, + "summary_zh": "机器人完成单足跳同脚落地（视频约 6.98 s）及跨步跳异脚落地（视频约 7.08 s），共达成 2/3 个 DAG 节点，未跃入沙坑。交付脚本在跨步跳达成后立即保存结束，断点为尚未开始的跃入沙坑，现象为没尝试；会话中的第三跳试验未包含在交付轨迹中。远景不能独立辨认细小足部判据，前两步以一致的裁判指标补充确认；最终省略第三跳的具体根因证据不足。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个已达节点（单足跳约6.98 s、跨步跳约7.08 s，视频时钟）与评分器 stages_reached=2、log step 174 的指标一致；jump_in_sand 未达、断点、现象「没尝试」与空根因（附 gap_zh）均有依据：log step 158 的第三跳试验为会话测试，且 376–392 的后续试验无结果，无法判定为何未交付第三跳。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:03:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--vgcjqru/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "421c717ccd69f366e568e795a8bb4f95e9637f3a1a5a92166752ea06b63b0d68", + "video_sha256": "aaaf532950298e621e01484599fc48aa7ef7f2b9adcd5e4a341116c6d573bbc7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng.json new file mode 100644 index 0000000000000000000000000000000000000000..0479288633f4503627d6aa01ac662d1acd23fc14 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 786, + "sim_steps": 786, + "horizon": 6000, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 7.94, + "bad_trajectory": 0, + "metric_hop_air_s": 0.365, + "metric_hop_m": 1.425, + "metric_hop_rise_m": 0.19, + "metric_jump_air_s": 0.419, + "metric_step_air_s": 0.076, + "metric_step_m": 2.507, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 161, + "agent_resets": 10, + "agent_replays": 2, + "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": 5.284, + "peak_processes": 92, + "peak_disk_gb": 0.265, + "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-triple-jump-i00-privileged--xi9qkng/replay.mp4", + "duration_s": 7.88, + "fps": 25.0, + "frames": 197, + "sha256": "8d43266c043fe5a0771ef3595910555a51694e33d252eeb0d0f1b8f7887c3b41" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": 88, + "text_zh": "观察：视频 6.64–7.08 s，机器人在白色起跳线后蹬地、越线腾空，约视频 7.0 s 单脚落回红色跑道；足侧细节较小。log step 87 生成最终交付轨迹，log step 88 对同一文件重放，裁判记录 stages=[hop, step]、hop_air_s=0.365、hop_rise_m=0.190、hop_m=1.425，与评分器字段一致，支持同脚合法落地；时间由视频近似定位。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双腿在红色跑道上交替支撑助跑，起跳脚蹬地并在越过白线后单脚承接落地；最终交付控制器将该脚设为左脚（log step 94），视频远景不能独立清晰分辨左右。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 7.28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.28, + "log_step": 88, + "text_zh": "观察：视频 7.08–7.40 s，机器人由前次落地后的单脚支撑再次腾空，随后约视频 7.28 s 用另一条腿承接跑道落地，再准备最后起跳。log step 88 对最终交付文件的裁判重放记录 stages=[hop, step]、step_air_s=0.076、step_m=2.507，且这些指标与评分器一致；视频落地时刻为约值，短暂腾空和足侧由该同文件裁判记录辅助确认。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人上一阶段落地脚在红色跑道上支撑、蹬地，另一只脚在跑道上承接跨步跳落地。视频能见腿足支撑，左到右的足侧由最终交付控制器说明（log step 94）辅助辨认。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.84, + "log_step": 88, + "text_zh": "观察：视频 7.40–7.84 s，机器人完成最后起跳后向前翻转，身体逐渐接近水平，最终倒在黄色沙坑前的红色跑道上，未触沙。log step 88 对最终交付文件的裁判重放判 failed=the jump did not come down in the sand，落地点 at=[5.299,-0.252]，jump_air_s=0.419；其阶段和全部腾空指标与本次评分器字段一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人跨步跳落地脚在红色跑道上支撑并蹬地；最后身体向前翻倒，躯干等部位落回红色跑道承重，没有接触沙坑。视频分辨率不足以确认最先触地的具体部位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.365 + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.076 + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.419 + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.19 + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 1.425 + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 2.507 + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": 7.6, + "log_step": 88, + "where": "操作中", + "evidence_zh": "观察：视频 7.44–7.84 s，机器人最后一跳中向前翻倒，身体近水平地落在沙坑之前的红色跑道，未再恢复入坑。log step 88 对最终交付文件的裁判重放记录前两阶段 hop、step 已通过，最后一跳因未落入沙坑判负，落地点横坐标为 5.299 米。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.6, + "log_step": 88, + "evidence_zh": "观察：视频 7.48–7.84 s，机器人在末次腾空中持续前翻，双腿未能承接身体，末帧躯干倒在红色跑道上；黄色沙坑仍在身体前方。该次前翻落地未达入坑条件；不把同一次摔落另记为违反约束。评分器 fell=0 不代表画面中没有倒地，本任务不以通用摔倒标志判负。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 12、41、58 中 agent 编写按脚接触切换的关节控制器，使用髋部姿态力矩和膝踝目标完成连续三跳；log step 87 以最终参数生成交付文件，log step 88 重放得到与评分器一致的两阶段通过及末跳失败。结合视频 7.44–7.84 s 的持续前翻和坑前倒地，说明所交付运动控制未实现末跳所需的身体姿态与推进效果；证据不能定位为某个具体增益或轨迹求解故障。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "没有状态日志或成功参考视频；单一远景中机器人较小，前两次着地时刻为视频近似值，足侧与短腾空规则由最终交付文件的裁判重放记录辅助确认。最后触地的具体身体部位及关节力矩、跟踪误差不可确认，故控制根因不细分。" + }, + "summary_zh": "机器人完成单足跳同脚落地和跨步跳异脚落地，三个 DAG 节点中最终达成两个。最后一跳在视频约 7.6 s 向前翻倒，并在沙坑前落回红色跑道；最终交付文件的裁判重放记录落点为线前 5.299 米，距沙坑起点仍约 1.7 米，控制未实现合格入坑。远景分辨率和缺少状态日志限制了足侧、精确触地时刻及控制子类的判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个已达成节点与未达成的 jump_in_sand 与视频和 log step 88/94 的裁判重放一致（hop、step 通过，落点 5.299 m 在沙坑前），断点、平衡现象和控制根因有证据支持；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:03:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-privileged--xi9qkng/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eedc859a7cf3637e105f7673228e119bf5307629ed77e81b2c8f55719bf1886c", + "video_sha256": "8d43266c043fe5a0771ef3595910555a51694e33d252eeb0d0f1b8f7887c3b41", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm.json new file mode 100644 index 0000000000000000000000000000000000000000..fb02b8bad07959726b913f1e21f40d15e07028de --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "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": 754, + "sim_steps": 34761, + "calls": 1820, + "rows": 34761, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2736.9, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.508, + "peak_processes": 9, + "peak_disk_gb": 0.298, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-triple-jump-i00-standard--3pdbvzm/replay.mp4", + "duration_s": 7.56, + "fps": 25.0, + "frames": 189, + "sha256": "2a95588b8dd7d3e8ff33da36d225a4758cc06cbac29f1f2205f69dc1eee55b88" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 7.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.44, + "log_step": 416, + "text_zh": "观察：视频 7.08–7.40 s 机器人在白色起跳线附近蹬地、腾空并向前移动，视频约 7.44–7.48 s 一脚先落到线前红色跑道，身体仍直立；首次落地时刻取视频约 7.44 s，远景误差约 0.08 s。log step 416 是最后一次重置后的实时回合，服务裁判返回 stages_reached=1/4，支持单足跳已通过。" + }, + { + "t": 7.52, + "log_step": 417, + "text_zh": "推断：log step 417 的 episode=51、control_steps=754 与评分器 n_actions=754 一致，且按 log step 8 的 control_dt=0.01 s 得回合仿真 7.54 s，与视频末帧 7.52 s、总长 7.56 s 相符；log step 416 的控制步 705 对应约视频 7.05 s，并已在视频 7.04–7.16 s 起跳线附近的蹬地处核对。本次仅一个裁判阶段通过，不能采用 log step 395 上一回合的两阶段进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.6–7.08 s 可见机器人双脚交替在红色跑道上支撑助跑，随后单脚蹬地，视频约 7.44 s 一脚承接落地；log step 410 的控制脚本将起跳与同脚落地设为左脚，远景不能独立清楚辨认足侧。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.52, + "log_step": 416, + "text_zh": "观察：视频 7.44–7.52 s 机器人在首次跳跃落地后继续向前，另一条腿也降到跑道附近，没有完成第二次腾空后异脚单独落地的过程。log step 416 的服务裁判明确返回 another part than the landing foot touched the ground before the step，且 stages_reached=1/4，跨步跳前已因额外触地结束回合。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 7.44–7.52 s 首跳落地脚在红色跑道承重，机器人进入跳间支撑；log step 416 裁判确认下一次跨步跳前另有身体部位触地。远景不能可靠分清该额外接触是另一只脚还是腿部，未声称已完成跨步跳蹬地。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.52, + "log_step": 416, + "text_zh": "观察：视频 7.52 s 机器人仍在起跳线前方不远的红色跑道，黄色沙坑位于其前方且无人触沙；视频全程未见机器人进入沙坑。log step 416 表明实时回合在跨步跳前结束，尚未开始最后入坑跳及两秒触沙验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "step_landed", + "t": 7.52, + "log_step": 416, + "where": "操作中", + "evidence_zh": "观察：视频约 7.44 s 首跳落到红色跑道后，机器人在视频 7.48–7.52 s 未衔接出下一次腾空，仍在跑道上接地。最后一次实时回合 log step 416 的服务裁判判定跨步跳前落地脚之外的部位触地，仅通过 hop；log step 417 确认该回合为 episode=51，已结束且未再重置。" + }, + "unmet": { + "hop_landed": true, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 7.52, + "log_step": 416, + "evidence_zh": "观察：视频 7.44–7.52 s 机器人首跳后落回红色跑道，躯干仍竖立，未发生可见翻倒，也未衔接出第二次完整腾空；log step 416 的服务裁判确认跨步跳前出现落地脚之外的触地。跳间单脚支撑及连续跳跃的步态未满足要求，不能以先前测试入坑距离不足解释本次失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log steps 409–410 显示 agent 将收腿、伸腿落地和反弹起跳写成按数组索引切换的一次性 lowcmd 序列，再整体提交，没有在该跳跃序列中依据实际接地重新切换阶段；log step 416 仅执行其中 49 行即被裁判以跨步跳前额外触地判负，视频 7.44–7.52 s 也显示实际已提前回到地面。关节运动未实现预期的单脚保持及反弹衔接，支持控制层归因；尚无足够证据区分具体动力学参数、轨迹跟踪和接触反馈因素。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志及成功参考视频；视频 0–约 5.4 s 机器人尚在固定远景之外，末段机器人仅占少量像素，不能精确辨认触地足侧及额外触地的具体部位。单足跳时刻只能近似定位；合法性由与视频一致的最后回合服务裁判补充，根因仅归控制大类。评分器未报告 DAG 中七项原生指标，均填 null。agent 最终报告（log step 420）所称跨步跳已通过与最后回合 log step 416 不一致，未作为进度依据。" + }, + "summary_zh": "评分回合完成单足跳同脚落地，最终为 1/3；视频约 7.44 s 首跳落地后，在跨步跳前出现额外触地，未跃入沙坑。最后回合裁判（log step 416）只确认一个阶段，定时关节控制序列未成功衔接单脚支撑与下一跳；上一回合通过跨步跳的记录及 agent 最终报告不计入本次进度。固定远景无法精确辨认额外接触部位，无状态日志，根因细分与原生指标缺乏证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频和日志一致：视频约 7.16 s 起跳、约 7.44 s 首跳落地，最后回合 log step 416 裁判 stages_reached=1/4，hop 达成、step_landed 为断点，步态现象与控制根因（推断已标注）有证据支撑。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:05:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--3pdbvzm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9e26cf98f01340c76e7768eecdeb32fd352e855af742567cf07e2c7a6e30e72d", + "video_sha256": "2a95588b8dd7d3e8ff33da36d225a4758cc06cbac29f1f2205f69dc1eee55b88", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--awnfxmw.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--awnfxmw.json new file mode 100644 index 0000000000000000000000000000000000000000..6c697d88dacb06c4bbb19e0164007a9396627761 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--awnfxmw.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-standard--awnfxmw", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "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": 746, + "sim_steps": 15545, + "calls": 2917, + "rows": 15488, + "resets": 22, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7139.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.207, + "peak_processes": 31, + "peak_disk_gb": 0.908, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-triple-jump-i00-standard--awnfxmw/replay.mp4", + "duration_s": 7.48, + "fps": 25.0, + "frames": 187, + "sha256": "4292bde35648e4473091ed57eb515e3b6ccd3cba8959acdf0870767ff29c6c29" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 7.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.08, + "log_step": 231, + "text_zh": "观察：视频约 7.08–7.36 s，机器人越过白色起跳线腾空，随后伸出一脚准备落地；另一腿保持抬起。" + }, + { + "t": 7.44, + "log_step": 232, + "text_zh": "观察：视频 7.44 s，机器人一脚落在起跳线前方的红色跑道，身体尚未进入黄色沙坑。log step 232 中，机器人服务对最后的 episode 23 报告 stages_reached=1/4，随后明确判为单足跳之后、跨步跳之前的非法接触，支持 hop 已被裁判接受。" + }, + { + "t": 7.44, + "log_step": 232, + "text_zh": "推断：log step 8 的服务规格给出 control_dt=0.01 s；最后回合 log step 232 的 control_steps=744 对应视频 7.44 s，已与视频该帧落地核对；终止计数 746 对应视频约 7.46 s，与视频总长 7.48 s 一致。节点时刻取可见落地帧，精确接触可能在相邻两帧之间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人两脚在红色跑道交替支撑助跑，随后由起跳脚蹬地，腾空后该脚再次落在红色跑道承重；远景不足以可靠辨认左右脚。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.44, + "log_step": 232, + "text_zh": "观察：视频 7.40–7.44 s，机器人完成第一跳下降落地，尚未出现第二次腾空及异脚落地。log step 232 显示 agent 的 last_step_push 反弹控制已运行两个控制步，机器人服务在 episode 23、control_steps=746 报告 failed，原因为“another part than the landing foot touched the ground before the step”，阶段仍为 1/4；因此跨步跳未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "单足跳的落地脚继续支撑红色跑道，机器人开始吸收落地并尝试反弹起跳。服务随后检测到落地脚以外部位触地；视频分辨率不足以确定该额外接触的具体身体部位，不据此另猜手臂接触。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.44, + "log_step": 232, + "text_zh": "观察：已检查视频全程及视频 6.40–7.44 s 的逐帧末段；机器人始终未到黄色沙坑，最后仍在起跳线附近。log step 232 的最后回合在跨步跳起跳前终止，未执行最后一跳；log step 228 所述完成 hop 和 step 后入坑不足属于此前 episode 22，不能计入本回合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "value": null, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "step_air_s", + "value": null, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "jump_air_s", + "value": null, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "hop_rise_m", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "hop_m", + "value": null, + "unit": "m", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "step_m", + "value": null, + "unit": "m", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "mark_m", + "value": null, + "unit": "m", + "threshold": 7.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "step_landed", + "t": 7.44, + "log_step": 232, + "where": "操作中", + "evidence_zh": "观察：视频 7.44 s，机器人刚以单脚落地，尚未完成反弹腾空。log step 232 显示 agent 的 last_step_push 已开始执行，服务随后在最后回合 episode 23、control_steps=746 判定落地脚以外部位在跨步跳前触地，回合立即结束且阶段为 1/4。故失败发生在跨步跳的支撑及起跳过程中；视频约 7.44 s 为导航锚点。" + }, + "unmet": { + "hop_landed": true, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 7.44, + "log_step": 232, + "evidence_zh": "观察：log step 232 中，机器人服务对最后回合明确给出“another part than the landing foot touched the ground before the step”，即跨步跳起跳前出现不允许的额外身体接触，违反跳间只能由前次落地脚支撑的规则。视频 7.40–7.44 s 仅显示落地后的身体下沉，没有足够细节确认额外触地点，也未显示机器人已经摔倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 226 的脚本按同脚落地、反弹、异脚落地的正确次序调用 fly.py 与 reboundplan.py；log step 230 将其用于最后重置的回合。