Add 134 trajectories (phase 2, remaining runs; batch N05)

phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--xuh5l82.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-food-after-dinner-i00-privileged--xuh5l82",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.453,
+   "peak_processes": 44,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 8,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“打开橱柜”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“打开冰箱”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "tacos_in_box_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“第1个塔可入盒”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "tacos_in_box_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“第2个塔可入盒”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "box_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“保鲜盒入冰箱”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "plates_on_sink_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“第1只盘到水槽”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "plates_on_sink_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“第2只盘到水槽”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 中仿真器报告 Failed to create any GPU devices，并在环境初始化的 og.launch 调用中抛出 RuntimeError；评分器字段 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。无视频、无状态日志，且评分器未报告“关上冰箱”的节点结果，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 22 的交付目录清单仅有诊断文件与复现脚本，没有机器人轨迹，故本节点的轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 16,
+   "where": "首步前",
+   "evidence_zh": "观察：agent 的启动脚本在 log step 7 首先构造 Session；log step 16 中仿真器报告缺少 libnvidia-ml.so.1、ERROR_INCOMPATIBLE_DRIVER、Failed to create any GPU devices，并在环境初始化的 og.launch 中抛出 RuntimeError。log step 22 的诊断输出为 GPU devices: []、CUDA available: False，并报告 libcuda.so.1 无法加载；评分器记录 missing_trajectory=1、agent_sessions=0、agent_sim_steps=0。推断：仿真器在机器人操作开始前因运行环境故障中断，没有可定位的物理失败步骤。"
+  },
+  "unmet": {
+   "tacos_in_box_1": null,
+   "tacos_in_box_2": null,
+   "box_in_fridge": null,
+   "plates_on_sink_1": null,
+   "plates_on_sink_2": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none；inputs/ 仅含 run.json、video.json、meta.json 和 MANIFEST.json，没有视频或状态日志，也没有逐节点服务结果或 q_score。log step 16 的仿真器初始化异常与 log step 22 的 GPU 诊断支持首步前的外部环境中断，评分器的 missing_trajectory=1 确认没有交付轨迹；infra_error=0 是评分器字段原值，不能据此忽略上述启动错误。推断：按外部中断规则不归入机器人能力失败，现象与根因均留空；全部节点终值和时间未知，不能从总成功值为0推断逐节点未完成，也不能把 DAG 所述冰箱初始关闭当作本次已观测状态。"
+ },
+ "summary_zh": "评分记录为 success=0、missing_trajectory=1，没有交付机器人轨迹，8个节点终值均未知。日志显示仿真器在环境初始化时因 GPU 创建失败退出，诊断另确认没有可见 GPU 设备且 libcuda.so.1 无法加载（log step 16、22），属于首步前的���部中断，现象和根因留空。无视频、无状态日志或逐节点评分字段，无法确定节点进度与时间。",
+ "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：log step 16/22 显示容器无GPU、仿真器启动失败，无轨迹交付，节点全为unknown，现象与根因留空并有gap_zh，符合外部中断规则。",
+    "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": "2026-10-30T21:54:47Z",
+  "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/behavior-boxing-food-after-dinner-i00-privileged--xuh5l82/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--xuh5l82/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fd23d03303869dc17d8521bd4d2362e0b6d40201e1c1d32420ee17ff68462b02",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--cgadubm.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-food-after-dinner-i00-standard--cgadubm",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4608,
+   "sim_steps": 4758,
+   "physics_steps": 19032,
+   "steps": 1484,
+   "elapsed_s": 6507.4,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 8,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 314,
+      "text_zh": "观察：agent 在 log step 199 提交左右下柜及右上柜的开门动作，log step 307 再执行右下柜拉门脚本，log step 314 继续执行插缝扫开柜门脚本；log step 315 自述此前已拉出12.2厘米的门缝。无视频或状态日志，且服务未报告装保鲜盒的目标柜是否已暴露足够取盒通道，不能据这些命令、深度统计或自述判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 199、307、314 记录agent命令左右夹爪拉柜门、右夹爪插缝扫门；缺少视频和接触状态记录，无法确认夹爪与目标柜门的实际接触方式，也无法确认各次搜索操作是否作用于装保鲜盒的柜子。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 85,
+      "text_zh": "观察：log step 85 中agent向服务提交双臂接近并拉动其识别为冰箱及旁侧高柜把手的动作；log step 87—88 的内部点云检查由agent自行计算。没有视频、门关节状态或服务开门完成判定，不能确认对象身份及冰箱开度、放盒通道是否满足DAG。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 85 有夹爪闭合和向外拉动的命令，但无视频或接触对证明夹爪实际夹住冰箱把手；真实作用端与接触方式未定。"
+     }
+    ]
+   },
+   "tacos_in_box_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分结果为 graded_by_live=1、finalized=1、q_score=0.0。DAG所列初态中，塔可入盒、盒入冰箱及盘到水槽均非初始成立的目标；至少1个塔可入盒若在终态成立，至少会贡献一个新增目标字面量，与该总量矛盾，故终态为假。此推断不说明过程中是否曾短暂成立，也不证明是否尝试过。"
+     }
+    ]
+   },
+   "tacos_in_box_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分结果为 graded_by_live=1、finalized=1、q_score=0.0。DAG所列初态中，塔可入盒、盒入冰箱及盘到水槽均非初始成立的目标；至少2个塔可入盒若在终态成立，至少会贡献一个新增目标字面量，与该总量矛盾，故终态为假。此推断不说明过程中是否曾短暂成立，也不证明是否尝试过。"
+     }
+    ]
+   },
+   "box_in_fridge": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分结果为 graded_by_live=1、finalized=1、q_score=0.0。DAG所列初态中，塔可入盒、盒入冰箱及盘到水槽均非初始成立的目标；保鲜盒入冰箱若在终态成���，至少会贡献一个新增目标字面量，与该总量矛盾，故终态为假。此推断不说明过程中是否曾短暂成立，也不证明是否尝试过。"
+     }
+    ]
+   },
+   "plates_on_sink_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分结果为 graded_by_live=1、finalized=1、q_score=0.0。DAG所列初态中，塔可入盒、盒入冰箱及盘到水槽均非初始成立的目标；至少1只盘直接由水槽承托若在终态成立，至少会贡献一个新增目标字面量，与该总量矛盾，故终态为假。此推断不说明过程中是否曾短暂成立，也不证明是否尝试过。"
+     }
+    ]
+   },
+   "plates_on_sink_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分结果为 graded_by_live=1、finalized=1、q_score=0.0。DAG所列初态中，塔可入盒、盒入冰箱及盘到水槽均非初始成立的目标；至少2只盘直接由水槽承托若在终态成立，至少会贡献一个新增目标字面量，与该总量矛盾，故终态为假。此推断不说明过程中是否曾短暂成立，也不证明是否尝试过。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 89,
+      "text_zh": "观察：log step 89 中agent提交将两扇高柜门推回的动作。DAG记载冰箱关闭在初态成立，但无视频、状态日志或服务终态门状态；BEHAVIOR的q_score不计持续保持的初始真字面量，因此q_score=0.0不能决定本节点最终为真或假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 89 中agent命令夹爪向门板方向推进并回撤；是否实际作用于冰箱门、如何接触均无视频或接触状态支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": null,