log step 232 表明该回合刚进入 last_step_push，反弹控制执行两个控制步即因额外身体触地被裁判终止，视频约 7.44 s 仍处于落地支撑阶段。证据支持落地到反弹的身体接触控制未满足单脚支撑要求，不能进一步确认是轨迹、反馈还是参数问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或成功参考视频；场地远景中机器人仅占少量像素，虽已逐帧检查视频 6.40–7.44 s，仍无法辨认裁判所报额外触地的具体身体部位及精确接触几何。hop 的细微腾空与单脚阈值由同一最终回合的原生裁判阶段反馈补强；控制根因只能定位到大类，不能可靠细分。评分器未报告 DAG 所列七项原生距离、腾空时间及上升量，native_metrics 均保留 null。" + }, + "summary_zh": "最终评分回合完成单足跳同脚落地，三个节点中完成 1/3；此前试验完成跨步跳的结果不计入本回合。机器人在单足跳落地后尝试反弹进入跨步跳，因落地脚以外部位触地而被裁判终止，根因定位为落地与反弹阶段的控制问题。视频远景无法辨认违规接触的具体身体部位，缺少状态日志，故不进一步细分控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "最终评分回合（episode 23，视频 7.48 s，control_steps 746）的标签与视频及服务读数一致：hop 已计、step 未达、断点在 step_landed 合理，时钟换算已在视频 7.44 s 核对。唯一存疑处是现象“违反约束”复述了裁判退出规则，但视频远景无法辨认具体违规部位，没有更具体且有证据的现象可替换，故不要求修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:19:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": 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"nodes": { + "hop_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": 71, + "text_zh": "观察：视频 5.36–5.64 s 的左缘可见机器人身体低伏并倒在红跑道旁的绿色地面上，位置仍远在白色起跳线后；视频全程至 49.92 s 均未见机器人越线后以起跳脚落在跑道上。log step 71 是用尽最后一次重置后执行的回合，脚本打印的“hop landed”是其加速度检测结果，未提供裁判阶段达成记录。" + }, + { + "t": 10.4, + "log_step": 76, + "text_zh": "观察：log step 76 的服务状态为 episode=6、resets_left=0、control_steps=1055、done=False，读取的骨盆俯仰角为 102.7°；视频 10.4 s 的机器人仍倒卧在画面左缘的草地上。此前各次重置的测试不计入本视频节点。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.36–6.8 s 单足跳尝试后，机器人可见的躯干部位倒伏在红跑道旁绿色地面上承重；起跳腿和具体足底接触在画面左侧之外，不能确认左右脚接地次序。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": 72, + "text_zh": "观察：视频 5.6–7.4 s 机器人在起跳线后、跑道旁倒卧活动，没有在红跑道上形成跨步腾空和异脚落地。log step 72 显示最后回合的脚本仍发送 step_push 指令，但它只是脚本的动作阶段名。" + }, + { + "t": 49.92, + "log_step": null, + "text_zh": "推断：视频全程起跳线后的合格单足跳从未完成，随后也没有机器人到达线前跑道的画面；跨步跳既无合格前置，也无符合判据的落地，故事件未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.6–7.4 s，脚本跨步跳动作段执行时，机器人可见躯干仍由跑道旁绿色地面支承；并未建立规则要求的单脚支撑接续，足侧细节不可见。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.2, + "log_step": 72, + "text_zh": "观察：log step 72 显示最后回合脚本继续执行 jump_push 和后续动作；视频 7.4–10.6 s 的机器人仍在起跳线后左缘的草地上倒卧活动，没有朝沙坑形成有效飞跃。" + }, + { + "t": 49.92, + "log_step": null, + "text_zh": "观察：视频从开始至 49.92 s 的全场画面中，黄色沙坑始终没有机器人进入或触沙；最后一秒亦无触沙落地，未发生入坑及两秒落地验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 7.4–10.6 s 脚本末跳动作段执行时，机器人可见躯干仍倒伏在跑道旁绿色地面上支承，未接触黄色沙坑；没有证据可确认具体足底或手部接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "hop_landed", + "t": 5.4, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频 5.36–5.64 s 机器人倒伏在跑道旁、白色起跳线后；log step 73 对最后回合的姿态记录显示，骨盆俯仰从仿真 5.17 s 的 34.4°增至仿真 5.39 s 的 108.5°。视频 6.8–28 s 的后续动作未恢复合格单足跳，至视频 49.92 s 仍未越过起跳线；因此最早未修复的失败步骤为单足跳同脚落地。" + }, + "unmet": { + "hop_landed": false, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 5.4, + "log_step": 73, + "evidence_zh": "观察：视频 5.36–6.8 s 可见机器人以倒卧姿态贴近跑道旁绿色地面，未用足部承接成站立姿态；log step 73 的最后回合姿态记录在仿真 5.33–5.41 s 显示骨盆俯仰 85.4°→108.2°，与前翻倒地一致。视频后续可见屈伸翻动，但无完成该单足跳的恢复动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 71 记录最后回合以预设蹲伸、前馈扭矩、定时伸腿接地及缓冲命令执行跳跃，log step 73 的姿态记录显示该动作期间骨盆持续前倾至超过 90°；视频 5.36–6.8 s 验证其倒地结果。控制器未能在单足跳尝试中控制身体姿态；log step 80、82、110–148 的多种起身命令也未使该步骤恢复，log step 154 最后一次内置步态命令返回“NOT UPRIGHT”。证据支持控制失败，但不足以区分接触几何、轨迹、反馈或某个参数错误。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。固定全场视角把助跑、蹬地和失衡早期留在画面左侧之外，倒地后也只显示部分身体，无法确定实际起跳足、腾空阈值、手部接触或精确的失稳力学原因；实际接触仅标可见躯干的地面支承。log step 73 为最后回合的脚本姿态诊断，数值按仿真时钟引用，视频断点仅以可见倒地画面约定位；未将 agent 工作时间换算为视频时间。评分器未报告 DAG 所列七项原生指标，均置 null。" + }, + "summary_zh": "最后一次重置后的评分回合未完成单足跳同脚落地、跨步跳异脚落地或跃入沙坑，最终进度为 0/3。机器人在约视频 5.4 s 的单足跳尝试中前翻倒在起跳线后的跑道旁，脚本继续执行后续跳跃及多次起身动作仍未修复；证据支持全身平衡失败及控制层面的根因。起跳和失衡早期大部分在画面外，缺少足部接触与状态日志，无法进一步确认具体控制缺陷。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：全程仅左缘可见机器人倒卧，未越线、未进沙坑，三节点均未达成，进度 0/3；断点 hop_landed、平衡现象与停在“控制”的根因均有证据且未过度声称。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:05:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--ckccwkb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--ckccwkb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cda6efb1a161b4be409df40514b8d01e223f95059de8263b71c565434c39e077", + "video_sha256": "1055397d1850e814b4dc06cd577df2cd092fc48e72c0cc4d35ebe407ec3bc192", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--fythqur.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--fythqur.json new file mode 100644 index 0000000000000000000000000000000000000000..a51bc6726f3b2e22fa26967b8b69912d6344edd9 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--fythqur.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-standard--fythqur", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "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": 743, + "sim_steps": 10521, + "calls": 618, + "rows": 10521, + "resets": 14, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1480.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.372, + "peak_processes": 17, + "peak_disk_gb": 0.372, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-triple-jump-i00-standard--fythqur/replay.mp4", + "duration_s": 7.44, + "fps": 25.0, + "frames": 186, + "sha256": "6193042a617cb11465725fc7635f80618a0d1ee923710d1d0add489ed3d9d29b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [ + [ + 6.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.9, + "log_step": 71, + "text_zh": "观察：视频 6.60–6.92 s，机器人在白色起跳线附近单足蹬地、腾空并在越线后的红色跑道落地；log step 71 中机器人服务对本次 att2 回合返回 stages 2/4，说明 hop、step 两阶段均已通过。视频为远景，同脚落地时刻约为视频 6.9 s，左右脚与离地间隔的精细判定由服务阶段结果补充。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.2–6.92 s 可见机器人双腿交替承重助跑，随后以单足在红色跑道蹬地并承接第一跳落地；远景不足以独立确认左右脚侧。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [ + [ + 7.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.1, + "log_step": 71, + "text_zh": "观察：视频 6.92–7.12 s，机器人在第一次越线落地后再次腾空，另一腿向下伸出并在沙坑前的红色跑道承接落地，约视频 7.1 s；log step 71 的受评 att2 服务结果为 stages 2/4，支持该跨步跳通过，脚侧与接触阈值未能由远景逐项量测。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 6.92–7.12 s，机器人以第一跳落地腿支撑、蹬地，腾空后伸出的另一腿承接跑道上的第二次落地；脚侧细节结合 log step 71 的服务阶段通过结果确认。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 71, + "text_zh": "观察：视频 7.12–7.40 s，机器人在第二次落地后向前跃出并不断前倾、降低，末尾身体仍在红色跑道上方，距黄色沙坑尚有明显间隔；整个视频未触沙。log step 71 中服务返回“the jump did not come down in the sand”、stages 2/4，本步及其触沙后验收均未完成。" + }, + { + "t": 7.4, + "log_step": 77, + "text_zh": "观察：log step 77 的机器人服务状态为 episode 15、control_steps 743、done=True、reason=failed；log step 79 中 agent 明确自述未在 att2 后再开始新回合。该受评回合与视频最后在沙坑前落地的结局一致，其他重置回合及本地模拟结果不计作本视频进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 7.08–7.16 s，机器人以第二次落地后的单腿在红色跑道支撑并蹬出最后一跳；视频 7.40 s 身体已低落至跑道附近，未接触黄色沙坑。末次着地的具体身体部位在远景中无法分辨。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "jump_in_sand", + "t": 7.2, + "log_step": 71, + "where": "操作中", + "evidence_zh": "观察：视频 7.12–7.40 s，完成两次中间落地的机器人在最后一跳中身体持续前倾下降，仍在沙坑前的红色跑道处落下；log step 71 的服务结果为“the jump did not come down in the sand”、stages 2/4。断点为正在执行但未完成的跃入沙坑，视频约 7.2 s 已可见明显向前翻倒的趋势。" + }, + "unmet": { + "hop_landed": true, + "step_landed": true, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.2, + "log_step": 71, + "evidence_zh": "观察：视频 7.12–7.40 s，机器人躯干由前倾逐渐转至接近水平，双腿未在身体下方建立可恢复的承重姿态，身体向红色跑道翻落，未到黄色沙坑；log step 71 的服务判负为末跳未落入沙坑。该前翻过程发生在最后一跳中。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.2, + "log_step": 71, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 56 的 gen.py 在助跑后调用 Ctrl 逐步发送 lowcmd 关节目标；log step 29 将阶段切换改为按预设持续时间，log step 51 扩为七阶段，控制脚本没有据落地接触重新调整各跳的阶段时序；log step 71 用这套脚本与 cand1 参数运行受评 att2。视频 7.12–7.40 s 对应动作出现躯干持续前翻、下降且远未到沙坑，支持所生成跳跃控制未能实现所需运动；现有证据不足以进一步确定是哪些时序、姿态或力矩参数导致。" + } + ], + "gap_zh": "无状态日志、无成功参考视频，远景仅能近似定位两次落地，不能独立量测脚侧、接触力或骨盆升高；前两步的精细合法性结合 log step 71 的服务阶段结果判断。评分器未报告 DAG 七项原生指标，均填 null；log step 70、72 的约 3.3 米是 agent 本地模拟结果，未作为本回合实测成绩。根因只能支持到控制层，尚不能确认具体参数或排除所有其他控制方案；agent 在 log step 79 中关于七米不可达的说法未获得独立验证。" + }, + "summary_zh": "受评回合完成单足跳同脚落地与跨步跳异脚落地，最终为 2/3 个语义节点；机器人在视频约 7.2 s 的最后一跳中持续前倾翻落于沙坑前，服务在 log step 71 判定未落入沙坑。定时关节目标控制未实现所需跳跃运动，具体失稳参数缺乏实测数据；远景落地时刻约有 0.1–0.2 秒误差，精细合法性由该回合的服务阶段结果补充。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + 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true, + "space": "work/runs/embodied-olympics-fun-triple-jump-i00-standard--fythqur/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1bf1544051be7b0a1fbe8e24d244f452e43af482f5039e57ad524b7facd5925a", + "video_sha256": "6193042a617cb11465725fc7635f80618a0d1ee923710d1d0add489ed3d9d29b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--lfnw5dj.json b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--lfnw5dj.json new file mode 100644 index 0000000000000000000000000000000000000000..692b684a482e6bc0357928051379de98743b9c23 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--lfnw5dj.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": 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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-triple-jump-i00-standard--lfnw5dj/replay.mp4", + "duration_s": 8.12, + "fps": 25.0, + "frames": 203, + "sha256": "2f7d8ba59b9be8a7ca91b344795f0ba33ca2ba8009b77ae9454aa4358a36789a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hop_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.48, + "log_step": 190, + "text_zh": "观察：视频 6.88–7.48 s，机器人在白色起跳线后沿红色跑道向前跑动，双腿交替支撑；视频 7.80–8.08 s，机器人前倾、屈腿并翻倒在起跳线附近，未出现越线后的同脚合法落地。log step 190 明确重置到最后受评回合 episode 6，服务裁判返回“touched the ground beyond the take-off line without a hop”，stages 0/4。" + }, + { + "t": 8.08, + "log_step": 190, + "text_zh": "推断：视频末段的翻倒与 log step 190 最后回合裁判的未完成 hop 判定一致，故单足跳同脚落地从未达成；脚部细小，不能仅凭画面量出离地先后差或骨盆上升阈值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 6.88–7.76 s，机器人左右脚先后接触红色跑道承重并向前跑动；视频 8.00–8.08 s，翻倒后的腿和躯干落在跑道上。未完成同一只脚起跳并合法越线落地。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.08, + "log_step": 190, + "text_zh": "观察：视频 7.80–8.08 s，机器人在起跳线附近翻倒，未见完成同脚落地后再蹬地、由另一脚单独承接的跨步跳；log step 190 最后回合裁判返回 stages 0/4。" + }, + { + "t": 8.08, + "log_step": 190, + "text_zh": "推断：log step 190 打印的 state 1–6 是 agent 脚本内部阶段编号，裁判并未认可 hop；结合视频，不能将脚本换阶段当作完成跨步跳，其前置节点及本节点均未达成。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.08, + "log_step": 190, + "text_zh": "观察：视频全程黄色沙坑内均未出现机器人；视频 8.08 s，机器人仍倒在白色起跳线附近，距沙坑尚远。log step 190 最后回合已因未完成 hop 而触地被判负，stages 0/4，未进入触沙后的验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "hop_landed", + "t": 7.8, + "log_step": 190, + "where": "操作中", + "evidence_zh": "观察：视频 7.76–7.96 s，机器人在首次单足跳尝试中持续前倾，躯干由接近直立变为近水平；视频 8.00–8.08 s，机器人翻倒并在白色起跳线附近触地，未恢复合法同脚落地。log step 190 为重置后的最后受评回合，服务裁判报告未完成 hop 就在起跳线前方触地，stages 0/4。" + }, + "unmet": { + "hop_landed": false, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.8, + "log_step": 190, + "evidence_zh": "观察：视频 7.80 s 起，机器人上身明显前倾，随后身体继续向前翻转、下落；视频 8.04–8.08 s，躯干倒在红色跑道上，未能用单脚承接并维持支撑。该翻倒发生在首个 hop 完成前。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 188 的 gen.py 用 run 助跑后切换到 lowcmd 关节目标，按预设姿态、定时和单个 IMU 加速度阈值推进跳跃阶段；log step 190 在最后回合调用该脚本并打印内部 state 1–6，但裁判阶段仍为 0/4。视频 7.56–8.08 s 显示切换后的机器人未保持全身支撑而前倾翻倒，支持跳跃全身控制失败；现有证据不能进一步区分接触设计、轨迹、反馈或参数问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或成功参考视频；固定场地相机在视频约 6.8 s 前未拍到机器人，末段脚部像素较少，不能精确判断起跳脚侧、离地先后差、骨盆上升量及各部位触地顺序。最后回合未提供逐步姿态、接触和力矩记录，原生距离与腾空指标也未在 reward 中报告；agent 在 log step 202 关于踝力矩限制和局部仿真距离的解释不能据此证明任务无合法解，故不细分控制根因。" + }, + "summary_zh": "最后受评回合完成了助跑并尝试首个单足跳，但三个节点均未达成；视频约 7.80 s 开始前倾翻倒，视频 8.08 s 已倒在起跳线附近，log step 190 的裁判报告未完成 hop 就在线前触地、阶段 0/4。断点为单足跳同脚落地，现象为全身平衡丧失，结合该回合执行的 lowcmd 脚本归为控制失败。缺少状态日志且脚部画面较小，无法确定具体接触时序、力矩或控制参数原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 8.12 s 与最后受评回合 809 个控制步（约 8.09 s）吻合；视频约 6.8 s 起机器人出现并助跑，视频 7.7–8.0 s 在起跳线前翻倒，三个节点均未达成，断点 hop_landed、现象全身·平衡、根因控制均有证据支持，推断也已标为推断。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:01:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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0000000000000000000000000000000000000000..ed19be2733cb30da1650a3e9a81c08bd13d8b565 --- /dev/null +++ b/phase2/embodied-olympics-fun/triple_jump/trajectories/embodied-olympics-fun-triple-jump-i00-standard--tha85qw.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-triple-jump-i00-standard--tha85qw", + "taskKey": "embodied-olympics-fun/triple_jump", + "dag_sha256": "0baf08d04fbf745076feddee38258dc6f6ef2b10629220cbb9e20880d00d44ba", + "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": 671, + "sim_steps": 45547, + "calls": 927, + "rows": 40037, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + 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s，机器人在红色跑道上交替迈腿向白色起跳线前进；视频 6.32–6.68 s，躯干逐渐前倾、下落并翻倒在起跳线附近，没有出现合格的单脚起跳并同脚承接落地。" + }, + { + "t": 6.68, + "log_step": 274, + "text_zh": "观察：log step 273 的服务状态显示重置后为 episode 51；log step 274 的该回合服务结果为 done=True、outcome=\"the hop was not a jump\"、stages_reached=0/4、control_steps=671。评分器 n_actions=671，与最终回合一致；视频 6.68 s 的倒地终态与其未完成首次单足跳的判定相符，服务四个阶段与本 DAG 三个节点的分组不同。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 5.4–6.28 s，机器人左右脚交替接触红色跑道承重、蹬地；视频 6.48–6.68 s，机器人翻倒，躯干降至跑道表面，未形成同脚落地的有效单足跳。" + } + ] + }, + "step_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.68, + "log_step": 274, + "text_zh": "观察：视频 6.32–6.68 s，机器人在首次越线前后的动作中翻倒，未出现同脚单足跳落地后再由另一脚承接的跨步跳；log step 274 的最终回合服务阶段数为 0/4，前置单足跳未完成。" + } + ] + }, + "jump_in_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.68, + "log_step": 274, + "text_zh": "观察：视频 0–6.68 s 的黄色沙坑始终为空；视频 6.68 s，机器人倒在白色起跳线附近的红色跑道上，尚距沙坑明显一段距离，没有入坑触沙或后续落地验收。log step 274 报告最终回合已结束，阶段数为 0/4。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hop_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "step_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_rise_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "hop_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "step_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "mark_m", + "unit": "m", + "threshold": 7.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "hop_landed", + "t": 6.4, + "log_step": 274, + "where": "操作中", + "evidence_zh": "观察：视频 6.32–6.68 s，机器人在白色起跳线前的首次跳跃尝试中前倾翻倒，随后身体落至起跳线附近的跑道上，未恢复或完成同脚落地。log step 274 的最终回合服务结果为“the hop was not a jump”、阶段 0/4；因此失败步骤为单足跳同脚落地。" + }, + "unmet": { + "hop_landed": false, + "step_landed": false, + "jump_in_sand": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 6.4, + "log_step": 274, + "evidence_zh": "观察：视频 6.32 s 后机器人躯干明显前倾，视频 6.48–6.60 s 躯干接近水平、双腿无法维持直立支撑，视频 6.68 s 已翻倒在白色起跳线附近；该次单足跳没有被修复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 在 log step 271 自述最后一次采用较大幅度定时摆臂、由跑步策略继续控制双腿，log step 273 确认重置并运行该驱动；视频 6.16–6.68 s 显示机器人从直立前进转为前倾翻倒，log step 274 确认该回合未完成首跳。该运动控制未能在起跳线附近维持全身姿态并完成合格首跳，归为控制；具体摆臂参数或腿部跟踪误差未获证实。", + "source_zh": "视频" + } + ], + "gap_zh": "输入没有状态日志或成功参考视频；固定远景中机器人在视频约 5.3 s 才进入画面，足部像素较少，无法精确测量离地时差、骨盆升高量及各部位首次触地顺序。日志末段的编辑调用未保留完整驱动补丁，因而不能进一步将失稳归于某个控制参数；评分器未报告七项原生指标数值，均留空。" + }, + "summary_zh": "最终评分回合完成 0/3 个 DAG 节点：机器人助跑至起跳线附近，在视频约 6.4 s 开始前倾失衡，随后翻倒，未完成单足跳同脚落地，后续跨步跳和入坑均未开始。log step 274 的最终回合服务结果为“the hop was not a jump”、阶段 0/4，与视频相符；失败现象为平衡，根因归为控制。缺少状态日志及完整末段控制补丁，无法确定具体失稳参数或量化起跳判据。", + "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 6.3–6.7 s 机器人在起跳线前前倾翻倒，三个节点均未达成；断点 hop_landed、现象 平衡、根因 控制 与视频及 log step 274（hop was not a jump，0/4，control_steps 671）一致；未发现需修改的内容。", + "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": "2026-10-31T00:28:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/embodied-olympics-fun-triple-jump-i00-standard--tha85qw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/embodied-olympics-fun-triple-jump-i00-standard--tha85qw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c11f3e2c57da016211a7c72c497c5df125233b3dfb9126e8bf42cbe134d51d31", + "video_sha256": "fe621bfa51c8bb22f4bd409c614bac552d7d758f4fc91d8f5ed01326031d7f67", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--ax6g7qw.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--ax6g7qw.json new file mode 100644 index 0000000000000000000000000000000000000000..b1bcf0931627cbc85c372c377421b401f19ad676 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--ax6g7qw.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--ax6g7qw", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 447, + "sim_steps": 447, + "horizon": 1200, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 4.56, + "bad_trajectory": 0, + "metric_ball_height_m": 1.417, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 104, + "agent_resets": 14496, + "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": 2.931, + "peak_processes": 20, + "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-volleyball-spike-i00-privileged--ax6g7qw/replay.mp4", + "duration_s": 4.48, + "fps": 25.0, + "frames": 112, + "sha256": "5f2c7f18046421ea2e08f0942e2526c1a70420aecdfd562da0556fd8801affab" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 0–3.80 s，机器人向球网方向迈步，随后屈腿下蹲；视频 3.92–4.24 s，机器人向上跃起并挥臂，发球机送出的球仍在其手部上方下降。" + }, + { + "t": 4.44, + "log_step": null, + "text_zh": "观察：视频 4.28–4.44 s，来球继续下降到网顶以下，机器人身体前倾、手臂向来球方向伸出；末帧为视频 4.44 s，未出现合法高位扣球、球越网入场及落地站稳的完整动作。" + }, + { + "t": 4.44, + "log_step": 84, + "text_zh": "观察：log step 83 保存并重生成 447 行交付轨迹，log step 84 对该文件的新进程重放返回 failed=\"the ball was struck below the height of the net\"、stages=[]、time_s=4.47（仿真钟）及 ball_height_m=1.417；log step 85 再次重放得到相同末态哈希和行数。评分器亦报告 deterministic=1、sim_steps=447、stages_reached=0，与视频末段低位触球相符，节点未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–3.92 s，机器人双脚先后接地承重、助跑并蹬地起跳；这是同一步击球前的支撑，未据此声称完成落地站稳。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：候选名称：击打；视频 4.28–4.44 s 可见机器人单侧手臂向下降来球挥出，结合 log step 84 对交付文件的“低于网高触球”裁判结果，确认腕端手部击球。现有接触方式没有击打，且未出现合手抓握；碰撞瞬间和具体手部几何体未被视频分辨。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 1.417 + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.44, + "log_step": 84, + "where": "操作中", + "evidence_zh": "观察：视频 4.28–4.44 s，机器人仍在挥臂迎击下降的排球，球已降至网顶以下；log step 84 对最终交付文件重放明确以“the ball was struck below the height of the net”终止，尚未接受扣球阶段。断点定位于“扣球并落地站稳”的击球过程，视频 4.44 s 为触球附近的导航锚点。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.44, + "log_step": 84, + "evidence_zh": "推断：视频 4.16–4.44 s，来球从机器人上方降至网顶以下，机器人未在球仍高于网顶时完成击打；log step 84 的交付文件重放确认最终发生的是低于网高的触球。机器人错过了下降来球的合法高位击球窗口。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 3.48–4.44 s 可见机器人执行下蹲、起跳和挥臂，但手部未在合法高度与下降球会合；log step 83 保存的动作及 log step 84–85 对该文件的一致重放均重现低位触球。该助跑—起跳—挥臂控制未实现所需的时空配合；现有证据不能可靠区分具体控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态及接触日志；视频为远景且仅 25 fps，最后一帧在视频 4.44 s，未直接分辨碰撞瞬间。触球及低于网高的判定由 log step 84 对最终交付文件的重放裁判结果支持；球心高度 1.417 米不等同于最低接触点高度，未填作 contact_height_m。缺少可独立核查的关节跟踪与接触数据，不能确认跳跃高度、挥臂轨迹或反馈控制各自的贡献；agent 在 log step 88 对跳跃瓶颈的解释仅为自述。" + }, + "summary_zh": "机器人已助跑、下蹲起跳并挥臂迎球，但未完成唯一节点“扣球并落地站稳”，最终进度为 0/1。视频末段来球已降到网顶以下；最终交付文件在 log step 84 的一致重放因低于网高触球终止，表明控制未实现合法击球窗口内的手球会合。远景视频未分辨瞬时接触，缺少逐帧状态数据，控制根因无法进一步细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成、断点在击球过程、根因（控制，未细分）均与视频末段（4.28–4.44 s 球已降至网顶附近/以下）及 log step 84 重放结果“低于网高触球”、评分器 stages_reached=0 相符；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:12:07Z", + "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-volleyball-spike-i00-privileged--ax6g7qw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--ax6g7qw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ae64ec0b843cb47ed39fbcd3e5764d3434c3ed5e01de7102210decceb0074e44", + "video_sha256": "5f2c7f18046421ea2e08f0942e2526c1a70420aecdfd562da0556fd8801affab", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s.json new file mode 100644 index 0000000000000000000000000000000000000000..91edddc73bd6d919584cddea2c25dc49475cc5f3 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 431, + "sim_steps": 431, + "horizon": 1200, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 6.43, + "bad_trajectory": 0, + "metric_ball_height_m": 2.488, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 213, + "agent_resets": 7267, + "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": 4.841, + "peak_processes": 28, + "peak_disk_gb": 0.981, + "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-volleyball-spike-i00-privileged--cnzj48s/replay.mp4", + "duration_s": 4.32, + "fps": 25.0, + "frames": 108, + "sha256": "b0efac8c7e004d37b87a91800563651186d3bfc5cc9af4c397bda24ec0753508" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–3.60 s，机器人从起始站位沿本方场地向网前行走；发球机在视频约 3.00 s 后送出排球，球先上升再向机器人下落。" + }, + { + "t": 4.28, + "log_step": 260, + "text_zh": "观察：视频 3.68–4.28 s 的逐帧画面中，机器人屈腿后伸腿起跳并将一只手举到下落球附近，末帧球紧邻高举的手；本段没有完成球越网入场和机器人落地站稳。log step 260 对保存的 431 行轨迹及其回放均返回“the ball was struck below the height of the net”，stages=[]、ball_height_m=2.488；log step 266 再次生成并回放仍为相同 431 行和相同末态哈希。" + }, + { + "t": 4.28, + "log_step": 266, + "text_zh": "推断：最终回放的 431 行和球心高度 2.488 米与 inputs/run.json 的评分字段一致，且其触球终止与视频末段相符，可用于本次交付的判据核实；触点未全部高于网顶，因此“扣球并落地站稳”事件从未成立。log step 246 的 spike 阶段属于另一候选试验，不计入本视频。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–4.12 s，机器人双脚交替支撑行走，随后以脚接地屈伸蹬地起跳；与末段手球接触先后发生，视频在落地验收前结束。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：视频 4.24–4.28 s 可见高举的手接近下落排球，结合 log step 260、266 的最终文件手球触点过低判罚及 log step 258 的左臂击球控制，实际为左腕端固定拳垫击打排球。候选名称：击打；短促手球撞击不属于抓握、推/扫或托/舀。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 2.488 + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.28, + "log_step": 266, + "where": "操作中", + "evidence_zh": "观察：视频 4.12–4.28 s，机器人正在网前起跳伸手迎击下落球，尚未落地；log step 260 保存并回放的最终文件以及 log step 266 修正生成器后重放的文件，均因“the ball was struck below the height of the net”终止，stages=[]。断点取正在执行的“扣球并落地站稳”，视频锚点为末段手球相遇附近，非会话中其他候选的触杆或跌倒事件。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.28, + "log_step": 266, + "evidence_zh": "观察：视频 4.20–4.28 s，机器人已伸高手臂，排球下落至手附近；最终文件的裁判回放在 log step 260、266 明确报告手球触点低于网顶。推断：击球位置过低，未满足全部触点高于 2.43 米的条件；已有手球接触，不属于没建立接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 258、260 的交付生成代码将助跑、屈伸起跳和左臂目标姿态组合为固定时序控制；log step 266 修复生成器的相位差后，仍精确重现该文件的同一低触点判罚。结合视频 3.68–4.28 s 的起跳抬臂动作，控制未把拳垫送至满足网高要求的击球位置；目标是网顶以上手扣，并无错误任务目标的证据。现有数据不足以把原因进一步归为具体逆解、反馈或接触设计问题。" + } + ], + "gap_zh": "本任务没有状态日志；视频视角较远且为 25 fps，不能独立量出最低手球触点高度、接触跨度及球速。最终文件的裁判回放给出了触点过低判罚，但没有报告 contact_height_m；评分器的 ball_height_m=2.488 是球心高度，不能代替触点高度。无法据此进一步区分起跳时序、全身及手臂轨迹、拳垫接触几何各自的影响，也不能把 agent 在 log step 273 自述的可达性上限当作已验证事实。" + }, + "summary_zh": "机器人助跑至网前，起跳并用左腕端拳垫接触下落球，但触球位置过低，未完成“扣球并落地站稳”，最终为 0/1 节点。视频 4.20–4.28 s 的手球接近与 log step 260、266 对最终交付文件的网高判罚相符；会话中其他候选曾通过击球阶段，不属于本次评分轨迹。缺少状态日志及精确触点数据，根因仅能确定到控制层，不能核实 agent 自述的可达性限制。", + "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 一致：球触点低于网高被判，节点未达成，断点与现象合理；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:10:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--cnzj48s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "494c11f23f267945fc5c420d82163f1151e957b3f32a2c8ee9c78b64f78a3c8c", + "video_sha256": "b0efac8c7e004d37b87a91800563651186d3bfc5cc9af4c397bda24ec0753508", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--nhymezu.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--nhymezu.json new file mode 100644 index 0000000000000000000000000000000000000000..da988bc444afd2a5c99aa35e470b2476c2c83b25 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--nhymezu.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--nhymezu", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 751, + "sim_steps": 751, + "horizon": 1200, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 4, + "stages_total": 4, + "fell": 0, + "replay_s": 6.28, + "bad_trajectory": 0, + "metric_air_s": 0.535, + "metric_ball_height_m": 0.267, + "metric_contact_height_m": 2.523, + "metric_jump_rise_m": 0.415, + "metric_landing_x_m": 6.616, + "metric_landing_y_m": -2.615, + "metric_speed_in_m_s": 6.99, + "metric_speed_out_m_s": 8.46, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 489, + "agent_resets": 737, + "agent_replays": 24, + "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": 1.665, + "peak_processes": 11, + "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-volleyball-spike-i00-privileged--nhymezu/replay.mp4", + "duration_s": 7.52, + "fps": 25.0, + "frames": 188, + "sha256": "6cc237b75343646a210e9a117261fdb3bcb36e91be4eea012475e3fdd173fae5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [ + [ + 7.48, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.32, + "log_step": null, + "text_zh": "观察：视频 3.80–4.08 s 机器人屈腿后向上起跳，视频 4.20–4.36 s 下落排球接近举起的手部，机器人挥臂后球离开手部区域；视频 4.48–4.68 s 机器人下降并以脚落地，未见身体倒地。" + }, + { + "t": 6.52, + "log_step": null, + "text_zh": "观察：视频 5.00–6.52 s 排球从网的对方一侧向橙色场区下降；视频 6.52 s 球接近对方橙色地板，视频 6.56–6.80 s 球反弹上升，首次落点在场区内。机器人仍在本方网前以脚支撑。" + }, + { + "t": 7.48, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 6.52–7.48 s，机器人保持直立、脚接地，未见倒地。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=4/4、fell=0；原生指标为触点高度 2.523 m、起跳升高 0.415 m、来球速度 6.99 m/s、离手速度 8.46 m/s、首次落点 (6.616, -2.615) m。" + }, + { + "t": 7.48, + "log_step": 374, + "text_zh": "推断：结合视频 6.52 s 附近的场内落球、持续至视频 7.48 s 的直立姿态，以及评分器四阶段全部完成，扣球并落地站稳在视频末端约 7.5 s 达成，以最后已检查帧视频 7.48 s 为近似锚点。log step 369 保存 751 行最终轨迹，log step 374 再生文件前后哈希一致；会话中其他试验的成败不计入本节点。缺少状态日志，毫秒级触球跨度、离手竖直速度与精确站立计数不能由视频独立量测，按评分器成功验收判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "候选名称：击打；视频 4.28–4.36 s 机器人右手腕端拳垫对排球短促击打，没有合手夹持，现有接触方式没有击打，故填其他。