+   "log_step": 314,
+   "where": "操作中",
+   "evidence_zh": "推断：本次评分为同一实时回合（reward.graded_by_live=1，sim_total.reset=0，reward.resumes=0）。日志末段仍在直接操作柜门：log step 302、307 设计并执行右下柜拉门，log step 313—314 提交右夹爪插缝扫门，log step 317—323 继续检查该次执行反馈和柜门附近深度；没有随后的取盒、装食物或送盘动作记录。依实际提交的工作内容将工作断点定位为打开橱柜；开柜是否曾满足验收、最早哪次操作未修复不能由现有输入确认，视频锚点留空。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "输入仅含运行日志、评分结果与视频元数据；inputs/video.json 为 kind=none，原因是远端视频404且无本地视频，inputs/中无视频、状态日志或成功示范。所有视频时间及区间均留空。服务只给成功与总进度，没有柜门/冰箱逐节点判定；agent的深度检查、夹爪读数和开门自述不能充当节点完成或实际接触证据。故开柜、开冰箱及最终关冰箱均未知，断点按末段开柜动作推断，无法确定最早未修复的具体接触事件；失败现象层留空。log step 302、313 的脚本目标与 log step 310、317 中agent计算的TCP诊断存在偏差，但无视频、接触对或接触力记录，不能区分控制误差与柜门阻力或接触约束；log step 315 的12.2厘米门缝及夹住把手均为agent自述，未独立核实。现有证据不足以判定失败机制，根因层留空；不能将启动等待或预算耗尽本身归为根因。",
+  "unmet": {
+   "tacos_in_box_1": false,
+   "tacos_in_box_2": false,
+   "box_in_fridge": false,
+   "plates_on_sink_1": false,
+   "plates_on_sink_2": false,
+   "fridge_closed": null
+  }
+ },
+ "summary_zh": "实时评分失败且q_score=0.0，可确定两个塔可入盒、保鲜盒入冰箱和两只盘到水槽这五个搬放节点终态均为假；开柜、开冰箱及冰箱最终关闭未知，未确认任何节点完成，零分不能否定初始即成立的冰箱关闭状态。日志末段仍在拉开、扫开柜门，工作断点据此推断为打开橱柜，但TCP偏差不能区分控制误差与柜门阻力或接触约束，失败机制未定，现象和根因均留空。输入无视频或状态日志，无法核实实际接触及节点时间，置信度维持5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "���点层（五个搬放节点终态为假、其余未知）和无视频说明符合规则；但根因“控制”仅由agent会话中的TCP目标与执行位置差推出，差异可由柜门阻力、扫门时的接触解释，未排除，不能支持“控制/一般控制”。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频；五个搬放节点终态为假由q_score=0.0界定，其余未知，断点按末段开柜动作推断，现象与根因置空并有gap_zh，符合规则。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:09:57Z",
+  "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/behavior-boxing-food-after-dinner-i00-standard--cgadubm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--cgadubm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--cgadubm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--cgadubm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d95fbc46e1c45b85c46494e3cbc79ee98b8d950adb9e2736f41859b69bb96421",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-food-after-dinner-i00-standard--m3kmkoy",
+ "taskKey": "behavior-1k/boxing_food_after_dinner",
+ "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.16666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9498,
+   "sim_steps": 9648,
+   "physics_steps": 38592,
+   "steps": 4738,
+   "elapsed_s": 6513.2,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.16666666666666666,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 8,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 120,
+      "text_zh": "观察：agent 自述下柜门被受困的机械臂拉开（log step 103），并在 log step 119–120 用右臂脚本尝试开上柜；服务对部分目标返回无逆解。输入没有视频、柜门开度或目标柜身份的服务判定，无法确认装保鲜盒的柜门通道是否打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 119–120 记录右臂接近、闭爪和拉柜门的命令；无视频或接触对记录，不能确认右夹爪与目标橱柜把手是否接触及如何接触。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 164,
+      "text_zh": "观察：agent 最终自述冰箱从未打开（log step 164）；评分器未报告冰箱门开度或开门事件。无视频或状态日志，不能把该自述写成节点终值。"
+     }
+    ]
+   },
+   "tacos_in_box_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 136,
+      "text_zh": "观察：log step 77–82 记录右臂对第一个塔可的接近和闭爪命令及服务末端位姿；log step 127–136 的重试脚本把预定释放位置设在台面，并未给出食物入盒的服务判定。评分器仅有 q_score=1/6，无法识别该单项目标；无视频，终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 77–82、127–136 记录右夹爪向塔可接近、闭合和搬移的尝试；无视频及物体接触对，不能以闭爪或夹爪开度认定实际抓握。"
+     }
+    ]
+   },
+   "tacos_in_box_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.16666666666666666，六个目标字面量中至多一个新增字面量满足；DAG 所示初始已成立的冰箱关闭不计入该得分。两个塔可同时入盒至少需要两个新增 inside 字面量，超过总分容许值，故本计数节点终值为假；这不能判定第一个塔可的终值或过去是否曾达到。"
+     }
+    ]
+   },
+   "box_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 124,
+      "text_zh": "观察：log step 111–112 记录右臂抓取疑似白色保鲜盒的命令，agent 随后在 log step 114 自述该目标其实是机器人腕部；log step 122–124 记录继续探查柜内并转去处理盘子。评分器没有单独报告盒入冰箱，缺少视频，不能仅依 agent 未找到盒子的说法确定终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 103–124 记录为寻找、取出保鲜盒而移动底盘、探查柜内和尝试抓白色目标；缺少视频和接触记录，右夹爪是否接触保鲜盒以及实际方式未知。"
+     }
+    ]
+   },
+   "plates_on_sink_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 160,
+      "text_zh": "观察：机器人控制脚本在 log step 135–147 尝试夹盘，在 log step 149、151–153、158 改用闭爪推盘并移动底盘；log step 160 服务末次等待后的状态为 done=False。该状态只表示整项任务未完成，agent 自算的白色点云聚类也不是 ontop 判定；无视频，总分 1/6 不能确定至少一只盘直接由水槽承托。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 135–158 的命令包含右夹爪夹盘、闭爪沿台面推盘及底盘移动；无视频或接触对，不能确认抓握、推扫或盘与水槽的实际接触。"
+     }
+    ]
+   },
+   "plates_on_sink_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 153,
+      "text_zh": "推断：评分器 reward.q_score=1/6，六个目标字面量中至多一个新增字面量成立，初始冰箱关闭不贡献此分数；两只盘均直接由水槽承托需要两个新增 ontop 字面量，故至少两只盘的计数节点终值为假。log step 151–153 有第二只盘的推送命令，但不能用命令完成或 agent 点云检查替代服务目标判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 151–153 记录右夹爪闭合停在盘侧、底盘横移的第二只盘推送尝试；无视频或接触日志，无法确认右夹爪是否实际推到盘或盘是否碰到水槽。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 164,
+      "text_zh": "观察：DAG 记录冰箱关闭为初始真条件，agent 最终自述从未开冰箱（log step 164）。无视频、状态日志或服务门状态字段，不能确认终态；该初始目标不计入 BEHAVIOR 的新增 q_score，不能用总分 1/6 反推关闭终值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.16666666666666666,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tacos_in_box_1",
+   "t": null,
+   "log_step": 78,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 77–78 是日志中最早明确的目标物操作：机器人右臂为第一个塔可入盒尝试预备抓取，脚本目标为世界坐标 (5.140,-1.928,1.05) 米，服务返回末端 (5.149,-1.809,0.766) 米；log step 79–82 重试仍偏离。log step 98 虽脱困，后续 log step 127–136 只安排向台面移开塔可，log step 124、158、164 记录 agent 放弃装盒并承认未找到保鲜盒，因此将最早未见完成修复的步骤定位于第一个塔可入盒。缺少节点服务终值，修复与否无法直接核验；没有视频，时间锚点留空。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": null,
+    "log_step": 80,