依次发生的下肢接触：此前双脚助跑、蹬地起跳，视频 4.48–4.68 s 后双脚先后着地并支撑站立（腿/躯干 × 支撑），与腾空手球接触不同时发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": 2.523 + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": 0.415 + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": 6.99 + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": 8.46 + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": 0.535 + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": 6.616 + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": -2.615 + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 0.267 + } + ], + "failure": null, + "summary_zh": "机器人完成网前起跳、手部击球、球越网首次落入对方场内及落地站稳，唯一节点最终完成 1/1；评分器确认四阶段全部达成，视频末端约 7.5 s 记为完成。无独立参照录像或状态日志，视频中的接触分辨率有限，精确高度、速度与毫秒级合法性依据评分器原生指标及成功验收，完成时刻为近似值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 success=1、4/4 阶段、fell=0 支持唯一节点完成；约 7.5 s 的完成时刻合理（球 6.5 s 落地后需约 1 s 站稳），接触 其他+击打 符合 S16，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": "2026-10-31T00:07:00Z", + "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-volleyball-spike-i00-privileged--nhymezu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--nhymezu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b94ab9f075008ae770788e9c1a7b8a3f2dac001d02d0efbc0eee5cae22dde79e", + "video_sha256": "6cc237b75343646a210e9a117261fdb3bcb36e91be4eea012475e3fdd173fae5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--r5s59fm.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--r5s59fm.json new file mode 100644 index 0000000000000000000000000000000000000000..72a372544b0aefcd501af6f9b3746fb6ffee36df --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--r5s59fm.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--r5s59fm", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 627, + "sim_steps": 627, + "horizon": 1200, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 4, + "stages_total": 4, + "fell": 0, + "replay_s": 5.57, + "bad_trajectory": 0, + "metric_air_s": 0.56, + "metric_ball_height_m": 0.243, + "metric_contact_height_m": 2.508, + "metric_jump_rise_m": 0.3773, + "metric_landing_x_m": 9.873, + "metric_landing_y_m": -0.26, + "metric_speed_in_m_s": 7.01, + "metric_speed_out_m_s": 10.14, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 254, + "agent_resets": 8431, + "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": 3.181, + "peak_processes": 24, + "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-volleyball-spike-i00-privileged--r5s59fm/replay.mp4", + "duration_s": 6.28, + "fps": 25.0, + "frames": 157, + "sha256": "3756a862cf736beea7698d7e24cfed395f8839f934299d14f2d9e33e9a80859f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [ + [ + 6.27, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.32, + "log_step": null, + "text_zh": "观察：视频 3.80–4.12 s，机器人在网前屈腿准备并举起右臂；视频 4.16–4.32 s，机器人双脚离地，下降的排球到达右手腕端拳垫附近；视频 4.36–4.56 s，右臂向前挥下，球与手分离并飞向球网另一侧。" + }, + { + "t": 5.28, + "log_step": null, + "text_zh": "观察：视频 4.60–5.24 s，排球继续飞入对方半场并下降；视频 5.24–5.32 s，球在对方橙色场区远端附近触地反弹。机器人已落回己方地面，视频 5.28–6.24 s 持续站立，未见倒地或身体撑地。" + }, + { + "t": 6.24, + "log_step": 108, + "text_zh": "观察：log step 108 对实际交付 trajectory.npz 执行官方 replay，返回 success=true、failed=null、四阶段 spike/over the net/in the court/landing 全部完成、executed_rows=627、steps=627、time_s=6.27；inputs/run.json 的评分器字段同时报告 success=1、replay_success=1、deterministic=1、stages_reached=4/4、fell=0。触点高度为 2.508 m、骨盆跃升为 0.3773 m、来球与离手速率分别为 7.01 与 10.14 m/s、首次落点为起点坐标 (9.873,-0.260) m。" + }, + { + "t": 6.27, + "log_step": 108, + "text_zh": "推断：以交付重放的控制步定位完成时刻，log step 19 显示每控制步含 10 个 1 ms 物理步，故 log step 108 的 627 控制步对应视频约 627×0.01=6.27 s，与视频总长 6.28 s 相符；log step 107 的同参数成功轨迹记载仿真 5.272 s 球入场，已在视频 5.24–5.32 s 首次落地反弹处核对。结合视频末段持续站立及交付重放的 landing 验收，将本完成事件记在视频 6.27 s，精度约一帧；并非在首次击球时提前计为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 4.28–4.36 s，机器人以右手腕端固定拳垫短促击打排球，左手未同时接球；候选名称：击打，现有接触方式没有击打，不能归为抓握或推/扫。同一步中先后发生的支承为双脚助跑、起跳前蹬地以及视频约 4.6 s 后以脚落地站立，均为腿/躯干对地面的支撑，未与空中手球接触并列为同时接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": 2.508 + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": 0.3773 + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": 7.01 + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": 10.14 + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": 0.56 + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": 9.873 + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": -0.26 + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 0.243 + } + ], + "failure": null, + "summary_zh": "机器人完成“扣球并落地站稳”节点：视频约 4.3 s 腾空以右手击球，球越网并在视频约 5.28 s 首次落入对方场区，机器人落地后持续站立至片尾，交付重放在视频约 6.27 s 完成全部四个裁判阶段。评分器与 log step 108–110 的交付重放均确认成功且末态一致；无状态日志，画面分辨率及 25 fps 采样不能独立核准毫秒级触球跨度和精确站立阈值，这些细节依据原生裁判验收及指标。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一目标节点 spike_in_court_landed 在视频 6.27 s 达成，起跳击球、球落对方场区、落地站立均与画面和评分器字段一致；contact_actual（其他·击打）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": "2026-10-31T00:13:03Z", + "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-volleyball-spike-i00-privileged--r5s59fm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--r5s59fm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b86a16b8a8af81c3beec3f211d228e6b2ccde9be86a4ad89a8c66bb44c89316", + "video_sha256": "3756a862cf736beea7698d7e24cfed395f8839f934299d14f2d9e33e9a80859f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u.json new file mode 100644 index 0000000000000000000000000000000000000000..69c566c713c4d4007a420b64ad8b82149d59d924 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 561, + "sim_steps": 561, + "horizon": 1200, + "episode_over": 1, + "progress": 0.5, + "stages_reached": 2, + "stages_total": 4, + "fell": 0, + "replay_s": 5.19, + "bad_trajectory": 0, + "metric_air_s": 0.698, + "metric_ball_height_m": 0.082, + "metric_contact_height_m": 2.505, + "metric_jump_rise_m": 0.6031, + "metric_landing_x_m": 7.279, + "metric_landing_y_m": 1.448, + "metric_speed_in_m_s": 6.94, + "metric_speed_out_m_s": 7.14, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2157, + "agent_resets": 1860, + "agent_replays": 2, + "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": 10.434, + "peak_processes": 20, + "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-volleyball-spike-i00-privileged--xame55u/replay.mp4", + "duration_s": 5.64, + "fps": 25.0, + "frames": 141, + "sha256": "2aace77833085be75c570a6933d5f0fb7974a84f3aaab8db0a7ee6f22853f26b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.12, + "log_step": 236, + "text_zh": "观察：视频约 3.9–4.4 s，机器人在网前起跳，举手迎球后球飞向对方一侧；视频约 4.5–5.6 s，机器人落回脚部支撑并保持直立。log step 236 对实际交付 trajectory.npz 的官方重放事件确认击球部位为 left_hand，已通过 spike 与 over the net 两个内部阶段；触点高度 2.505 米、来球速率 6.94 米每秒、离手速率 7.14 米每秒，越网球心高度 2.548 米。该日志中的事件时间是仿真时钟，此处视频时间取自画面，未直接照搬。" + }, + { + "t": 5.28, + "log_step": 242, + "text_zh": "观察：视频 4.4–5.28 s，球继续向橙色场区侧边界外飞去；视频 5.28–5.60 s 为相同末态画面，机器人仍直立。log step 242 重新生成并官方重放交付文件，得到相同末态哈希，失败原因为球落在对方场外，首次落点指标为 x=7.279 米、y=1.448 米；run.json 的评分字段相同。" + }, + { + "t": 5.28, + "log_step": 236, + "text_zh": "推断：对方场区要求 x 在 [3,12] 米、y 在 [-8,1] 米，交付重放的首次落点 y=1.448 米超出边线 0.448 米；因此扣球与越网虽合格，整步从未满足球入场及随后站稳验收，不能把内部 2/4 阶段折算为语义节点完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "候选名称：击打。视频约 4.1 s，机器人单手在空中迎击排球，球随后脱离并越网；log step 236 的交付文件官方重放将实际击球部位报告为 left_hand，即左手。现有方式没有击打，不属于抓握或推/扫。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 0–约 3.9 s，机器人用脚支撑并调整近网位置，随后起跳；视频约 4.5 s 后脚重新触地支撑至结束。脚的起跳和落地支撑与空中手球接触先后发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": 2.505 + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": 0.6031 + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": 6.94 + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": 7.14 + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": 0.698 + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": 7.279 + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": 1.448 + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 0.082 + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.12, + "log_step": 236, + "where": "操作中", + "evidence_zh": "推断：视频约 4.1 s 的空中击球将球送向对方一侧，但随后视频 4.4–5.28 s 球持续向侧边界外飞去。log step 236 对交付文件的官方重放确认合法扣球和越网后首次落点在对方场外，log step 242 重放同一结果；未修复的失败属于扣球并落地站稳这一步。导航时间取击球附近，精确落点由评分器字段确定。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.12, + "log_step": 236, + "evidence_zh": "观察：视频约 4.1 s，机器人已击到来球，视频 4.4–5.28 s 球越网后偏向场区侧边界外；log step 236 的官方重放以球首次落在对方场外终止，log step 242 和评分字段均记录落点 (7.279,1.448) 米，横向超过 y=1 米边线。失败是送出的球未命中场区，未见漏接来球或机器人跌倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 224 的同配置试验记录击球后有向前速度 6.38 米每秒、竖直速度 -1.51 米每秒，但落点 y=1.448 米；agent 在 log step 227 将该配置重新生成并写入交付文件，log step 236、242 的官方重放复现其落点和越网结果。log step 230–233 对腕姿和挥臂时序的会话测试改变了球的偏转及落点，却未同时满足越网和场内落点，视频约 4.1–5.28 s 也显示交付击球后球偏出。因此证据支持击球控制未将出球方向调入合法场区；不足以核定更细的控制子类。" + } + ], + "gap_zh": "无状态日志；斜俯视录像中的机器人和排球较小，无法独立量出毫秒级手球接触、接触法向与手速，精确击球合法性及首次落点采用已交付文件的官方重放和评分字段。视频事件时间仅作约 0.2 秒精度的导航锚点，不把日志仿真时间当视频时间；缺少交付动作的逐帧接触与关节跟踪数据，无法可靠区分接触几何、轨迹跟踪或具体参数问题。" + }, + "summary_zh": "机器人完成起跳手扣与越网两个裁判内部阶段，随后落回脚部支撑，但球首次落点 y=1.448 米，超出对方场区边线 0.448 米，因此“扣球并落地站稳”语义节点为 0/1。断点在扣球操作中，现象为出球落点不准，交付及会话重放支持击球控制不足；视频分辨率有限且无状态日志，不能细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频、日志一致：视频约 4.1 s 空中手击球、球越网后偏向边线外，节点未达成；交付重放（log step 236/242）落点 y=1.448 米超界，评分器给出 2/4 阶段。断点、现象（位姿不准）、根因（控制）和 contact_actual（击打，其他）均有证据支持，时钟未折算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:13:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-privileged--xame55u/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "88e86c60d3bbf10a9133fc851b345e4f1b9e76cd411d369355ee95e0d8e38c7e", + "video_sha256": "2aace77833085be75c570a6933d5f0fb7974a84f3aaab8db0a7ee6f22853f26b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--z8cnq38.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--z8cnq38.json new file mode 100644 index 0000000000000000000000000000000000000000..8975a7fb346c6d13c0d51bd33f37305c356c644a --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-privileged--z8cnq38.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-privileged--z8cnq38", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 591, + "sim_steps": 591, + "horizon": 1200, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 4, + "stages_total": 4, + "fell": 0, + "replay_s": 5.43, + "bad_trajectory": 0, + "metric_air_s": 0.56, + "metric_ball_height_m": 0.333, + "metric_contact_height_m": 2.588, + "metric_jump_rise_m": 0.4075, + "metric_landing_x_m": 6.805, + "metric_landing_y_m": -1.406, + "metric_speed_in_m_s": 6.91, + "metric_speed_out_m_s": 8.01, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 71, + "agent_resets": 120, + "agent_replays": 2, + "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": 0.76, + "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, + "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-volleyball-spike-i00-privileged--z8cnq38/replay.mp4", + "duration_s": 5.92, + "fps": 25.0, + "frames": 148, + "sha256": "e4f7a84136de87f8d5b31dc4ca93937061111c202b9e5db539330948292a7a09" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [ + [ + 5.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.32, + "log_step": 134, + "text_zh": "观察：视频 3.76–4.04 s 机器人从下蹲转为起跳，视频 4.24–4.44 s 双脚离地、右手腕端拳垫向来球挥动，球在右手附近改变方向并离手飞向球网另一侧。log step 134 的最终交付生成记录中，裁判击球事件标明 parts=[right_hand]；此处不是把双臂上举当作双手触球。" + }, + { + "t": 4.92, + "log_step": 134, + "text_zh": "观察：视频 4.36–4.88 s 球从机器人手部向对方半场飞行并下降，视频 4.92–5.12 s 球在对方橙色场区低处后反弹；机器人约在视频 4.56–4.64 s 落地，视频 4.92–5.88 s 保持直立，未见倒地。log step 134 的最终交付裁判事件依次记录击球、越网、球入场和落地验收；reward 的首次落点为起点坐标 (6.805, -1.406) m。" + }, + { + "t": 5.88, + "log_step": 135, + "text_zh": "观察：视频 5.88 s 最后一帧机器人仍直立；log step 135 对最终交付文件的新进程回放报告 success=true、四阶段完成、591 个控制步，且末态哈希与 log step 134 的生成记录相同；run.json reward 同时报告 replay_success=1、deterministic=1、stages_reached=4、fell=0。评分器记录触点高度 2.588 m、起跳升高 0.4075 m、来球速率 6.91 m/s、离手速率 8.01 m/s。" + }, + { + "t": 5.9, + "log_step": 134, + "text_zh": "推断：log step 119 的交付生成脚本使用每控制步 0.01 s；log step 134 与 log step 135 均确认最终交付执行 591 步，故验收对应仿真 5.91 s。该时基与视频时基近似一致，已用 log step 134 的仿真 4.325 s 击球事件对照视频 4.28–4.36 s 的手球接近、离手画面核对；视频总长 5.92 s，末帧为视频 5.88 s。因此在约视频 5.9 s 锁存完整节点，而非在刚击球时计完成；毫秒级接触条件及连续站稳计数由最终回放成功判据支持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 4.28–4.36 s 机器人在空中以右手腕端固定拳垫短促击打排球，球随即离手；log step 134 的最终交付裁判事件确认 right_hand。候选名称：击打；现有接触方式没有击打，此处没有夹持包围球体，不属于抓握。视频 3.76–4.04 s 双脚先支撑地面并蹬地起跳，视频 4.56–4.64 s 双脚随后落地支撑，视频 4.92–5.88 s 继续站立；这些腿部支撑与空中手球接触依次发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": 2.588 + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": 0.4075 + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": 6.91 + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": 8.01 + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": 0.56 + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": 6.805 + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": -1.406 + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": 0.333 + } + ], + "failure": null, + "summary_zh": "机器人完成“扣球并落地站稳”唯一节点：视频约 4.3 s 腾空用右手击球，球越网并在视频约 4.9 s 首次落入对方场区，机器人落地后站立至片尾，约视频 5.9 s 完成验收。log step 134 的最终交付生成记录、log step 135 的新进程回放及评分器四阶段成功结果一致，因此 failure 为 null。没有逐帧状态日志，25 fps 远景无法独立核准毫秒级接触跨度、精确速度和连续站稳计数；这些条件由最终交付裁判记录与成功判定支持，完成时刻为近似映射。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点成功运行，标签与评分器四阶段成功、replay_success、fell=0 及视频一致；时间为近似映射且已说明，接触标注（手指/夹爪·其他·击打）符合S16。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:15:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0e9e29c778b8c68a0dd41d3f3ff3f951dbff18 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 436, + "sim_steps": 900, + "calls": 20, + "rows": 436, + "resets": 1, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1272.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.023, + "peak_processes": 12, + "peak_disk_gb": 0.493, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--2uapwdy/replay.mp4", + "duration_s": 4.4, + "fps": 25.0, + "frames": 110, + "sha256": "ee4341ee0cfc65622f963d3aa7ed64b0148b1bebfdd30c5c12a48017373169e6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 50, + "text_zh": "观察：视频 0.00–3.60 s 中机器人从本方场地走向网前；log step 50 将服务重置至 episode 2 后行走，log step 52 在该回合继续蹲跳。评分器 reward 的 n_actions=436、resets=1 与该回合终止反馈一致，故视频对应最后一次服务回合，而非先前观测回合或后续本地仿真。" + }, + { + "t": 4.36, + "log_step": 52, + "text_zh": "观察：视频 3.80–4.16 s 机器人下蹲，视频 4.20–4.36 s 双臂向上伸展，球从上方下降到拳垫附近；最后一帧仍处于迎球动作，没有后续越网入场及落地站稳过程。log step 52 的服务原生反馈为 done=true、outcome=\"the ball was struck below the height of the net\"、stages_reached=0、stages_total=4，节点未完成。" + }, + { + "t": 4.36, + "log_step": 52, + "text_zh": "推断：log step 52 的评分回合 control_steps=436，提交的控制周期为 0.01 s，故终止对应视频 436×0.01=4.36 s；已与视频 4.36 s 最后一帧的伸臂迎球及视频总长 4.40 s 核对，误差在一帧内。后续本地 MuJoCo 的跳高、击球及落点计算不计入本节点进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 4.20–4.36 s 机器人左右腕端拳垫同时上举迎接下落排球，log step 52 服务确认发生低于网高的手球击打；画面分辨率不足以区分实际碰球的是左侧、右侧还是双侧。候选名称：击打；现有方式无击打，且此动作不是抓握、推/扫或托/舀。此前双脚接地行走、蹲身和蹬地起跳依次提供支撑，不把这些先后阶段写成与击球同时发生的接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.36, + "log_step": 52, + "where": "操作中", + "evidence_zh": "观察：视频 4.20–4.36 s 机器人仍在伸臂迎球，球已下降至网顶以下的手部附近；log step 52 的评分回合在 control_steps=436（0.01 s 控制周期，约视频 4.36 s，与末帧核对）终止，服务明确报告触球低于网高，四个内部验收阶段均未达到。该次扣球未在之后修复，故断点为“扣球并落地站稳”。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.36, + "log_step": 52, + "evidence_zh": "观察：视频 4.16–4.36 s 中，下落排球持续接近机器人时，机器人才从蹲身转为伸腿抬臂，直至球降到网顶以下才与手部相遇；log step 52 的服务确认低于网高触球并立即判负。推断：机器人未能在下落球仍高于网顶的窗口完成迎击，属于对运动目标的动作配合过晚。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.36, + "log_step": 52, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 52 的实际提交脚本以固定时序驱动蹲身、蹬地和双臂上举：评分回合仿真 3.75 s 开始下蹲，仿真 4.10 s 切换蹬地并抬臂，过程中没有依据球的实时位置调整；log step 54 读取该提交的本体反馈，仿真 4.17 s 右肩角仍约 -1.04 rad，至仿真 4.32 s 才到约 -3.18 rad。视频 4.20–4.36 s 可见抬臂过程，最终服务在 log step 52 报告低于网高触球。推断：这次已执行的起跳与手臂动作未实现所需的高位接触配合，证据支持控制失配；不足以单独确定某个增益、关节限位或具体控制子类。" + } + ], + "gap_zh": "观察：inputs/ 无本次状态日志；视频仅有远距离场馆视角，不能分辨触球瞬间具体左右手及是否双侧同时接触，也不能量出精确触点高度、跳起升高、触球跨度及进出球速。服务给出低于网高的明确终止原因，但 reward 与服务反馈未报告 DAG 所列原生指标的数值，均保留 null；后续本地仿真测试不能代替评分回合的这些测量。", + "unmet": { + "spike_in_court_landed": false + } + }, + "summary_zh": "机器人已走向网前并蹲跳、双臂上举迎球，但在视频约 4.36 s 才于网顶以下触球，服务立即判负，“扣球并落地站稳”最终为 0/1。实际执行的起跳抬臂与下落球的高位接触窗口未配合，现象为动态时机，根因归控制；后续本地仿真未改变已终止的评分回合。无状态日志，远景无法区分具体触球手及精确高度、球速等数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、4.36 s 时钟映射（350+25+61=436 步，sim_time 4.36）、断点和单一现象/根因均有视频与日志支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:13:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--2uapwdy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "be3a669dcaf83ba655f4d5e1e9522fb23923193eced573ea5ac3ae9fe42e7f65", + "video_sha256": "ee4341ee0cfc65622f963d3aa7ed64b0148b1bebfdd30c5c12a48017373169e6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--6bhj72y.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--6bhj72y.json new file mode 100644 index 0000000000000000000000000000000000000000..708afee2aebdb9450b46364c598757236d436f30 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--6bhj72y.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--6bhj72y", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 443, + "sim_steps": 2247, + "calls": 17, + "rows": 2143, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6403.8, + "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, + "peak_memory_gb": 1.233, + "peak_processes": 12, + "peak_disk_gb": 4.195, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--6bhj72y/replay.mp4", + "duration_s": 4.44, + "fps": 25.0, + "frames": 111, + "sha256": "f0368cc2fd6516cd3ab1591666ed3bf4d51a044defff212e131268d69896d8ee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 0.0–3.6 s 机器人由起点向网前走近；视频 3.72–4.08 s 屈腿、抬臂并出现离地动作，已开始尝试扣球。" + }, + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：逐帧检查视频 3.20–4.40 s，排球从发球机方向升起后下落，始终与机器人手部分离；视频 4.08–4.40 s 机器人身体持续前倾、下坠，未击中球，也未落地站稳。" + }, + { + "t": 4.4, + "log_step": 140, + "text_zh": "观察：视频 4.40 s 末帧机器人已明显失衡，球仍在其上方下落；log step 140 的机器人服务最终状态为 episode=6、control_steps=443、done=true、reason=failed、resets_left=0，与本次短局结束相符；评分器字段 live_success=0。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.92 s，机器人左右脚先后接触球场地面，承担走近球网及屈腿起跳准备的支撑；随后离地并前倾下坠。视频 3.20–4.40 s 未见腕端拳垫接触排球，不计手球击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.16, + "log_step": 140, + "where": "操作中", + "evidence_zh": "观察：视频 3.72–4.08 s 机器人屈腿后抬臂离地，视频约 4.16 s 起前倾加剧，至视频 4.40 s 身体向地面倒下，球从手部上方经过而未被击中；该局没有恢复站稳。log step 140 的机器人服务报告最终 episode=6 已 failed。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 4.16, + "log_step": null, + "evidence_zh": "观察：视频 4.08–4.40 s，机器人离地后躯干逐渐向前旋转、头胸降低、双腿拖在后方，最终倒向地面；没有完成脚底支撑的稳定落地，排球仍在上方下落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 127 的控制脚本先发送行走命令，再将预生成的起跳、挥臂及落地 lowcmd 关节目标/力矩序列整段发送给机器人服务，执行中没有根据观测重新调整该序列；log step 139–140 修改这组力矩、增益、行走速度和切换时刻后运行最终局。结合视频 4.08–4.40 s 起跳后持续前倾下坠，支持行走到起跳的全身控制未能维持平衡；现有证据不足以锁定具体增益、力矩方向或跟踪误差。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；最终局在 log step 140 输出的服务状态只给出 failed，没有保留下该局的详细裁判事件或原生指标，故无法核实精确起跳升高、触地部位及具体致失衡的控制参数。早先测试局的 fell、stages_reached=0 等服务读数不作为最终局的节点证据；全部原生指标因评分器未报告而留 null。" + }, + "summary_zh": "最终评分局中机器人走近球网并尝试起跳挥臂，未见手部触球，“扣球并落地站稳”未完成，最终为 0/1。视频约 4.16 s 起机器人明显前倾并持续倒向地面，断点位于扣球操作中，现象为平衡丧失；日志中的整段预生成动作序列与画面支持控制失败。没有状态日志或最终局详细裁判指标，无法进一步确认具体致失衡的参数。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、断点（扣球操作中，约 4.16 s）、平衡现象与控制根因均有视频和日志支持：视频 3.6–4.4 s 可见机器人起跳后前倾倒下，球未被触及；日志 step 134/141 说明最终局在起跳推蹬阶段前倾摔倒。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": "2026-10-31T00:20:32Z", + "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-volleyball-spike-i00-standard--6bhj72y/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--6bhj72y/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1f8c35f5ddc32d3ab625b2339193d715253f6e5ce666f727c2c1b05cecc918ac", + "video_sha256": "f0368cc2fd6516cd3ab1591666ed3bf4d51a044defff212e131268d69896d8ee", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t.json new file mode 100644 index 0000000000000000000000000000000000000000..af57b28b9eb5ef71f568125fd918036d868fc172 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t.json @@ -0,0 +1,242 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 437, + "sim_steps": 19298, + "calls": 480, + "rows": 18948, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 3577.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.333, + "peak_processes": 9, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--9epoi9t/replay.mp4", + "duration_s": 4.4, + "fps": 25.0, + "frames": 110, + "sha256": "69850cc488d5860094e7cd121a553da83262c8f2b80f6df454b7cfc4a949560c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 0–3.8 s，机器人向网前接近并抬臂；视频 3.8–4.36 s 机器人屈腿、身体持续下沉，未出现完成腾空扣球后落地站稳的过程。" + }, + { + "t": 4.28, + "log_step": null, + "text_zh": "观察：视频 4.12–4.36 s 逐帧可见排球下降，球与机器人的手保持可见间隔；视频 4.36 s 机器人已塌落至近地姿态，球仍在空中，没有击球后越网入场及站稳验收。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 208 服务输出最后一次重置为 episode 51、resets_left=0，随后返回 episode finished; reason failed；inputs/run.json 的评分字段 graded_by_live=1、live_success=0。log step 215 中 agent 自述该局裁判结果为“fell”，仿真 4.37 s、stages 0/4；该自述与视频末段塌落相符，不将此前测试的结果计入本局。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–4.0 s，机器人双脚先后接触球场地面，支撑接近球网、抬臂和屈腿动作；视频 4.12–4.36 s 身体下沉失去正常站立支撑。未见拳垫接触排球，因此不记录手部击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.2, + "log_step": 208, + "where": "操作中", + "evidence_zh": "观察：视频 4.12–4.36 s，机器人在网前抬臂、屈腿后身体持续下沉，末帧呈塌落姿态，排球仍从手部上方下降；扣球并落地站稳未完成。log step 208 的最后一局已被服务判为 failed。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 4.2, + "log_step": 208, + "evidence_zh": "观察：视频 4.12 s 起机器人屈腿后未恢复直立，视频 4.24–4.36 s 骨盆与躯干明显降向地面，末帧身体塌落，无法以双脚支撑站稳；log step 215 中 agent 自述该局因 fell 终止，与画面一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 206 展示 agent 脚本用步行模式接近，再以关节模式连续命令屈腿、伸展、挥臂及落地姿态；log step 208 执行 direct 后本局终止。视频 3.8–4.36 s 显示机器人执行屈伸时本体持续下沉，未能维持或恢复站立支撑，支持全身动作控制失败；现有证据不足以区分接触布局、轨迹跟踪或某个具体参数的问题。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本目录没有状态日志；视频为远景，无法精确核实末段首先触地的非脚部位、接触力及关节跟踪误差。log step 209 的最终观测调用没有可读输出，精确 fell 时刻与 stages 0/4 仅由 log step 214–215 的 agent 记录给出；不据此填写未报告的原生指标，也不细分控制根因。" + }, + "summary_zh": "本次评分对应最后一局：机器人接近球网、抬臂并屈伸双腿，但未见手球接触，唯一节点“扣球并落地站稳”未达成，最终为 0/1。视频 4.12–4.36 s 显示机器人身体下沉塌落，断点在该步操作中，现象为平衡失败，结合关节动作脚本归于控制。没有状态日志及可读的最终服务详细观测，无法进一步确定具体控制子因和精确接触指标。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "唯一节点未达成、断点、平衡现象和控制根因均与视频末段（4.1–4.36 s 塌落）及服务 fell 记录一致；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:19:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--9epoi9t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "47faa3a0b91ddd38e192b65bc17c6557e3127c3907a918050ab36ea695d793c0", + "video_sha256": "69850cc488d5860094e7cd121a553da83262c8f2b80f6df454b7cfc4a949560c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb.json new file mode 100644 index 0000000000000000000000000000000000000000..f09328243013aed6d4d3d50abff36ae44a741f7b --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb.json @@ -0,0 +1,246 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 426, + "sim_steps": 2010, + "calls": 57, + "rows": 1308, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1732.7, + "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": 0.397, + "peak_processes": 10, + "peak_disk_gb": 1.264, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb/replay.mp4", + "duration_s": 4.28, + "fps": 25.0, + "frames": 107, + "sha256": "f0f254716d1b48f840817f805d2c58d3aae592c69eff2c63d88ff30c941c93ea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0.0–3.6 s，机器人从起始位置向球网方向小步移动，随后屈腿并抬臂；排球由发球机送出后在机器人前上方飞行，未见机器人手部击球。" + }, + { + "t": 3.92, + "log_step": null, + "text_zh": "观察：视频 3.80–4.24 s 的逐帧画面中，机器人起跳挥臂后躯干持续前倾，继而接近水平倒下；末帧视频 4.24 s 仍处于倒地姿态，排球与手分离，未出现扣球后落地站稳的完成状态。" + }, + { + "t": 4.24, + "log_step": 150, + "text_zh": "观察：log step 150 是最后一次 reset 后运行 gen.py 的第 6 局，机器人服务返回 outcome: fell、stages_reached=0/4、control_steps=426、done=True；该局终止状态与视频 4.24 s 的翻倒画面一致，判定本节点未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.8 s，机器人双脚交替接触球场地面承重、向网前移动并蹬地；随后腾空前翻，视频 4.24 s 未恢复脚部站立支撑。未见手腕端拳垫与排球接触，不标实际击打。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 3.9, + "log_step": 150, + "where": "操作中", + "evidence_zh": "观察：视频 3.80–4.24 s，机器人在起跳抬臂准备扣球的连续动作中向前翻倒，未击中来球且未落地站稳；log step 150 的最后第 6 局由机器人服务以 fell、0/4 阶段结束。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 3.9, + "log_step": 150, + "evidence_zh": "观察：视频约 3.84 s 起，机器人躯干由竖直快速向前转动；视频 4.00–4.24 s，身体继续下倒至近水平，未能以双脚接住身体并站稳。log step 150 的服务返回 outcome: fell，确认该局因跌倒结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.9, + "log_step": 143, + "source_zh": "日志", + "evidence_zh": "推断：log step 143 的 gen.py 将屈蹲、蹬伸、腾空和落地姿态作为预设关节目标序列一次提交，未按飞行中的姿态反馈修改该序列；log step 146 核对了该跳跃段，log step 148 缩短步行段，log step 150 重置后实际执行。结合视频 3.80–4.24 s 的持续前翻及服务 fell 返回，说明该控制序列未能维持起跳与落地平衡；证据不足以进一步区分轨迹设计与反馈控制问题。" + } + ], + "gap_zh": "没有状态日志；现有评分字段未报告触球高度、起跳高度、入出球速、腾空时长、首次落点或球高，原生指标均填 null。画面足以确认翻倒和本节点未完成，但不能确定具体关节力矩、支撑力及失稳的控制子类；agent 在 log step 161 自述的“物理上限”未获独立验证，不据此归因于任务或环境。" + }, + "summary_zh": "机器人向球网方向移动并尝试起跳挥臂，但视频约 3.9 s 开始向前翻倒，至视频 4.24 s 未恢复站立，未完成唯一节点“扣球并落地站稳”，最终为 0/1。log step 150 的最终第 6 局服务返回 fell、0/4 阶段；预设关节动作序列未保持全身平衡，根因标为控制。无状态日志和原生运动指标，具体失稳机制无法进一步确认。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未完成、断点在 spike_in_court_landed、平衡/控制标签与视频（约3.8 s 起前倾倒下）及 log step 150 服务返回 fell 0/4 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": "2026-10-31T00:09:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--ajjiayb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a0f047b9bc2e85f5690a78736f025e455c7d9b0a11f28b330f3771ff1c91b072", + "video_sha256": "f0f254716d1b48f840817f805d2c58d3aae592c69eff2c63d88ff30c941c93ea", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--fuqfhrs.