+    "evidence_zh": "推断：机器人右臂在第一个塔可的接近操作中受到接触阻挡，并非只有目标位姿误差。log step 80、82 的服务末端反馈显示多次接近后仍低于命令目标；log step 92 从服务 proprio（机器人本体反馈）读取的右臂 effort 为 [-15.5,55,25,25,-1.5,-16.4,-13.5]，末端在 (5.333,-1.860,0.772) 米。log step 94 四次底盘后退及手臂归零尝试的 base_disp 均打印为0.000米，末端仍在同一区域；log step 95–96 对右臂三个关节分别施加正负0.3弧度指令后，服务末端位移仅毫米级，同一关节的 reached 读数在正反指令后几乎不变。log step 97–98 改用开爪、底盘偏航及侧移的 shake 序列后，服务显示底盘和右末端终于明显移出原区域，随后右末端回到 (5.254,-0.507,0.470) 米。这些高负载、运动受限与解除受限的反馈共同支持卡阻；具体阻挡物及是否为台面前缘或下方柜体没有画面或接触对证实。没有视频，不把控制步换算为视频时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 77–82 记录机器人右臂为第一个塔可执行接近、闭爪和抬高航点，服务末端反馈却持续停在较低区域；log step 85–96 的手臂归零、底盘后退和单关节正反向指令也未能解除运动受限，且 log step 92 服务返回右臂 effort 中有55、25、25的高负载读数。直到 log step 97–98 改用开爪、底盘偏航及侧移，服务本体反馈才显示右臂恢复明显运动，支持这次操作存在接触卡阻处理问题，根因停在控制。逆解 plan 返回 Success 不证明接近路径或接触方案可行，也不足以认定逆解或反馈跟踪故障；无场景画面、接触对和已验证的替代接近路径，不能进一步区分接近/接触设计与受阻时的执行控制。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "输入仅有运行日志及汇总评分，inputs/video.json 明确 kind=none；inputs/ 中没有可查看的相机图片、视频或状态日志，日志中的 [picture] 只是占位。所有视频时间和节点区间均为 null；除总分排除的两个计数节点外，六个节点缺少可决定终值的服务结果字段。不能核验目标橱柜身份、实际物体转移、抓握/推扫接触、冰箱门终态，以及第一个塔可步骤后来是否曾满足；断点依据命令顺序、反馈和放弃装盒的记录推断。log step 92/94/96/98 的服务负载和运动反馈支持卡阻，但具体阻挡物、接触位置及可行替代接近路径未核实；依据 DECISIONS.md D26、CASES.md OPEN-17 的当前处理，根因子类不明时停在控制，不能认定反馈控制或逆解故障，也不据此认定夹空、环境缺物或所有合法方案不可行。",
+  "unmet": {
+   "tacos_in_box_1": null,
+   "tacos_in_box_2": false,
+   "box_in_fridge": null,
+   "plates_on_sink_1": null,
+   "plates_on_sink_2": false,
+   "fridge_closed": null
+  }
+ },
+ "summary_zh": "评分器判失败，原生 q_score=1/6；八个 DAG 节点中没有可确认终态为真的节点，两个双物体计数节点可由总分判假，其余六个未知。断点推定为最先尝试且未见完成的第一个塔可入盒：log step 92/94/96/98 的服务高负载、关节指令下的运动受限及 shake 后恢复运动共同支持右臂被挡/碰撞，根因停在控制，具体接触设计与执行控制子类未能区分，随后 agent 转去找盒和推盘。没有视频、状态日志或逐项目标反馈，实际转移、目标接触和多数终态无法核验，关键判断仍依赖推断，置信度保留4。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，节点 unknown 与计数节点由 q=1/6 判假均合理，断点选在最早的塔可操作可接受。但把现象标成“位姿不准”并把根因停在泛“控制”与服务读数不符：服务本体反馈显示整条右臂被锁死，是被挡/碰撞。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志，六个节点 unknown、两个计数节点由 q=1/6 判假、断点取第一个塔可入盒、现象为被挡/碰撞（服务 proprio 的 effort 与关节无响应读数）、根因停在控制，均有证据支持且标注为推断；第 1 轮意见已被采纳，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": "2026-10-30T22:10:43Z",
+  "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/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6cb8c2f4dcbe2004d1faab1a9569d4922ef67d46bd0d1f876fcb06c7945e0bbf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 3,
+   "agent_resets": 12,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.576,
+   "peak_memory_gb": 12.909,
+   "peak_processes": 46,
+   "peak_disk_gb": 1.994,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 117,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 117 的输出目录清单只有生成脚本和会话日志，没有轨迹文件。无视频、无状态日志，且评分器未报告花园通道开门结果，无法确定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的接触不计入本节点的轨迹级接触。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 89,
+      "text_zh": "观察：log step 89 是 agent 的路线与开桶会话测试，输出 bin_open0=False 后出现异常；评分器 reward.missing_trajectory=1，未提供受评轨迹或开桶节点结果。无视频、无状态日志，不能将会话测试当作该节点的评分结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的接触不计入本节点的轨迹级接触。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 88,
+      "text_zh": "观察：log step 88 的会话测试输出 hand_pinch 和 still 为 sack.n.01_1，仅报告测试中的抓取，未报告评分轨迹中纸袋入桶；评分器 reward.missing_trajectory=1。无视频、无状态日志及节点评分字段，无法确定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的接触不计入本节点的轨迹级接触。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 113,
+      "text_zh": "观察：log step 113 的生成脚本测试输出 carrying: sack False news False，随后以 TypeError 结束；这不是已保存轨迹的评分结果。评分器 reward.missing_trajectory=1，无视频、无状态日志及报纸入桶评分字段，无法确定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的接触不计入本节点的轨迹级接触。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 61,
+      "text_zh": "观察：log step 61 的 agent 会话查询输出 open_state=false，只说明该次查询所见桶状态；评分器 reward.missing_trajectory=1，未报告受评末态的桶盖状态。无视频、无状态日志，不能将会话初态或任务 DAG 的初态说明计为受评节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的接触不计入本节点的轨迹级接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 117,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0、infra_error=0；log step 112 明确报告轨迹文件不存在，log step 113 显示此前的 agent 生成脚本抛出 TypeError。log step 116 启动修改后的脚本，log step 117 仍只列出生成脚本与会话日志，log step 118 未返回输出；没有可供评分重放的交付轨迹，无法定位某个物理步骤的断点。"
+  },
+  "unmet": {
+   "sack_in_bin": null,
+   "newspaper_in_bin": null,
+   "bin_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 只有 MANIFEST.json、meta.json、run.json 和 video.json；video.kind=none，无视频，也无状态日志或成功示范。评分器仅确认未交付轨迹，没有任何节点终值或目标谓词总分，故五个节点的 intervals 和 final 均为 null。log step 101、113 的异常及 log step 88 的抓取结果均属于 agent 会话测试；log step 116 的最后重试只有启动记录，log step 118 没有返回结果。推断：结合 run.wall_s=7202 与 time_limit_s=7200，会话在预算耗尽时仍无交付；依未交付轨迹规则（D23），不将测试中的物理失败或脚本异常直接标为受评轨迹的现象或根因，两层留空，也不以预算耗尽作为根因。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，未交付可评分的轨迹；五个节点终值均未知，不能从会话测试计入进度。agent 的生成脚本先后出现日志函数调用与函数对象解包异常（log step 101、113），最后重试已启动但无保存成功记录（log step 116–118），故断点记 unknown／首步前。无视频和状态日志，且最后重试无结果，按未交付轨迹规则将实际接触记为不适用，现象和根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1：五个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；未把预算耗尽或会话测试当作现象/根因，未换算时钟。",
+    "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": "2026-10-30T21:53:36Z",
+  "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/behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c8e4116adaa1584d050fbb4e38211a37ea9e483bd36ccf67162b9f89b332dc5",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 346,
+      "text_zh": "观察：log step 346 记录模型提供方过滤器中断；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且 inputs/video.json 的 kind=none，无状态日志。未交付受评分轨迹，评分器未报告花园通道开启事件，会话调试不能确定本节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；未交付轨迹，无受评分尝试的实际接触可标注。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 346,
+      "text_zh": "观察：log step 346 记录模型提供方过滤器中断；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且 inputs/video.json 的 kind=none，无状态日志。未交付受评分轨迹，评分器未报告回收桶开启事件，会话调试不能确定本节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；未交付轨迹，无受评分尝试的实际接触可标注。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 346,
+      "text_zh": "观察：log step 346 记录模型提供方过滤器中断；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且 inputs/video.json 的 kind=none，无状态日志。未交付受评分轨迹，评分器未报告袋子入桶并释放静止的终态，会话调试不能确定本节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；未交付轨迹，无受评分尝试的实际接触可标注。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 346,
+      "text_zh": "观察：log step 346 记录模型提供方过滤器中断；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且 inputs/video.json 的 kind=none，无状态日志。未交付受评分轨迹，评分器未报告报纸入桶并释放静止的终态，会话调试不能确定本节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；未交付轨迹，无受评分尝试的实际接触可标注。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 346,
+      "text_zh": "观察：log step 346 记录模型提供方过滤器中断；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且 inputs/video.json 的 kind=none，无状态日志。未交付受评分轨迹，评分器未报告回收桶关闭的终态，会话调试不能确定本节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；未交���轨迹，无受评分尝试的实际接触可标注。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 346,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 343 启动会话中的合盖和状态检查，工具仅返回后台任务已启动；log step 344 为 agent 自述正在合盖验证，log step 346 随后记录 Gemini 过滤器中断。评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未有已保存并验证的交付；无法定位受评分物理步骤的断点。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 只有 MANIFEST.json、meta.json、run.json、video.json，无视频和状态日志；inputs/video.json 明确 kind=none。log step 346 记录提供方过滤器中断，评分器 missing_trajectory=1、agent_records=0、agent_replays=0；log step 343 的后台合盖检查没有完成结果。推断：受评分结果确定及轨迹交付前遭外因截断，依 CASES.md FAIL-5 不计作机器人失败，现象与根因留空；会话中的抓取、搬运、检查点和 agent 自述不能替代受评分轨迹，五个节点均未知，也不能从 success=0 推出各节点为假。",
+  "unmet": {
+   "sack_in_bin": null,
+   "newspaper_in_bin": null,
+   "bin_closed": null
+  }
+ },
+ "summary_zh": "观察：评分器 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未交付受评分轨迹，五个节点的终态均未知。观察：log step 343 仍在会话中启动合盖验证，log step 346 随后记录 Gemini 过滤器中断；推断：这是交付前的外因截断，断点标为 unknown／首步前，不赋予机器人失败现象或根因。观察：本次无视频、无状态日志，无法把会话调试进展计入节点，也无视频时刻可标。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；供应商过滤器在 log step 346 截断，评分器 missing_trajectory=1，未交付轨迹。依 FAIL-5，节点全 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，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": "2026-10-30T21:53:01Z",
+  "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/behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "26a6cd8dc1ba2a94e3492ff4711145fb6b1f5bb2cd9c591610ebe644248079ea",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn.json

@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 25,
+   "agent_resets": 227,
+   "agent_sim_steps": 103218,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 839,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 839 中 agent 最后只报告测试脚本仍在运行并等待结果。没有交付轨迹、视频或状态日志，也没有评分器报告“打开花园通道”的节点终值；会话测试不能确定该节点在评分尝试中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录没有交付轨迹；会话测试中的夹爪或底盘动作不计作评分轨迹接触。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 839,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 839 中 agent 最后只报告测试脚本仍在运行并等待结果。没有交付轨迹、视频或状态日志，也没有评分器报告“打开回收桶”的节点终值；会话测试不能确定该节点在评分尝试中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录没有交付轨迹；会话测试中的夹爪或底盘动作不计作评分轨迹接触。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 839,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 839 中 agent 最后只报告测试脚本仍在运行并等待结果。没有交付轨迹、视频或状态日志，也没有评分器报告“袋子入回收桶”的节点终值；会话测试不能确定该节点在评分尝试中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录没有交付轨迹；会话测试中的夹爪或底盘动作不计作评分轨迹接触。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 839,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 839 中 agent 最后只报告测试脚本仍在运行并等待结果。没有交付轨迹、视频或状态日志，也没有评分器报告“报纸入回收桶”的节点终值；会话测试不能确定该节点在评分尝试中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录没有交付轨迹；会话测试中的夹爪或底盘动作不计作评分轨迹接触。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 839,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 839 中 agent 最后只报告测试脚本仍在运行并等待结果。没有交付轨迹、视频或状态日志，也没有评分器报告“关上回收桶”的节点终值；会话测试不能确定该节点在评分尝试中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录没有交付轨迹；会话测试中的夹爪或底盘动作不计作评分轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 839,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，且 grader_error=0；log step 838 启动花园操作测试，log step 839 中 agent 表示该测试仍在运行并等待结果，日志至此结束。没有交付的评分轨迹，无法定位物理步骤断点。"
+  },
+  "unmet": {
+   "sack_in_bin": null,
+   "newspaper_in_bin": null,
+   "bin_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 标记 kind=none，输入中没有视频或状态日志；评分器记录 missing_trajectory=1，未提供任何节点终值。日志包含多次独立会话和重置后的测试，最后的 log step 839 仍在等待测试结果，不能将这些测试拼成评分轨迹，亦不能从整体失败或缺交付推断五个节点为假。没有可观察的评分尝试，故现象和根因均留空；记录也未明确说明最终结束机制，无法据此认定外部中断、具体控制失败或交付操作出错。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，录制和重放次数均为0，没有交付轨迹，五个节点的终值均无法确定。log step 839 中 agent 最后仍在等待花园操作测试，故断点记为 unknown／首步前，现象和根因留空。无视频、无状态日志及节点级评分结果，会话测试不计为评分轨迹的进度或实际接触。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0，agent 在 log step 839 仍在等待测试，被时间限制截断且无交付。文件将五个节点留 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合规则（外部截断且无交付→空层），未把会话测试当作评分轨迹。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:53:12Z",
+  "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/behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e0a8c7503838b11389ac9be7884cea4a27e6486b5661826af880ae77c507fdf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--cecn9xt.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--cecn9xt",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3411,
+   "sim_steps": 3411,
+   "physics_steps": 13644,
+   "steps": 1137,
+   "elapsed_s": 1441.1,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 30,