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--fuqfhrs.json new file mode 100644 index 0000000000000000000000000000000000000000..5c29acbde46a5d0fa47a2560fb34732fc32e39b3 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--fuqfhrs.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--fuqfhrs", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 451, + "sim_steps": 16945, + "calls": 5799, + "rows": 11020, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2780.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.381, + "peak_processes": 15, + "peak_disk_gb": 0.561, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--fuqfhrs/replay.mp4", + "duration_s": 4.52, + "fps": 25.0, + "frames": 113, + "sha256": "e89092bc7176de43d15a01fb229813c8238fde157415ac5445958d187b2859d6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 0.0–3.4 s 机器人向网前接近，视频 3.52–3.88 s 屈膝准备起跳，视频 4.08–4.28 s 双脚离地、右臂举向下落排球。" + }, + { + "t": 4.32, + "log_step": 136, + "text_zh": "观察：视频 4.28–4.36 s 下落排球与机器人右手拳垫相遇，随后向下进入网面高度范围；视频 4.40–4.48 s 球回到机器人上身附近，没有飞入对方场区。log step 136 是用最后一次剩余重置执行的服务内尝试，其服务结果为 stages_reached=1、resets_left=0、done=True，终止原因为“the ball was touched by something other than a hand”；与该短片的动作及结尾一致。" + }, + { + "t": 4.48, + "log_step": 138, + "text_zh": "推断：最后一次尝试虽已起跳击球，但球被网阻回，未完成合法越网、首次落入对方场内及随后站稳的整套验收，因此事件节点从未达成。log step 138 的 agent 最终报告也明确把最后一次尝试作为评分结果；四个内部阶段中的一个不等于完成 DAG 的一个节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "候选名称：击打；视频 4.28–4.36 s 机器人右手腕端拳垫短促击打排球，无包围或夹紧；现有接触方式无击打，不能标抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 0.0–4.0 s 机器人双脚交替支撑行走，并屈膝蹬地起跳；视频 4.08–4.48 s 为腾空阶段，起跳前的脚地支撑与空中手球接触先后发生。" + }, + { + "who": "未知", + "how": "其他", + "note_zh": "候选名称：非预期碰撞；视频 4.40–4.48 s 球向机器人上身回弹，log step 136 的最终服务结果确认球碰到非手部。该视角像素有限且结束于接触附近，无法可靠区分具体为上臂、头部或躯干；不是计划中的击打或抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.36, + "log_step": 136, + "where": "操作中", + "evidence_zh": "观察：视频 4.28–4.36 s 机器人右手击球后，排球落入网顶以下的网面范围；视频 4.40–4.48 s 球回弹至机器人上身附近，未越网进入对方场区。log step 136 的最后一次尝试由服务以非手部触球结束，仅达到一个内部阶段；机器人正在完成扣球，整步未修复。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.36, + "log_step": 136, + "evidence_zh": "观察：视频 4.32–4.40 s 排球在右手击打后进入网面并改变运动方向，视频 4.44–4.48 s 回到机器人上身附近，没有沿越网球路离开；log step 136 的服务终止原因为球碰到非手部。这里的阻挡物是球网，被挡的是击出的排球。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：机器人已完成向下落球起跳挥右手的动作，但本次起跳与挥臂控制组合未产生能越过网顶的出球轨迹，导致球被网阻回（视频 4.28–4.48 s）。log step 132、136 记录 agent 使用预设关节目标与挥臂时间执行这套动作；相邻会话试验 log step 134–135 的服务结果为出球向上或慢于来球，最后采用的动作则仅过击球阶段并以非手部触球结束。证据支持动作控制未调到可越网的状态，但不足以细分为某个参数、逆解、反馈跟踪或接触几何问题。" + } + ], + "gap_zh": "未提供状态日志。录像为单一远景，已逐帧查看视频 3.52–4.48 s，但无法精确量出最低手球触点、毫秒级接触跨度、入射与离手速度，亦不能确定最终非手部触球的具体机器人部位；服务仅报告阶段数和终止原因，reward 未报告 DAG 所列八项原生指标，故其数值均留空。控制根因仅标总类；agent 在 log step 137–138 自述跳高不足与球路过陡，不能据此认定硬件不可达或锁定唯一控制子类。", + "unmet": { + "spike_in_court_landed": false + } + }, + "summary_zh": "评分片段对应 log step 136 的最后一次服务内尝试：机器人接近球网后起跳，用右手击中下落排球，但球撞网回弹，未完成“扣球并落地站稳”，节点最终为 0/1。断点在视频约 4.36 s 的扣球操作中，现象为球被网阻挡；本次动作控制未产生可越网的球路，服务随后以非手部触球终止。没有状态日志，精确触点、球速及最终碰撞部位无法核准，不能进一步确定控制子类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与录像和 log 一致：最后一次尝试起跳击球后球撞网回弹、节点未达成，断点、现象、控制总类根因均有证据支持且标注了推断；远景分辨率有限，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:12:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--knznra9.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--knznra9.json new file mode 100644 index 0000000000000000000000000000000000000000..77e747444d49a4e38f5ce7c66aaa9ee98a02c560 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--knznra9.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--knznra9", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 432, + "sim_steps": 10399, + "calls": 6370, + "rows": 10369, + "resets": 32, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7176.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.819, + "peak_processes": 15, + "peak_disk_gb": 1.507, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--knznra9/replay.mp4", + "duration_s": 4.36, + "fps": 25.0, + "frames": 109, + "sha256": "b9913bfc9b89e9309754c5249688a3770f12e0400a0af46599772208499ab9c1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人在己方场地站立，随后朝网前移动；视频 2.80–3.76 s 屈膝下蹲并抬臂，视频约 4.00–4.32 s 起跳迎向下落的排球。" + }, + { + "t": 4.32, + "log_step": 202, + "text_zh": "观察：视频 4.16–4.32 s 来球下降到机器人举起的手附近；末帧机器人仍在空中，未出现球被扣过网、首次落入对方场地及机器人落地站稳的完整过程。log step 202 的最后一次尝试输出刚进入 strike 控制循环，没有该次裁判完成记录；inputs/run.json 的 reward.live_success=0、graded_by_live=1。" + }, + { + "t": null, + "log_step": 198, + "text_zh": "观察：log step 198 启动缩短助跑的 profile33、jump33 和 strike 脚本；log step 200–202 接续记录这次尝试的助跑、下蹲、腾空及开始挥击。推断：评分视频对应最后一次实时尝试；log step 196 的触网判负属于此前 episode 32，不能用于判本段视频触网。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.76 s，机器人双脚交替接触场地完成助跑，随后以脚支撑下蹲和蹬地起跳；视频 4.00–4.32 s 腾空，未见起跳后的落地支撑。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.24–4.32 s 下落排球与机器人举起的手在投影中接近，末帧即结束。分辨率及后续帧缺失使手球是否实际接触、由哪只手接触均不能确认，不将准备挥击当成已发生击打。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": null, + "log_step": 202, + "where": "操作中", + "evidence_zh": "观察：视频约 4.00–4.32 s 机器人在网前腾空举手迎球，录像在来球到达手附近时结束，扣球、越网入场和落地站稳的联合节点未完成；log step 202 也只记录本次刚开始 strike 控制，没有完成反馈。推断：断点是正在执行的“扣球并落地站稳”；没有可定位的、已证实的失误瞬间，因此 t 留空。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中没有状态日志；最后一次尝试的日志在 log step 202 结束，没有手球接触事件、裁判终止原因或原生指标。视频已逐帧检查视频 3.00–4.32 s，来球刚到手附近即结束，无法确认已触球、挥空、触网或击球速度犯规，因而现象层留空；也不能据此区分感知、规划或控制根因，根因层留空。log step 199 的预算监测仅剩 14.8 秒墙钟预算，agent 在 log step 202 的笔记自述“Wall-clock limit reached”；这些说明会话结束背景，不作为失败现象或根因。此前 episode 32 的触网和更早试验的跌倒不属于本次评分片段。DAG 的全部原生指标在评分字段中均未报告，value 均为 null。" + }, + "summary_zh": "机器人完成网前助跑、下蹲和腾空举手迎球，但评分视频在视频 4.32 s 来球接近手部时结束，未完成“扣球并落地站稳”，最终节点为 0/1。断点位于该节点的操作中；末段没有球越网落入对方场地及机器人落地站稳的过程，与实时评分失败一致。由于没有状态日志、最后一次裁判原因和接触后续画面，无法可靠确定具体失败现象或根因，两层留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和日志一致：评分视频（4.36 s）在机器人腾空、来球接近手部时结束，节点未达成、断点为操作中；因会话墙钟耗尽而被截断且无后续画面，现象层和根因层留空并附 gap_zh 的做法合理。", + "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": "2026-10-31T00:14:48Z", + "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-volleyball-spike-i00-standard--knznra9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--knznra9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ef35c1496470601f62c78f41cc78464a14be73c2b44774c65014b3131c991adc", + "video_sha256": "b9913bfc9b89e9309754c5249688a3770f12e0400a0af46599772208499ab9c1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--o39dhsw.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--o39dhsw.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a1ff6e52accaced71421e1203607e3925cb2bf --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--o39dhsw.json @@ -0,0 +1,246 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--o39dhsw", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 464, + "sim_steps": 2054, + "calls": 62, + "rows": 1590, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3982.9, + "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": 1.297, + "peak_processes": 11, + "peak_disk_gb": 1.371, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--o39dhsw/replay.mp4", + "duration_s": 4.68, + "fps": 25.0, + "frames": 117, + "sha256": "9bccb6577ecfa8b4a43f7feca44050f4907274a2805514939d402ff653aa3af4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": 235, + "text_zh": "观察：本次视频 0.0–3.8 s，机器人从起点向网前小幅行进，随后蹲身准备上伸；log step 235 是最后一次 reset 后的 ep5 实机尝试，服务返回 walk、stand、crouch、hold 已执行。早期试验与本地仿真不作为本节点的进度。" + }, + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 3.40–4.64 s，机器人在视频约 4.0–4.4 s 上伸并举臂，下落的球在手的前方经过，未见手球接触或球被击向对方场区；视频 4.60–4.64 s 球已降至机器人前方地面附近，机器人仍由双脚支撑。" + }, + { + "t": 4.64, + "log_step": 235, + "text_zh": "观察：log step 235 的最终实机服务裁判结果为 the ball touched the floor before the spike，stages 0/4；与本次视频末段来球未经扣击而落下相符，扣球并落地站稳事件未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：本次视频 0.0–3.8 s，机器人双脚交替或共同接触场地，完成行进、站立及蹲身支撑；视频 4.60–4.64 s 仍由脚支撑。上肢虽举起挥动，但逐帧检查视频 4.0–4.64 s 未见拳垫接触排球，不记手球击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.2, + "log_step": 235, + "where": "操作中", + "evidence_zh": "观察：本次视频约 4.2 s，机器人正举臂进行扣球动作，而下落排球从手前方经过；到视频 4.64 s 仍没有扣球后越网的飞行。log step 235 的最终实机服务裁判以球在扣球前触地结束该局，stages 0/4。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.2, + "log_step": 235, + "evidence_zh": "观察：本次视频 4.12–4.44 s 的连续帧中，机器人上举的手与运动中的下落排球保持分离，球从手前方降过，随后未被击回而落下；log step 235 的服务裁判确认球在扣球前触地。机器人未在来球经过时完成拦截击打。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.2, + "log_step": 233, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 233 的最终脚本以分段 walk 后接蹲身、伸腿和挥臂完成拦截；log step 235 确认该动作序列执行，而本次视频 0.0–3.8 s 的前移幅度有限，视频 4.12–4.44 s 手仍在来球轨迹后方。log step 236 对最终 ep5 帧的机器人像素跟踪也记录了有限的前移。控制序列未使机器人在来球经过时到达击球位置，因而归入控制；证据不足以细分为轨迹求解或反馈跟踪问题。" + } + ], + "gap_zh": "没有状态日志；场馆远景中的机器人和球较小，不能精确量化手球距离、骨盆起跳升高、速度及毫秒级触球条件。run.json 的评分器字段未报告 DAG 所列八项原生指标，故均为 null；日志中 agent 对位移和来球的拟合值不是评分器实测值。控制归因可由最终脚本和可见拦截偏差支持，但无法确定具体控制子类；agent 自述行走短缺不可避免并未排除所有合法方案，不能据此认定任务或环境无解。" + }, + "summary_zh": "观察：最后一次实机尝试中，机器人行进、蹲身并上伸挥臂，但下落球从手前方经过，未被扣向对方场区；节点最终为 0/1，log step 235 的裁判结果为球在扣球前触地、阶段 0/4。推断：失败断在视频约 4.2 s 的动态拦截，控制序列未使手及时到达来球位置。缺少状态日志及裁判原生指标，无法进一步确定精确偏差和控制子类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点在扣球拦截、动态时机与控制归因均与视频（机器人蹲身上伸，球从手前方经过未被击中）及 log step 235 裁判结果（球在扣球前触地，0/4）一致，未发现需修改处。", + "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": "2026-10-31T00:07:20Z", + "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-volleyball-spike-i00-standard--o39dhsw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--o39dhsw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f9d266947361af4ffa7bafc0198dd61425e643b5f9bc80b4782933fad0bb2472", + "video_sha256": "9bccb6577ecfa8b4a43f7feca44050f4907274a2805514939d402ff653aa3af4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3fc9d0725fc9c1ee235e8148411ee196901f4c --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 440, + "sim_steps": 20237, + "calls": 158, + "rows": 11807, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2627.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.525, + "peak_processes": 10, + "peak_disk_gb": 0.286, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-volleyball-spike-i00-standard--wxnda5p/replay.mp4", + "duration_s": 4.44, + "fps": 25.0, + "frames": 111, + "sha256": "33884cc1385d257074765e509b8754ab404a4fc272912a91c04794183ff154af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.76, + "log_step": 388, + "text_zh": "观察：视频 0.00–3.72 s 机器人以双脚交替支撑向网前移动，视频 3.76–4.16 s 屈腿、举起双臂并起跳；log step 388 是最后一次重置后的执行，机器人服务报告行走结束后提交起跳扣球动作。此前各次重置属于会话调试，不计入本节点。" + }, + { + "t": 4.4, + "log_step": 388, + "text_zh": "观察：视频 4.20–4.40 s 排球持续向机器人举起的手部下降，末帧球与手部附近重合，机器人尚处于跳跃动作中；录像中没有球越网入对方场地、机器人随后落地并站稳的完整过程。log step 388 的服务裁判明确返回“the ball was struck below the height of the net”、failed、stages reached 0/4；该信息是裁判反馈，不是 agent 对成功的自述。" + }, + { + "t": 4.4, + "log_step": 389, + "text_zh": "推断：log step 389 确认最后第 51 局已结束且 control_steps=440；log step 8 给出的控制周期为 0.01 s，对应 4.40 s，与视频 4.40 s 的触球末帧一致，并已用视频约 3.76 s 由行走转为屈腿举臂的事件核对 log step 388 所报行走结束仿真 3.74 s。结合触球判负与录像，扣球并落地站稳节点从未达成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选名称：击打；视频 3.76–4.40 s 两臂共同上举并向来球挥动，log step 386 的最终脚本也同时驱动两侧肩、肘、腕，log step 388 的裁判确认发生手部触球；画面不足以区分首次触球具体由左手、右手还是双手完成，不声称两手同时碰球。此接触是短促击球，现有方式没有击打，不属于抓握或推/扫。此前助跑和起跳时，双脚依次与地面发生支撑；录像在触球判负时结束，未观察到后续落地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.4, + "log_step": 388, + "where": "操作中", + "evidence_zh": "观察：视频 4.28–4.40 s 来球下降到机器人挥动的手部附近，机器人正在执行起跳扣球；log step 388 的最终局裁判以“the ball was struck below the height of the net”判负并终止，阶段为 0/4。失败发生在扣球动作中，未进入完成后的站稳验收。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.4, + "log_step": 388, + "evidence_zh": "推断：视频 4.20–4.40 s 显示球在机器人举臂过程中继续下落，至视频 4.40 s 才与手部附近重合；log step 388 的裁判确认实际触球低于网顶。机器人未在来球仍高于网顶时完成接触，属于对下落目标的击球时机过晚。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.4, + "log_step": 386, + "source_zh": "日志", + "evidence_zh": "推断：log step 386 的最终控制脚本先以固定时长行走，再依次提交预定的屈腿、蹬伸、上升、挥臂及落地关节序列；除读取行走结束时的关节姿态外，没有根据飞行中的球位调整触球时刻。视频 4.20–4.40 s 的下降来球与 log step 388 的低于网高触球判负表明，这次起跳与挥臂序列未把实际接触同步到合法高度窗口，归为控制；缺少逐步轨迹与球位数据，不进一步归为某个增益、逆解或反馈子类。" + } + ], + "gap_zh": "没有状态日志或逐物理步接触记录；固定斜俯视的手球区域像素较少，不能分辨首次触球的具体手侧、双手是否同时触球、精确触点高度及毫秒级接触跨度。裁判已报告低于网高触球，足以确认节点失败，但 inputs/run.json 的评分字段未报告 DAG 所列八项原生数值，全部记 null；也不足以确定控制误差由哪个具体参数造成。", + "unmet": { + "spike_in_court_landed": false + } + }, + "summary_zh": "机器人完成网前助跑并起跳挥臂，发生了手部触球，但“扣球并落地站稳”节点未达成，最终为 0/1。视频 4.20–4.40 s 中来球下降至手部，log step 388 的最后一局裁判以触球低于网高判负，说明起跳与击球时序未能配合来球。