+      "text_zh": "观察：inputs/video.json 标明 kind=none，未提供状态日志；log step 22—30 记录机器人原地环视及底盘响应标定，服务结果未报告任何花园门的开合或通行状态，无法判定开门事件。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：无视频或状态日志；log step 45 的实时服务状态只报告跌倒终止，reward 未报告回收桶开启事件，无法判定本节点。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.graded_by_live=1、q_score=0.0；DAG 初态说明袋子不在桶内，该新增入桶目标若在终态成立必贡献正分，因此袋子入桶终值为假。此推断只约束终态，不证明曾否抓取、移动或入桶；无视频，intervals=null。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.graded_by_live=1、q_score=0.0；DAG 初态说明报纸不在桶内，该新增入桶目标若在终态成立必贡献正分，因此报纸入桶终值为假。此推断只约束终态，不证明曾否抓取、移动或入桶；无视频，intervals=null。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：DAG 说明回收桶初始关闭；BEHAVIOR 的 q_score 不计持续保持的初始真目标，因此 reward.q_score=0.0 不能决定桶盖最终是否关闭。无视频、状态日志或服务逐目标结果，终值保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 30,
+   "where": "探索",
+   "evidence_zh": "推断：log step 22—30 的实际控制是环视场景及标定底盘响应，尚未对花园门、桶或纸品实施明确的任务操作；log step 30 的平移标定后基座高度由约0.005米变为0.397米，log step 31 读取向上轴竖直分量为0.025，log step 45 服务最终判定跌倒失败。失衡位于本次实时评分局的探索标定阶段，但无法归到某一具体DAG节点，故 ref=unknown；无视频时间锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 45,
+    "evidence_zh": "观察：log step 45 的机器人实时服务 status 返回 done=True、reason=\"failure: the robot fell over\"、control_steps=3411、resumes=0；log step 51 再次查询仍为同一终止状态，继续提交动作被 EpisodeOver 拒绝。该服务终止结果直接确认评分局发生未恢复的跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 29,
+    "evidence_zh": "推断：log step 29 的底盘标定脚本依次提交每控制步0.03米平移、0.03弧度转动、0.08米平移和0.10弧度转动，各连续运行90个控制步，块内没有避障或倾斜反馈停止。log step 30 输出0.08米平移段实际只移动1.869米且意外转向2.916弧度，标定结束基座高度0.397米；log step 31 读取向上轴竖直分量0.025，之后 log step 45 服务判跌倒。连续底盘试探控制造成失衡且恢复未成功，支持控制层归因；无画面和接触记录，不能确定具体碰撞对象或进一步区分参数、轨迹与反馈子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 仅含 run.json、meta.json、MANIFEST.json 和 video.json；video.kind=none，没有可检查的视频或状态日志，日志中的图片引用亦无对应图片文件。故所有视频时间与区间为null，两个入桶终值仅由评分总量约束；花园门开启、回收桶开启和桶盖关闭的终值未知。日志只显示环视、底盘标定及跌倒恢复，无法把失败对应到某个任务节点；未给这些未明确操作的节点添加接触类型。agent 在 log step 52 自述撞到餐桌椅，但缺少画面或接触对，不能确认为碰撞现象或具体接触几何。",
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": null
+  }
+ },
+ "summary_zh": "推断：实时评分 q_score=0.0 约束袋子、报纸入回收桶的终值均为假；开门、开桶和关桶节点未知，没有节点被证实达成。观察：机器人服务在 log step 45、51 确认本次单局因跌倒而结束；结合 log step 29—31 的标定指令与姿态输出，推断失衡发生于底盘探索标定，控制层存在问题，但具体断点节点无法确定。观察：本任务无视频、状态日志或可查看的日志图片，所有时间区间及具体目标接触均无法确认。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；节点终值仅由 q_score=0 约束入桶为假，其余 unknown，合理。底盘标定数值、跌倒终止（log step 45/51）均与 run.json 一致；断点 ref=unknown、平衡、控制归因均为有证据的推断，且已标注为推断。",
+    "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": "2026-10-30T21:53:45Z",
+  "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/behavior-bringing-paper-to-recycling-i00-standard--cecn9xt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--cecn9xt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "040c63e557b4168ae2456cd1a4c8161b00da3a3a190851ab8f424a4effeeb773",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--figt26d.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--figt26d",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 4,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 255,
+      "text_zh": "观察：agent 在 log step 255 从 car_closed_with_sack 检查点开始测试穿过车库门；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 340,
+      "text_zh": "观察：agent 在 log step 340 测试沿冰箱门把手圆弧开门；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 387,
+      "text_zh": "观察：log step 387 的会话检查打印番茄 inside=True，并保存 both_in_fridge 检查点；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 387,
+      "text_zh": "观察：log step 387 的会话检查打印牛奶 inside=True，并保存 both_in_fridge 检查点；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 243,
+      "text_zh": "观察：agent 在 log step 243 恢复 at_car_side_aligned 检查点后测试关后备厢并保存会话检查点；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 408,
+      "text_zh": "观察：log step 405 恢复 arm_retracted_from_fridge 检查点测试关门，log step 408 的会话服务状态报告 success=True、q_score=1.0；最终评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，且本次无视频和状态日志。推断：这些结果属于未交付的会话测试，不能确定该节点在评分轨迹中的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付评分轨迹，故无可标注的评分轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 422,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 422 的最后消息记录请求被 Gemini 过滤器拦截；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0。log step 408 虽报告会话服务 success=True，但 log step 405 明确从恢复的检查点开始测试，log step 409—421 仍在提取会话检查点生成代码。推断：拦截发生于有效评分交付形成之前，无法指定某个物理步骤为评分断点，按外因中断处理。"
+  },
+  "unmet": {
+   "tomato_in_fridge": null,
+   "milk_in_fridge": null,
+   "car_closed": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，未提供本次评分视频或状态日志；评分字段 missing_trajectory=1，未形成可回放交付。log step 422 记录 Gemini 过滤拦截，属于交付前的外因中断（CASES.md FAIL-5），因此现象与根因均留空，不标没尝试或交付操作出错。log step 387、408 的 inside=True、success=True 与 q_score=1.0 来自多次恢复检查点后的会话测试，不能作为评分节点终值或原生指标；评分 reward 未报告 q_score，故该指标为 null。提供的 oracle 是另一成功运行，不能证明本次进度；六个节点终值、全部视频时间均未知。"
+ },
+ "summary_zh": "评分记录保留 success=0，但 missing_trajectory=1，六个节点在评分尝试中的终值均未知。会话在 log step 408 曾报告成功，随后仍在整理检查点代码，至 log step 422 被 Gemini 过滤器拦截，未形成评分交付；按外因中断处理，断点为 unknown／首步前，现象和根因留空。本次无视频和状态日志，会话测试及另一运行的 oracle 均不能补作评分轨迹进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，missing_trajectory=1、agent_records=0；log step 422 为 Gemini 过滤器拦截，交付前外因中断（FAIL-5）。六节点 unknown、断点 unknown/首步前、现象与根因留空且有 gap_zh，均正确；会话测试的 success=True 未被当作评分事实。",
+    "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": "2026-10-30T21:58:49Z",
+  "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/behavior-carrying-in-groceries-i00-privileged--figt26d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--figt26d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7e6f843380d31dba837ae28a842a3252808ba0ac152cc386e0be6b6da7c3d0c2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--sfnup6z.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--sfnup6z",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 6,
+   "agent_resets": 0,
+   "agent_sim_steps": 3288,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 114,
+      "text_zh": "观察：log step 114 的 through door 为生成脚本的会话测试输出；评分器 missing_trajectory=1，未报告受评轨迹的车库通道节点结果。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 121,
+      "text_zh": "观察：agent 在 log step 121 明确将打开冰箱归为开发会话结果，并确认没有生成交付轨迹；评分器未报告该节点结果。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 120,
+      "text_zh": "观察：log step 120 的生成脚本输出 tomato in hand: None，随后抛出 PrimitiveError；这是未保存的会话测试，评分器未报告番茄入冰箱的结果。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 121,
+      "text_zh": "观察：agent 在 log step 121 自述未完成将装牛奶的袋子放入冰箱的测试，且没有交付轨迹；评分器未报告牛奶入冰箱的结果。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 114,
+      "text_zh": "观察：log step 114 的生成脚本会话输出 trunk 关节角接近零，但评分器 missing_trajectory=1；该会话结果不代表已交付的关车节点结果。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 26,
+      "text_zh": "观察：log step 26 的开发会话初始查询显示冰箱两扇门关节角为零；没有交付轨迹或评分器节点终值，不能把开发会话初态作为本次受评终态。 本次无视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0；log step 121 确认未生成交付轨迹，因此没有受评轨迹接触可标注。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 121,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 120 显示最后一次生成脚本因 PrimitiveError（no IK）中止，log step 121 中 agent 明确确认交付轨迹文件不存在、脚本在首次保存前崩溃。推断：未形成可受评的交付轨迹，无法指定受评物理步骤断点，记 unknown／首步前。"
+  },
+  "unmet": {
+   "tomato_in_fridge": null,
+   "milk_in_fridge": null,
+   "car_closed": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，本次无视频、无状态日志；评分器 missing_trajectory=1，未提供各节点终值或 q_score。日志包含开发会话和多次生成测试，最后一次在首次保存前因逆解异常中止（log step 120、121），没有交付轨迹；不能将会话中的取物、关车、开门或掉落计为受评进度、实际接触或失败现象。依未交付的 agent 侧失败处理（DECISIONS.md D23），现象与根因均留空；此处不从脚本测试异常推定受评轨迹的根因。oracle 是另一次成功运行，不能补足本次证据。"
+ },
+ "summary_zh": "观察：评分器确认没有交付轨迹（missing_trajectory=1），六个节点均缺少受评终值，全部保留未知；会话中的关车和开门测试不计入进度。日志最后一次生成脚本在首次保存前因逆解异常中止，agent 在 log step 121 确认轨迹文件不存在，因此断点记 unknown／首步前，按未交付规则留空现象与根因。本次无视频、无状态日志，也没有逐节点评分或 q_score，无法判断受评物理进展。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0，节点终值全部 unknown、接触 不适用、现象与根因留空并写 gap_zh，符合 D23(a) 与 CONTACT-8；log 步 114/120/121 与所引内容一致，会话测试未被当作受评事实。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:00:23Z",
+  "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/behavior-carrying-in-groceries-i00-privileged--sfnup6z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--sfnup6z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66ff00ec403097a447cec844bd7303e879843abfaa2459ae0018fb929369f075",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--6rleiay.json

@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--6rleiay",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14233,
+   "sim_steps": 14233,
+   "physics_steps": 56932,
+   "steps": 3827,
+   "elapsed_s": 5941.6,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 141,
+      "text_zh": "观察：log step 136–141 中，agent 的脚本命令机器人转动搜寻并靠近车库门；没有服务返回的出口开度或通道可通过判定。本次无视频、无状态日志，不能由 agent 自述找到门推定通道已打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 136–141 有搜寻车库门和底盘移动命令；缺少本次画面与接触记录，无法确认机器人作用端是否接触木门或外侧车库门及其接触方式。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 148,
+      "text_zh": "观察：服务最终只报告倒地终止（log step 148），未报告冰箱开门状态；agent 自述尚未定位厨房冰箱（log step 152），但这不是节点的服务判定。本次无视频与状态日志，无法确认该事件是否发生。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json.reward 的 graded_by_live=1、q_score=0.0；依据 DAG，番茄初始在汽车内而非冰箱内，该目标若在终态成立应贡献正分，故其终态为假。总分不能确定过程中是否曾经入内，且本次没有视频时钟，intervals 保持 null。"
+     },
+     {
+      "t": null,
+      "log_step": 110,
+      "text_zh": "观察：log step 109–110 的脚本向番茄估计位置发送右臂抓取命令，输出的“tomato held: True”来自 agent 的夹爪开度阈值自检；log step 111 又将右爪所持物解释为汽车。无本次画面可核对番茄原位置与夹爪，不能确认拿起或实际接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 94 曾命令左爪抓食品纸袋，log step 109–110 曾命令右爪抓番茄；缺少画面及物体接触对，不能确认纸袋是否带着番茄、右爪是否碰到番茄，故不指定抓握或工具承托。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json.reward 的 graded_by_live=1、q_score=0.0；依据 DAG，牛奶初始在汽车内而非冰箱内，该目标若在终态成立应贡献正分，故其终态为假。总分不能确定过程中是否曾经入内，且本次没有视频时钟，intervals 保持 null。"
+     },
+     {
+      "t": null,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的“carton held: True”由 agent 的夹爪开度阈值自检生成，随后 log step 112–141 有携物意图下的底盘运动命令；缺少本次画面，不能把这些输出当作牛奶已被抓住或已搬入冰箱的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 94 有左爪抓袋命令，log step 109–111 有左爪抓牛奶纸盒命令，log step 112–141 有携物意图下的底盘运动；无画面或接触对可核实作用端与纸盒的实际接触及是否持物。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json.reward.q_score=0.0；DAG 与任务文本说明汽车初始打开，因此汽车最终关闭将贡献正分，终态只能为假。此推断只限定终态，不能确定车盖是否曾短暂关闭。"
+     },
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：log step 98 的右臂关盖脚本因目标少四元数被服务拒绝，log step 101 修正后在 log step 102 重试；log step 103 改用左臂关盖，但五个关盖航点全部得到 IK FAIL，后续日志没有再次关盖操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 102–103 分别尝试右臂及左臂关汽车后备厢盖，包含底盘退后和躯干调整命令；没有本次图像、车盖角度或接触记录，不能确认夹爪实际碰到盖板，也不能把计划中的推盖标为实际接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确冰箱关闭条件在初态成立，BEHAVIOR 的 q_score 不计仍保持的初始目标，所以 reward.q_score=0.0 不能推出冰箱最终打开。服务未报告冰箱终态，本次无视频或状态日志，故终值未知，不能仅据 agent 自述未到厨房就标为真。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "car_closed",
+   "t": null,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 102 执行右臂关汽车盖的尝试，log step 103 改左臂后五个关盖航点均被逆解服务拒绝；之后 agent 转去抓取食品、寻找出口，直到服务在 log step 146、148 确认倒地终止，未再修复关车步骤。结合 reward.q_score=0.0 对初始打开汽车的终态限制，关车是日志能明确定位的早期未修复失败；早先抓纸袋是否已带起食品无法核实，不据此臆定某一食品的更早断点。无本次视频，t=null。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 103,
+    "source_zh": "日志",
+    "evidence_zh": "观察：agent 为关车盖编写的右臂控制调用在 log step 98 被服务以“targets[right_eef_link] must be 7 finite numbers”拒绝，修正后 log step 102 仍有逆解失败；log step 103 的左臂替代方案中五个关盖航点全部返回 IK FAIL，未生成这些航点的执行动作。推断：关车所需动作的构造与求解未完成，支持控制层根因；缺少实际运动、车盖状态与接触记录，不能进一步断定站位不可达、接触布局不当或反馈失稳。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json.kind=none（视频获取为404且无本地视频），inputs/ 不含本次 replay.mp4 或 states.jsonl；run.json 的图片只有引用，无法查看。所有节点 intervals 和视频时刻均为 null，食品抓取、车盖实际接触与断点处的物理现象无法核实，现象层留空；右臂闭环脚本 cl.go 在 log step 80、122 中始终用左臂 now[35:38] 计算误差，因此 log step 102 的大误差也不能证明右臂位姿偏差或够不着。服务在 log step 146、148 明确确认最后倒地，但它发生在早期关车失败之后，不替代该断点的现象；agent 在 log step 152 将倒地归因于高速转向，仅作为自述。已查看 oracle 视频 0、85、115、155、200、239.9 s 的参照帧，其属于另一次成功，不能填补本次节点或接触证据。非目标开门事件和初始关闭冰箱的终值均无服务逐项判定。"
+ },