缺少状态与接触细节，具体触球手侧、触点高度及控制参数层面的原因不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成（0/1）、断点在扣球操作中、时钟换算（440 控制步=4.40 s，已用 3.74 s 行走结束事件核对）与裁判“低于网高触球”读数均与视频和 log 一致；现象与根因有证据且标注为推断，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": "2026-10-31T00:05:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard--wxnda5p/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0988140da3be3c878db15bc14c5339807fde116bae664b7f3fd56ed54a7807a9", + "video_sha256": "33884cc1385d257074765e509b8754ab404a4fc272912a91c04794183ff154af", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--fter5a5.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--fter5a5.json new file mode 100644 index 0000000000000000000000000000000000000000..e6ba673448fa6e128caceb9cd34a228b010870f6 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--fter5a5.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--fter5a5", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 464, + "sim_steps": 2761, + "calls": 19, + "rows": 3960, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1038.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 27.604, + "max_lag_s": 0.2398, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 1035, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 0.341, + "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-volleyball-spike-i00-standard-realtime--fter5a5/replay.mp4", + "duration_s": 4.68, + "fps": 25.0, + "frames": 117, + "sha256": "7b4660e592d4b4cf5703a421b5771985b3fe3e71d240fbab16111e7893ba7636" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.76, + "log_step": null, + "text_zh": "观察：视频 0.00–3.40 s，机器人由起点向网前行走；视频 3.60–4.24 s 屈膝、双臂上举并起跳，已开始扣球尝试。" + }, + { + "t": 4.4, + "log_step": 86, + "text_zh": "观察：视频 4.04–4.64 s 已逐帧检查；来球从机器人上方下降，视频 4.32–4.48 s 从举起的手旁落过，未被击向对方场区，视频 4.64 s 球已降至脚边地面。log step 86 的 run3 服务结果为“the ball touched the floor before the spike”，stages 0/4，与画面一致；扣球并落地站稳的整体事件未达成。" + }, + { + "t": null, + "log_step": 91, + "text_zh": "观察：log step 86 启动并完成 run3；log step 90 显示后续 run4 在 reset 调用被拒绝，原因是 reset budget exhausted；log step 91 的服务状态仍为 episode 6、done=True、control_steps=464。推断：本次评分对应 run3；log step 83 的低于网高触球属于更早的尝试，不计入本次接触。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–4.64 s，机器人双脚与场地地面交替支承行走，屈膝蹬地起跳，末段重新以脚支承。双臂虽同时举起尝试扣球，视频 4.32–4.64 s 及 log step 86 的服务终止结果均未显示建立手球接触，因此不记手部击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.4, + "log_step": 86, + "where": "操作中", + "evidence_zh": "观察：视频 4.16–4.40 s，机器人正在起跳举臂迎击下落排球，但球从手旁继续下降；视频 4.48–4.64 s 球下降至腿脚附近而未被送过球网。log step 86 的 run3 服务结果明确为扣球前球已触地、阶段 0/4；断点是正在执行的扣球并落地站稳步骤。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.4, + "log_step": 86, + "evidence_zh": "观察：视频 4.04–4.28 s 机器人已上举双臂并腾起，而球尚在其上方；视频 4.32–4.48 s 球从手旁落过，机器人未在来球经过时完成击打，随后球继续落到地面。log step 86 的服务结果也记录“the ball touched the floor before the spike”。推断：起跳挥臂未与运动中来球的经过配合，属于动态目标漏击。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.4, + "log_step": 86, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 71 的驱动脚本按预定时间生成蹲起、伸腿及双臂上举关节序列；log step 86 调整蹲起时刻、伸腿时长及腿部阻尼后执行 run3。视频 4.16–4.48 s 显示机器人实际起跳举臂，但手与下降的球未相遇，服务报告扣球前球触地。推断：所执行的起跳与手臂轨迹未实现拦截所需的时空配合，归为控制；现有证据不能进一步区分轨迹设计、跟踪或增益问题。" + } + ], + "gap_zh": "观察：inputs/ 提供本次及成功参考视频和完整会话日志，但没有本次状态日志；reward 未报告 DAG 列出的八项原生运动指标。推断：视频足以确定漏击及节点未达成，不能精确量化起跳高度、三维手球间距或关节力矩；log step 93 中 agent 自述的“扭矩饱和”没有独立力矩证据，根因仅标到控制。" + }, + "summary_zh": "观察：评分尝试中机器人走近球网、屈膝起跳并举起双臂，但视频 4.32–4.64 s 的下落排球从手旁漏过并落至地面，“扣球并落地站稳”未达成，最终 0/1；log step 86 的 run3 服务结果为扣球前球触地、阶段 0/4。推断：断点在扣球操作中，起跳挥臂与来球未配合，根因归为控制；后续 run4 未能重置启动，不属于评分动作。观察：没有本次状态日志及原生运动指标，无法核实 agent 对起跳不足和扭矩饱和的具体解释。", + "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 4.68 s 对应 run3（sim_time 4.64），节点未达成、断点在扣球操作中、动态时机/控制的标注与画面及服务结果一致；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:22:25Z", + "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-volleyball-spike-i00-standard-realtime--fter5a5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--fter5a5/04_review_r1" + } 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s，机器人从进攻线一侧向网前行走；视频 3.80–4.16 s，机器人屈膝、伸腿并挥臂，但躯干逐渐前倾，未出现手在网顶以上击中来球的画面。" + }, + { + "t": 4.4, + "log_step": 152, + "text_zh": "观察：视频 4.20–4.40 s，机器人继续前倒，末帧身体落在场地上，球仍与机器人分离，未完成扣球、球入对方场区和落地站稳；log step 152 的最后一次服务尝试返回 outcome=fell、stages_reached=0/4、control_steps=441、sim_time_s=4.41，log step 153、157 确认以此 attempt 5 为评分局。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.8 s，机器人双脚交替接触场地完成接近和屈膝准备；视频 4.0–4.4 s 失去直立支撑并前倒至身体落地。未观察到手部与排球实际接触，不记击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": 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s，机器人在屈膝伸腿及挥臂过程中躯干向前倾斜，身体高度下降并倒地，未能保持足部支撑；log step 152 的服务裁判返回 outcome=fell。" + }, + { + "cat": "运动", + "item": "动态时机", + "t": 4.0, + "log_step": 152, + "evidence_zh": "观察：视频 3.60–4.00 s，机器人停在画面左侧网柱附近屈膝、伸腿并挥臂；视频 4.00 s 球仍在其手部上方远处，视频 4.08–4.40 s 球持续下落，机器人手部未与球相遇，身体随后前倒至地面。推断：机器人未跟上下落来球完成击打；这是手球未相遇的现象，与身体失去支撑的平衡现象分别记录。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 106 的 gen.py 将本地仿真生成的关节目标、增益和前馈力矩作为预定 lowcmd 序列提交给服务，再观察结果；log step 152 按此流程提交最终尝试的行走、站立与起跳挥臂序列。视频 3.80–4.40 s 的实际动作在伸腿挥臂时持续前倾并倒地，表明该控制序列未维持全身稳定；可归因于控制，但不能据此确定某个关节参数或反馈子类。 推断：预定接近与挥臂序列也未使手部跟上实际来球，行走位移不足可能参与造成该偏差；log step 157 的位移比例、手球距离及最大拳端可达距离是 agent 自述，未经独立状态数值验证，不能据此断定目标绝对不可达。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或最终评分局逐步关节力矩、接触及姿态数值，不能精确区分失稳所涉及的模型误差、目标轨迹、增益或反馈问题。原生扣球指标未由评分字段报告，全部记为 null；不把 log step 152 中服务提交前的本地仿真起跳高度、腾空时段当作评分局事实。 视频确认手部未接上下落来球，但单目画面不能独立测定三维手球距离或可达范围；开环行走位移不足为结合动作与 log step 157 自述的推断，其约一半位移的数值待核实。不能证实该偏差在失稳前已独立导致必败，或机器人即使不倒也绝对够不着球。按 docs/03_trajectory.md Step 3.2 与 CASES.md FAIL-14，对运动目标未跟上使用动态时机；不以画面间距直接认定够不着。" + }, + "summary_zh": "评分局为最后一次 attempt 5：机器人向网前行走并尝试屈膝伸腿、挥臂，但手部未接上下落来球，随后前倾倒地，节点最终为 0/1。视频 4.00–4.40 s 支持动态时机与平衡两个现象，log step 152 服务裁判确认 fell；预定控制序列未完成手球配合及保持全身稳定。conf 从 9 降至 8：行走位移不足可能参与造成偏差，但无状态日志，不能确认其精确数值、绝对可达性或与失稳的独立因果关系。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（0/1、未达成）、评分局（attempt 5）、视频时间与断点（spike_in_court_landed，操作中）均与视频一致；问题在失败现象：只记了倒地（平衡），漏了更早且独立的失败——机器人没走到球的落点下方，起跳时球远在身体之外，扣球本来就够不着/位姿不准。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 0/1、评分局 attempt 5、断点（操作中，视频约 4.0 s 起前倾）、平衡与动态时机两个现象以及控制根因均与视频和 log 一致；不可达等自述断言已降为推断，未见需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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"work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--mqfqokx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--mqfqokx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "84bb0e13aba461b680d1f14b400be10cfdbf2fe2e840ee6ce3201475e6f68652", + "video_sha256": "09267c85b515d8291d59902f83ab6d4b9f4ad93471699ffe9a8bd682aa8f4b7d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za.json new file mode 100644 index 0000000000000000000000000000000000000000..7641153c1cf4b0cf60ff0ddeca02afaa9ce7f50d --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 458, + "sim_steps": 4897, + "calls": 245, + "rows": 6358, + "resets": 10, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 873.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 48.96, + "max_lag_s": 0.0203, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 512, + "late_steps": 46, + "requests_refused": 1, + "request_busy_s": 0.549, + "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-volleyball-spike-i00-standard-realtime--rhci8za/replay.mp4", + "duration_s": 4.6, + "fps": 25.0, + "frames": 115, + "sha256": "0cee4b958816ffcd6d0edb60a152414445e6a23b75823e7c629c0ed7dce3ef25" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 0–3.8 s，机器人从初始位置向网前移动，末段屈膝并准备挥臂；这是一次实际扣球尝试，不是静止基线。" + }, + { + "t": 4.28, + "log_step": null, + "text_zh": "观察：视频 4.12–4.44 s 逐帧可见排球沿网侧下落，机器人抬臂、伸腿时手仍在来球下方，球继续下落而未见被手扣向对方场内。" + }, + { + "t": 4.56, + "log_step": 77, + "text_zh": "观察：视频 4.40–4.56 s，机器人躯干持续向前倾斜、身体下坠，末帧已明显失衡，没有完成落地站稳；log step 76 重置为 episode 11，log step 77 的服务状态为 episode 11、control_steps=458、done=true、reason=failed，与评分器 n_actions=458 及本视频末段相符。" + }, + { + "t": null, + "log_step": 80, + "text_zh": "观察：agent 在 log step 80 自述末次尝试由裁判判为跌倒、四个内部阶段均未达到；这是 agent 转述，原始裁判详细字段未在 log step 78 的输出中显示。节点未完成的判断另有视频中失衡且未站稳的直接依据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–4.56 s，机器人双脚在助跑、屈膝和伸腿过程中与场地地面接触承重，末段向前失衡。视频 4.12–4.44 s 虽有抬臂挥手尝试，但未见腕端拳垫实际接触排球，故不记手部击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.3, + "log_step": 77, + "where": "操作中", + "evidence_zh": "观察：视频约 4.2–4.4 s，机器人正在伸腿、抬臂迎击下落排球，球持续从手上方下降，未见有效扣出；视频 4.40–4.56 s 机器人又向前倾倒，直到视频结束也未恢复站立。log step 77 确认末次 episode 11 在 control_steps=458 时失败结束，该步始终未完成。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.28, + "log_step": null, + "evidence_zh": "观察：视频 4.12–4.44 s，排球从网顶上方向下运动，机器人此时才伸腿抬臂，手未跟上来球的位置；排球继续下降，未见扣击后飞向对方场区。推断：迎击动作与移动来球未同步，错过扣球窗口。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 4.44, + "log_step": null, + "evidence_zh": "观察：视频 4.40–4.56 s，机器人躯干从近直立迅速向前倾斜，身体向地面下坠，未恢复脚下支撑平衡；最后画面仍在倾倒，未完成落地站稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.3, + "log_step": 77, + "evidence_zh": "推断：视频 3.8–4.56 s 中，机器人已执行屈膝、伸腿和挥臂的扣球动作，却未同步截住来球且未维持全身稳定，支持起跳、挥臂与姿态协调的控制失败。log step 77 的本次控制器输出还记录 late_rows=27，以及 control step 436 才提交 walk recovery；这些记录支持执行时序有偏差，但不足以把漏球或倾倒唯一归结为迟到行，因此不细分控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本任务没有状态日志；斜俯视画面分辨率有限，无法核准毫米级手球间距、触点高度、起跳升高和球速，原生指标均未在 reward 中报告，故填 null。log step 78 的裁判与最终传感器检查输出为空，log step 79–80 关于跌倒判罚和阶段数的描述仅为 agent 转述；最终控制器的具体修改内容也未在 edit 记录中展开。可确认漏过来球和末段失衡，但无法确定迟到指令、目标关节轨迹及反馈增益各自的贡献。" + }, + "summary_zh": "评分对应 log step 76–77 的最后一次尝试 episode 11：机器人向网前移动并尝试伸腿挥臂，但视频约 4.2–4.4 s 未跟上下落来球，随后在视频 4.40–4.56 s 向前失衡，“扣球并落地站稳”最终为 0/1。动作时序与全身协调执行失败支持“控制”根因；缺少状态日志及完整最终控制轨迹，无法进一步确认具体控制参数或迟到指令的因果贡献。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "终局 episode 11（video 4.6 s = control_steps 458）里节点未达成、断点在 spike_in_court_landed、操作中，均与帧一致：球在 4.0–4.56 s 一直高于机器人手并继续下落，机器人 4.4 s 后前倾。动态时机、平衡与控制根因有帧支持；时钟与 log step 均未发现问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:22:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--rhci8za/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d210d2176609a04cbeee09e744281851958e0b2346b8b0c93e472134737e4158", + "video_sha256": "0cee4b958816ffcd6d0edb60a152414445e6a23b75823e7c629c0ed7dce3ef25", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--tn6eya2.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--tn6eya2.json new file mode 100644 index 0000000000000000000000000000000000000000..d93ca295b0317039cfaac2d006feab42fb0d579a --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--tn6eya2.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--tn6eya2", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 420, + "sim_steps": 2642, + "calls": 2511, + "rows": 3900, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2333.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 26.412, + "max_lag_s": 0.0233, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 3, + "request_busy_s": 6.4, + "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-volleyball-spike-i00-standard-realtime--tn6eya2/replay.mp4", + "duration_s": 4.24, + "fps": 25.0, + "frames": 106, + "sha256": "891b3eca949e7f3915bcd070a7ac0c3f5e2e3d9e2a08c374ca5db0fe468c61a0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.56, + "log_step": 170, + "text_zh": "观察：视频 0.0–3.56 s，机器人从初始位置朝球网行进并抬起右臂，随后屈膝准备起跳；log step 170 的最终尝试脚本安排行走、深蹲、伸腿及右臂挥击，说明该节点已实际尝试。" + }, + { + "t": 4.2, + "log_step": 174, + "text_zh": "观察：视频 3.84–4.20 s 的逐帧画面显示机器人伸腿抬升后持续向网前倾，右上肢伸到网面附近；视频 4.20 s 球仍在手臂上方且与手分离，未见击球、球越网入场或落地站稳。log step 174 中机器人服务返回 outcome=\"the robot touched the net\"、stages_reached=0/4、control_steps=420、sim_time_s=4.2；log step 176 确认 episode=6 已结束且 resets_left=0，log step 190 的服务规则说明只评分最后一局。" + }, + { + "t": 4.2, + "log_step": 174, + "text_zh": "推断：log step 9 的服务控制周期为 0.01 s，log step 174 的最终局 420 个控制步对应视频约 4.20 s；已用末帧机器人前倾触网的姿态核对，106 帧、25 fps 的视频覆盖至 4.20 s。该局在击球完成前已触网终止，因此完整的扣球并落地站稳事件从未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.84 s，机器人双脚交替接地行进，随后屈膝并伸腿起跳，脚与场地形成承重及蹬地接触；不将腾空视为支撑接触。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：候选名称：意外碰撞；视频 4.12–4.20 s 可见右上肢前伸至网面，log step 174 的服务判罚确认机器人触网，结合 log step 183 的 agent 自述，触网归于右上肢，具体手垫或前臂连杆不能分清。该接触不是抓握、推/扫或压/擦；视频中未见手与排球接触，不记为已发生击打。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.2, + "log_step": 174, + "where": "操作中", + "evidence_zh": "观察：视频 3.92–4.20 s，机器人在网前起跳伸臂过程中向前倾，右上肢伸入网面附近，球仍在上方而未被击中；log step 174 的最终尝试由机器人服务判为 \"the robot touched the net\"，420 个控制步结束、四个裁判阶段均未完成。该未修复失败发生在扣球动作进行中。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.2, + "log_step": 174, + "evidence_zh": "观察：视频 4.12–4.20 s，机器人向球网前倾并伸出右上肢，末帧上肢与网面投影相交；log step 174 的服务裁判明确报告机器人触网并立即终止这次扣球尝试。球仍与手分离；使用实际碰撞现象，不另将同一触网事件重复标为违反约束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.92, + "log_step": 180, + "evidence_zh": "推断：视频 3.92–4.20 s 可见伸腿后的机体前俯持续扩大，使右臂进入网面。