+ "summary_zh": "评分器 q_score=0.0 可确定番茄入冰箱、牛奶入冰箱及关车三个目标终态均不成立，另三个节点缺少可用的逐项服务判定，终值未知。日志可明确定位的早期未修复断点为关车：左右臂关盖尝试未完成，左臂五个关盖航点均逆解失败，支持控制层根因；之后服务在 log step 148 确认倒地终止。无本次视频与状态日志，不能确认 agent 所称抓住牛奶、具体接触及断点物理现象，全部时间区间保持未知。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志，标注严格限于 log 与评分器字段。q_score=0 对三个目标终态为假的推断符合 PROG-10；所有 intervals 为 null、无转换时间；car_closed 断点（log step 98–103：右臂目标缺四元数被拒，其后右臂逆解失败，左臂五个航点全部 IK FAIL，之后转去抓食品、找门并倒地）与日志一致；根因停在“控制”并写明缺乏更细证据，现象层留空且有 gap_zh，倒地未单列。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": "2026-10-30T22:00:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--6rleiay/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--6rleiay/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f459df19994024d1c2e60ac87f598c4ced29fdebae0585551f5241ab51a328a8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--78vpbrb.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--78vpbrb",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 637,
+   "sim_steps": 637,
+   "physics_steps": 2548,
+   "steps": 588,
+   "elapsed_s": 295.2,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.177,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.257,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；任务 DAG 的八个目标半木均为初始不存在的 real 目标，至少1根完整劈半须有至少2个目标半木存在，因此该节点终态为 false。log step 43 的实时服务 status 确认 done=True、reason=\"failure: the robot fell over\"、control_steps=637、resumes=0；此终值不用于推定全程是否曾短暂达成。无本次视频，区间与视频时刻均留空。"
+     },
+     {
+      "t": null,
+      "log_step": 39,
+      "text_zh": "观察：log step 39 的 agent 脚本调用 goto 驶向其选定的木柴作业区，实时服务随后报告 control_steps=317、done=False；log step 40-42 继续执行底盘转动、平移及标定。log step 45 的脚本将抓斧及依次接触四根木柴列在未到达的续段；这里只据此定位首根木柴的接近阶段，不以 agent 自述确定木柴状态或接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 39-42 记录机器人为接近首根木柴而驾驶、转动及标定底盘；缺少本次视频和状态接触记录，不能核实车轮与地面、夹爪与斧头或木柴的实际接触方式。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；任务 DAG 的八个目标半木均为初始不存在的 real 目标，至少2根完整劈半须有至少4个目标半木存在，因此该节点终态为 false。log step 43 的实时服务 status 确认 done=True、reason=\"failure: the robot fell over\"、control_steps=637、resumes=0；此终值不用于推定全程是否曾短暂达成。无本次视频，区间与视频时刻均留空。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；任务 DAG 的八个目标半木均为初始不存在的 real 目标，至少3根完整劈半须有至少6个目标半木存在，因此该节点终态为 false。log step 43 的实时服务 status 确认 done=True、reason=\"failure: the robot fell over\"、control_steps=637、resumes=0；此终值不用于推定全程是否曾短暂达成。无本次视频，区间与视频时刻均留空。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；任务 DAG 的八个目标半木均为初始不存在的 real 目标，至少4根完整劈半须有至少8个目标半木存在，因此该节点终态为 false。log step 43 的实时服务 status 确认 done=True、reason=\"failure: the robot fell over\"、control_steps=637、resumes=0；此终值不用于推定全程是否曾短暂达成。无本次视频，区间与视频时刻均留空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_1",
+   "t": null,
+   "log_step": 42,
+   "where": "转场",
+   "evidence_zh": "推断：log step 39 机器人驶向木柴作业区，log step 40-42 在该次无重置实时局中继续底盘运动与标定，未进入 log step 45 所列的抓斧和切割续段；因此把未修复的断点归于第1根木柴劈半的转场。log step 42 的 submit 返回 EpisodeOver: failure: the robot fell over，log step 43 的服务 status 为 done=True、control_steps=637、resumes=0，log step 44 再次提交也被同一终止原因拒绝。没有本次录像，无法定位最初失衡的视频时刻。"
+  },
+  "unmet": {
+   "logs_split_1": false,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 43,
+    "evidence_zh": "观察：log step 42 的机器人服务调用返回 EpisodeOver: failure: the robot fell over；log step 43 的 r.status()（实时机器人服务的本局终止状态接口）明确报告 done=True、reason=\"failure: the robot fell over\"、control_steps=637、resumes=0。log step 44 的后续 submit 仍被拒绝，评分器 reward.task_failure=1、sim_error=0、infra_error=0；这是服务确认的本局跌倒结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 41,
+    "source_zh": "日志",
+    "evidence_zh": "推断：底盘运动指令与反馈未维持机器人稳定。log step 18 的 rows_move 按每控制步至多0.145米、0.29弧度拆分位移，未根据底座倾斜调整；log step 39 的 goto 多轮反馈仍偏离目标。log step 41 注释称0.5弧度转动为慢速10步，但实际仍调用同一 rows_move，实现上仅拆成2个运动控制步、每步0.25弧度；log step 42 继续用此调用，随后服务确认跌倒并终止（log step 42-44）。指令及结果支持控制层归因，但缺少连续姿态与接触记录，不能确认某一次转动独自致倒，也不能据 agent 在 log step 49 的解释确定重心或姿态估计机制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json 为 kind=\"none\"（本次 replay 获取失败且无本地录像），本任务也未提供状态日志；日志中的看图输出仅是 [picture] 占位，不能检查本次画面。故全部 intervals、证据 t 和 breakpoint.t 均为 null，节点终值仅由评分器 q_score 与 DAG 目标数量逻辑确定，不能恢复历史峰值或精确接触。跌倒由实时服务直接确认，但最初倾倒时刻、碰撞与否及具体致倒机制无法核实；控制根因保留到大类。inputs/oracle/replay.mp4 是另一成功运行，只作视角参照，不能补成本次证据。"
+ },
+ "summary_zh": "观察：本次按单次实时服务评分，reward.success=0、q_score=0.0；推断：四个劈半计数节点终态均为 false，完成0/4。观察：log step 39 机器人驶向木柴作业区后继续底盘标定，log step 42-44 的服务确认跌倒并终止；推断：断在第1根木柴劈半的转场，底盘运动控制未维持平衡。观察：本次无录像和状态日志，具体接触、节点时序及最初致倒动作无法确定，成功示范不能替代这些证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无录像和状态日志；四个节点终态由 q_score=0 与 DAG 逻辑判 false，跌倒由 log step 43/44 服务 status 确认，断点（第1根劈半转场）、平衡现象与控制根因与日志一致，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:05:53Z",
+  "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/behavior-chopping-wood-i00-standard--78vpbrb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--78vpbrb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "31b323a4ff660c4bca9f22fab97f288398db67a27323ca7e463bab3d32c3953a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--dfkxb9c.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--dfkxb9c",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 529,
+   "sim_steps": 529,
+   "physics_steps": 2116,
+   "steps": 529,
+   "elapsed_s": 427.3,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.329,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.07,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，graded_by_live=1、finalized=1；任务 DAG 与任务说明规定八块目标半木初始均不存在，q_score 按这些存在目标计分，因此终态没有目标半木存在，不能满足至少1根原木各有两块仍存在半木的判据。此总分只决定终值，不能证明过程中从未切开。"
+     },
+     {
+      "t": null,
+      "log_step": 100,