log step 170、172 的最终脚本在深蹲后快速伸腿，随后按预定控制步挥臂，只在转换前读取一次腿关节，未在起跳与挥臂段根据机体姿态修正动作；log step 180 打印的最终尝试本体感知中，仿真 3.95–4.19 s 的骨盆 IMU 四元数 qy 由 0.08 增至 0.43，与视频前俯一致。由此归因于起跳与挥臂时未控制住机体前俯；现有证据不足以细分为反馈、轨迹求解或某一参数错误。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，单一远景视角不能分清最先触网的是右手拳垫还是前臂；右上肢定位由末段画面、服务触网判罚和 agent 自述共同推断。评分器 reward 未报告 DAG 所列原生指标，故全部记为 null；未将 agent 的几何估算当作裁判测量。没有控制误差或逐关节力矩的完整记录，无法确认前俯对应的更细控制根因。" + }, + "summary_zh": "评分轨迹为最后一次重置后的第六局：机器人行进、抬右臂并深蹲伸腿起跳，但完整节点“扣球并落地站稳”未达成，最终为 0/1。视频 3.92–4.20 s 显示机体持续前俯、右上肢伸向网面，log step 174 的服务以机器人触网终止，球尚未被击中；根因保守归为控制。缺少状态日志及细粒度接触、控制误差数据，具体触网连杆与控制子类无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（操作中，触网）、被挡/碰撞现象和保守的控制根因与视频及服务读数一致；420 控制步≈4.2 s 的映射有末帧核对，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": "2026-10-31T00:21:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ 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0000000000000000000000000000000000000000..3fa253bc7df37ca2766b791c83052a4a4a7c635c --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--vufg3wu.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--vufg3wu", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 464, + "sim_steps": 4803, + "calls": 1317, + "rows": 55474, + "resets": 10, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 904.9, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 48.009, + "max_lag_s": 0.011, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 11, + "requests_refused": 1, + "request_busy_s": 1.175, + "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-volleyball-spike-i00-standard-realtime--vufg3wu/replay.mp4", + "duration_s": 4.68, + "fps": 25.0, + "frames": 117, + "sha256": "82ef6be0c893d4cae9e0f66c6453e9ef8c466230afce966dbfffb3d955d79334" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.92, + "log_step": null, + "text_zh": "观察：视频 0.0–3.2 s 机器人从起点向网前移动；视频 3.6–3.84 s 屈膝下蹲，视频约 3.92 s 双脚离地并举起双臂，已实际尝试起跳扣球。" + }, + { + "t": 4.28, + "log_step": 54, + "text_zh": "观察：逐帧检查视频 4.0–4.64 s，球由机器人头顶附近继续下降，在视频约 4.24–4.36 s 从举起的手旁经过，未见手将球击向对方；视频 4.48–4.64 s 球沿机器人旁落向本方侧地面。log step 54 的最后一次运行 r11 返回裁判结果“the ball touched the floor before the spike”，stages_reached=0，control_steps=464，与录像中未扣出球的过程一致。" + }, + { + "t": 4.64, + "log_step": 55, + "text_zh": "观察：视频末帧 4.64 s 没有球被扣过网并落入对方场区的结果。log step 55 的下一次 reset 被服务以“reset budget exhausted”拒绝，服务状态 done=True、reason=failed；因此 log step 54 的 r11 是保留的评分尝试，先前其他尝试的触网或非手部触球不计入本段进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.84 s 机器人左右脚交替承重前进，随后双腿蹬地起跳；视频约 4.48–4.64 s 脚重新接触场地支撑身体。视频 4.24–4.36 s 虽有举臂挥击尝试，但未见手与排球实际接触，不记手部击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.28, + "log_step": 54, + "where": "操作中", + "evidence_zh": "观察：视频约 4.24–4.36 s 机器人在空中举臂挥击时，下落排球从手旁通过，随后在视频 4.48–4.64 s 落到本方侧地面，未形成扣球。log step 54 的最后一次尝试返回“the ball touched the floor before the spike”、裁判阶段数 0；断点是正在执行的扣球并落地站稳步骤。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.28, + "log_step": 54, + "evidence_zh": "观察：视频 3.92–4.36 s 机器人起跳并把手举向来球，但视频约 4.24–4.36 s 球下降经过手旁，之后继续落地而未被击出；log step 54 的裁判结果确认球在扣球前触地。推断：机器人挥击未与运动中排球相遇；按运动目标漏击记动态时机，不将同一次落空再重复标为没建立接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.28, + "log_step": 53, + "source_zh": "日志 / 视频 / agent 自述", + "evidence_zh": "观察：log step 26 的控制脚本用骨盆朝向修正行走，随后一次性提交预定关节轨迹；log step 49 的脚本说明记载场馆图像定位只在尝试结束后离线使用。log step 53 为最后一次尝试加入 vy=-0.2 的侧向行走命令，log step 54 执行后视频 4.24–4.36 s 显示挥击与球路错开；agent 在 log step 58 自述只在每次尝试后定位、最后侧移后球完全漏过。推断：该控制方式未在本次运行中校正手与球的相对运动误差，未实现有效拦截；没有足够证据细分为某个已证实不当参数、感知错误或特定反馈跟踪故障。" + } + ], + "gap_zh": "无状态日志，场馆远景中机器人和球较小，无法量化挥击的空间偏差与时序偏差各占多少，根因仅标控制。inputs/run.json 的 reward 未报告 DAG 所列八项原生物理指标，均填 null；没有用 agent 自述的侧移距离替代实测值。" + }, + "summary_zh": "机器人在评分尝试中完成向网前移动、屈膝起跳和举臂挥击，但视频约 4.24–4.36 s 下落排球从手旁漏过，扣球并落地站稳节点始终未达成，最终 0/1。log step 54 的裁判反馈为球在扣球前触地、阶段数 0；日志中的预定挥击与侧向行走控制未能使手和来球相遇，现象记动态时机、根因记控制。无状态日志和原生物理指标，无法精确分离站位与时序误差。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、断点 spike_in_court_landed、时间均与视频及 log step 54 的裁判结果（球在扣球前触地、阶段数 0）一致；未发现需要改动的内容。球在远景中很小，空间偏差无法逐帧量化，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": "2026-10-31T00:20:49Z", + "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-volleyball-spike-i00-standard-realtime--vufg3wu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--vufg3wu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "64546b8589c78d3ebfab692f4ed0627f34595293e378b4aeae6a03c532878868", + "video_sha256": "82ef6be0c893d4cae9e0f66c6453e9ef8c466230afce966dbfffb3d955d79334", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--xrya36y.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--xrya36y.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8c9bbcffc0b7963c2a0d729d1a7ed232115ca0 --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--xrya36y.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--xrya36y", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 464, + "sim_steps": 4533, + "calls": 4629, + "rows": 21471, + "resets": 10, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 7096.1, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 45.317, + "max_lag_s": 0.1565, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 52, + "late_steps": 244, + "requests_refused": 4, + "request_busy_s": 3.852, + "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-volleyball-spike-i00-standard-realtime--xrya36y/replay.mp4", + "duration_s": 4.68, + "fps": 25.0, + "frames": 117, + "sha256": "128e840d9c54d534ce80ee2cefc119e957207e1eca0b43a9ce8469eeebf2d857" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 0.00–3.00 s，机器人从起点迈步接近球网；视频 3.60–4.16 s，机器人屈腿后伸展起跳并抬臂，双脚随后离地。该节点确有尝试。" + }, + { + "t": 4.32, + "log_step": null, + "text_zh": "观察：视频 4.20–4.40 s 的逐帧画面中，排球沿球网本方一侧下降，机器人腾空挥臂，但球从手边经过并继续下落，没有形成击球后飞向对方场内的轨迹；视频 4.44–4.64 s 球继续落向本方侧地面。" + }, + { + "t": 4.64, + "log_step": 260, + "text_zh": "观察：log step 259 的脚本重置后运行 trial10；log step 260 的机器人服务返回 episode=11、control_steps=464、sim_time_s=4.64、done=true、outcome=\"the ball touched the floor before the spike\"、stages_reached=0/4。这里是服务内裁判的终局读数，非 agent 的自述；其扣球前球触地的结果与视频 4.64 s 末帧的球落地过程一致。最后一次尝试未完成有效扣球，更未完成越网入场及落地站稳验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.92 s，机器人的双脚交替接地助跑，随后屈腿、蹬地起跳；视频 4.08–4.40 s 可见双脚离地。视频 4.20–4.40 s 虽有抬臂挥手动作，但未见手部击中排球，不记录手球击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.32, + "log_step": 260, + "where": "操作中", + "evidence_zh": "观察：视频 4.20–4.40 s，机器人在网前腾空挥臂时未截住下降的排球，球继续沿本方一侧下落；log step 260 的最后一局 episode 11 被服务内裁判以“扣球前球触地”终止，四个内部阶段均未达成。断点为正在执行的“扣球并落地站稳”步骤，导航锚点取错过来球的 视频 4.32 s。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.32, + "log_step": 260, + "evidence_zh": "观察：视频 4.20–4.40 s，机器人已腾空、手臂正在挥动，但下降排球经过手旁后继续下落，未被击向对方场区；视频 4.44–4.64 s 球落向本方侧地面，log step 260 的裁判终止原因为扣球前球触地。机器人没有在来球通过时让手球相遇。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.32, + "log_step": 259, + "source_zh": "日志", + "evidence_zh": "推断：log step 259 的最终控制脚本将右臂计划索引提前三个控制步，并把手部伺服参考时间改为 t+0.03 后运行 trial10，表明目标是用起跳和定时挥臂截击来球；但视频 4.20–4.40 s 显示实际手球运动仍错开，log step 260 确认最后一局在扣球前球触地。最终控制未能把手部运动与来球对齐，归为控制；这些证据不足以进一步认定某个参数错误或具体控制子类。" + } + ], + "gap_zh": "没有状态日志；场馆斜俯视中机器人和球较小，无法量化最近手球间距，也没有最后一局足够的目标与实际轨迹对照以区分轨迹生成、反馈跟踪及位置估计各自的影响。DAG 的八项原生指标均未在本次 reward 中报告，全部留 null；未采用先前重置局的局部模型估计或裁判犯规作为本局事实。" + }, + "summary_zh": "本次评分对应最后一次重置后的 episode 11：机器人已助跑、起跳并挥臂，但在视频约 4.32 s 错过下落排球，“扣球并落地站稳”未达成，节点终值为 0/1。log step 260 的服务内裁判以“扣球前球触地”结束该局；最终起跳挥臂控制未让手球及时相遇，现象为动态时机。没有状态日志及最后一局完整的轨迹误差诊断，控制根因不细分，八项未报告的原生指标均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、断点（扣球并落地站稳，操作中，视频约 4.32 s）、动态时机现象与控制根因均与视频和服务裁判读数（episode 11、stages 0/4、球在扣球前触地）一致；球在 640x360 画面中很小，手球间距无法逐帧量化，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": "2026-10-31T00:23:03Z", + "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-volleyball-spike-i00-standard-realtime--xrya36y/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--xrya36y/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d07de9027791f37c19e5feb65f7b6159c83e9b812c3f0448f5d6a59b2328de8e", + "video_sha256": "128e840d9c54d534ce80ee2cefc119e957207e1eca0b43a9ce8469eeebf2d857", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--yh5gu5p.json b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--yh5gu5p.json new file mode 100644 index 0000000000000000000000000000000000000000..db8155224217428bd0e3db20d808101bbe20520e --- /dev/null +++ b/phase2/embodied-olympics-fun/volleyball_spike/trajectories/embodied-olympics-fun-volleyball-spike-i00-standard-realtime--yh5gu5p.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-volleyball-spike-i00-standard-realtime--yh5gu5p", + "taskKey": "embodied-olympics-fun/volleyball_spike", + "dag_sha256": "f4bddfc185de81e8d53ee7f0cfb80e88756f3bb0aa176b76645d88cc0c11176b", + "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": 437, + "sim_steps": 2753, + "calls": 30, + "rows": 4060, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 556.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 27.518, + "max_lag_s": 0.0045, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 7, + "request_busy_s": 0.362, + "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-volleyball-spike-i00-standard-realtime--yh5gu5p/replay.mp4", + "duration_s": 4.4, + "fps": 25.0, + "frames": 110, + "sha256": "5994c88940882c5784d67cf38f92082a58d93c6676802eba6d31553ebd8973bd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spike_in_court_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0.0–3.6 s，机器人从起始位置向网前行走，随后屈腿并抬起双臂；视频 4.00–4.36 s 可见双臂在头顶前方迎球，排球持续下降。" + }, + { + "t": 4.36, + "log_step": 132, + "text_zh": "观察：视频 4.28–4.36 s，球从网顶附近继续降至机器人双手前方、网顶以下，录像随即结束，没有出现合法扣球越网入场及落地站稳的完整过程。log step 132 的服务裁判结果为“the ball was struck below the height of the net”，stages_reached=0/4、done=True；log step 133 再读最终元数据确认同一结果及 control_steps=437。" + }, + { + "t": 4.36, + "log_step": 133, + "text_zh": "推断：log step 132 显示最后一次 reset 后为 episode 6，随后提交并保存最终尝试；log step 129 的控制周期为 0.01 s，最终 437 个控制步对应仿真 4.37 s，与视频 4.36 s 末帧的低位迎球和视频 4.4 s 总长相符。因此本段为评分的最后一次尝试，前五次会话试验不计节点进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 4.00–4.36 s，机器人两臂同时举起并向前合拢迎击排球；log step 132 的服务裁判确认发生低于网顶的手球击打。候选名称：击打；短促迎击不属于抓握、推/扫或压/擦。像素不足以分辨首次触球是哪只腕端拳垫，也不能确认两拳均接触了球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.9 s，机器人双脚交替接地行走至网前，屈腿时由脚支撑身体；随后伸腿并举臂迎球。这些支撑先于末段手球接触，不据此声称已完成合格起跳或落地站稳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "contact_height_m", + "unit": "m", + "threshold": 2.43, + "direction": "higher_better", + "value": null + }, + { + "name": "jump_rise_m", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_in_m_s", + "unit": "m/s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "speed_out_m_s", + "unit": "m/s", + "threshold": "speed_in_m_s", + "direction": "higher_better", + "value": null + }, + { + "name": "air_s", + "unit": "s", + "threshold": null, + "direction": null, + "value": null + }, + { + "name": "landing_x_m", + "unit": "m", + "threshold": [ + 3.0, + 12.0 + ], + "direction": "target", + "value": null + }, + { + "name": "landing_y_m", + "unit": "m", + "threshold": [ + -8.0, + 1.0 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_height_m", + "unit": "m", + "threshold": null, + "direction": null, + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "spike_in_court_landed", + "t": 4.36, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频 4.20–4.36 s，机器人在网前双臂迎球，球持续下降，末帧已位于网顶以下并贴近双手；log step 132 的最终尝试服务裁判以“the ball was struck below the height of the net”终止，内部阶段为 0/4。未形成合格扣球，故断点是正在执行的扣球并落地站稳步骤。" + }, + "unmet": { + "spike_in_court_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.36, + "log_step": 132, + "evidence_zh": "推断：视频 4.16–4.24 s 排球尚在网顶上方时，球与机器人双手之间仍有明显间隔；视频 4.28–4.36 s 球下降至网顶以下才靠近双手。结合 log step 132 服务裁判确认低位手球击打，说明机器人未在来球仍高于网顶的窗口截击，实际触球过晚。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 129 的最终控制脚本预排走近、屈腿伸腿和双臂前下挥动，按固定控制步提交关节目标；log step 132 显示该脚本实际执行，服务最终判为低于网顶触球。视频 4.16–4.36 s 同样显示双手与下降球未在网顶以上相遇，支持起跳、臂运动与来球的控制配合失败；不足以进一步区分接触几何、轨迹跟踪或具体参数错误。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，评分 reward 也未报告 DAG 所列八项原生指标数值。视频末段分辨率不足以区分首次接触的左右拳垫或同时触球数量，不能独立量出触点高度、起跳升高、球速及毫秒级接触跨度；低于网顶触球由 log step 132–133 的最终尝试服务裁判结果确认。推断：控制子类和具体时序偏差来源缺少足够测量，故根因仅标控制。" + }, + "summary_zh": "机器人走近球网、屈腿伸腿并双臂迎击来球，但未完成唯一节点，最终进度为 0/1。视频 4.16–4.36 s 显示球下降至网顶以下才接近双手，log step 132–133 的最终尝试服务裁判确认低位触球并以内部阶段 0/4 判负，支持动态时机失败及控制配合不足。没有状态日志和原生指标数值，具体触球手、接触高度及控制子类仍无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（最终尝试的扣球步）、动态时机现象与控制根因均有服务裁判结果（低于网顶击球，阶段0/4，437步）和视频末段支持；未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:21:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + 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