+      "text_zh": "观察：log step 100 的 agent 脚本调用 drive_to 前往取斧位置；后续 log step 111 记录实时底座姿态已明显倾斜，log step 128 的服务状态报告 control_steps=529、done=true、reason=\"failure: the robot fell over\"、resumes=0。log step 138 以后才编写的劈柴程序没有在已结束的评分回合执行。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 100 记录机器人底盘向取斧位置移动，属于首根劈柴的准备；本次没有视频或接触状态日志，无法核实轮式底盘与支承物、夹爪与斧柄、斧刃与木柴的实际接触，不能复制 DAG 的持斧击打方案。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，graded_by_live=1、finalized=1；任务 DAG 与任务说明规定八块目标半木初始均不存在，q_score 按这些存在目标计分，因此终态没有目标半木存在，不能满足至少2根原木各有两块仍存在半木的判据。此总分只决定终值，不能证明过程中从未切开。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，graded_by_live=1、finalized=1；任务 DAG 与任务说明规定八块目标半木初始均不存在，q_score 按这些存在目标计分，因此终态没有目标半木存在，不能满足至少3根原木各有两块仍存在半木的判据。此总分只决定终值，不能证明过程中从未切开。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，graded_by_live=1、finalized=1；任务 DAG 与任务说明规定八块目标半木初始均不存在，q_score 按这些存在目标计分，因此终态没有目标半木存在，不能满足至少4根原木各有两块仍存在半木的判据。此总分只决定终值，不能证明过程中从未切开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_1",
+   "t": null,
+   "log_step": 111,
+   "where": "转场",
+   "evidence_zh": "推断���log step 100 的机器人正空手移动到取斧位置，为首次劈柴做准备；log step 111 的实时服务反馈给出底座世界高度0.399米及明显倾斜的四元数，log step 122、124 的后续恢复反馈仍未直立，log step 128 服务在 control step 529 判定跌倒结束，未修复首根劈柴步骤。因此断在 logs_split_1 的转场阶段；没有本次视频，t 留空。"
+  },
+  "unmet": {
+   "logs_split_1": false,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 128,
+    "evidence_zh": "观察：log step 128 中实时机器人服务 /status 返回 done=true、reason=\"failure: the robot fell over\"、control_steps=529、resumes=0；log step 111 的服务本体感知反馈显示底座高度0.399米，log step 122 的反馈及 agent 由其计算的竖直分量为0.039，恢复动作后的多次值仍低于0.75。该单回合服务的终止判定直接确认机器人跌倒，并非仅据 agent 最终叙述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 98,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 37 的服务动作规格明确 base_x/base_y 为机器人坐标系逐控制步位移；log step 98 的 drive_to 先算世界坐标误差 dx、dy，却使用 d=fwd*dx+left*dy（相当于 R 而非所需 R 转置），再将 d 的分量作为机器人坐标系命令。log step 100 目标世界 y=4.60，反馈却从 y=2.82 降到0.27；log step 106 修改该变换，log step 111 至128 显示机器人已倾斜且恢复未成功。代码与实时反馈共同支持底盘坐标变换错误导致驶离目标并失衡；不只采用 agent 在 log step 169 的自述。",
+    "note_zh": "底盘坐标变换实现错误；证据支持控制层，未进一步指定子类。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（视频获取404且无本地视频），inputs/ 内没有状态日志；故所有 intervals 与视频 t 均为 null，无法确定曾经劈开的数量、失衡起始视频时刻或具体碰撞及接触方式。服务终止字段确认跌倒，但 agent 所说撞入树篱的具体接触未获影像或接触对核实，不另标碰撞。已粗看 inputs/oracle/replay.mp4 的成功示范抽帧，它属于另一回合，不能补作本次进度或接触证据。"
+ },
+ "summary_zh": "评分器 q_score=0.0，由八块半木均为新生成目标可推得四个劈半节点终值全部为 false（0/4），过程中是否曾短暂切开无法判断。机器人在为首根劈柴移动取斧的转场阶段失衡，单回合实时服务在 control step 529 明确判定跌倒；驱动代码与反馈支持底盘坐标变换错误这一控制根因。没有本次视频及状态日志，所有视频区间和时间均留空，实际接触未知；回合结束后编写的完整程序不算已执行进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，该标注以评分器 q_score=0、服务 done=true/'failure: the robot fell over'(control_steps=529)为依据，四个节点终值 false、时间全 null、接触未知，均与可用证据一致。断点 logs_split_1/转场、平衡现象、控制类根因（drive_to 把世界误差当机器人系位移，log 100 输出 y 由2.82降到0.27、目标4.60）在 run.json 中都能核对到。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:08:59Z",
+  "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/behavior-chopping-wood-i00-standard--dfkxb9c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--dfkxb9c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8c1b38c075fbb7c5618b611cdde67395afe6ab74bf959edb33f632eb3d4f7d3",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--gelgxnn.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--gelgxnn",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1664,
+   "sim_steps": 1664,
+   "physics_steps": 6656,
+   "steps": 267,
+   "elapsed_s": 2074.9,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 1.0,
+   "goal_first_step": 1561,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.279,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.273,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 108,
+      "text_zh": "观察：本次 standard 实时单局中，机器人服务在 agent 提交退离、松夹爪及等待指令后返回 done=True、reason=success；status 显示 control_steps=1664、resumes=0。log step 110 再次查询仍返回 success；评分器 reward 同时记录 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的成功目标为四根原木对应的八块半木全部存在；评分器成功及 q_score=1.0 因而确认至少1根木柴完整劈半、至少2块对应半木存在，该计数节点终态为真。本次无视频与状态日志，不能确定首次达成时刻或中途是否失去，intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次没有可用视频或状态接触日志；日志包含 agent 提交的右臂持斧劈击与底盘移动指令，但指令及夹爪开度不能证明真实接触，无法核验夹爪、斧刃与木柴之间实际如何接触。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 108,
+      "text_zh": "观察：本次 standard 实时单局中，机器人服务在 agent 提交退离、松夹爪及等待指令后返回 done=True、reason=success；status 显示 control_steps=1664、resumes=0。log step 110 再次查询仍返回 success；评分器 reward 同时记录 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的成功目标为四根原木对应的八块半木全部存在；评分器成功及 q_score=1.0 因而确认至少2根木柴完整劈半、至少4块对应半木存在，该计数节点终态为真。本次无视频与状态日志，不能确定首次达成时刻或中途是否失去，intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次没有可用视频或状态接触日志；日志包含 agent 提交的右臂持斧劈击与底盘移动指令，但指令及夹爪开度不能证明真实接触，无法核验夹爪、斧刃与木柴之间实际如何接触。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 108,
+      "text_zh": "观察：本次 standard 实时单局中，机器人服务在 agent 提交退离、松夹爪及等待指令后返回 done=True、reason=success；status 显示 control_steps=1664、resumes=0。log step 110 再次查询仍返回 success；评分器 reward 同时记录 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的成功目标为四根原木对应的八块半木全部存在；评分器成功及 q_score=1.0 因而确认至少3根木柴完整劈半、至少6块对应半木存���，该计数节点终态为真。本次无视频与状态日志，不能确定首次达成时刻或中途是否失去，intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次没有可用视频或状态接触日志；日志包含 agent 提交的右臂持斧劈击与底盘移动指令，但指令及夹爪开度不能证明真实接触，无法核验夹爪、斧刃与木柴之间实际如何接触。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 108,
+      "text_zh": "观察：本次 standard 实时单局中，机器人服务在 agent 提交退离、松夹爪及等待指令后返回 done=True、reason=success；status 显示 control_steps=1664、resumes=0。log step 110 再次查询仍返回 success；评分器 reward 同时记录 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的成功目标为四根原木对应的八块半木全部存在；评分器成功及 q_score=1.0 因而确认至少4根木柴完整劈半、至少8块对应半木存在，该计数节点终态为真。本次无视频与状态日志，不能确定首次达成时刻或中途是否失去，intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次没有可用视频或状态接触日志；日志包含 agent 提交的右臂持斧劈击与底盘移动指令，但指令及夹爪开度不能证明真实接触，无法核验夹爪、斧刃与木柴之间实际如何接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分器 success=1、live_success=1、graded_by_live=1、q_score=1.0，机器人实时服务在 log step 108 和 110 均返回 done=True、reason=success；推断：四根木柴劈半的计数节点终态全部成立（4/4），无失败断点。观察：本次无可用视频、无状态日志，无法核验各节点完成时刻、中途变化或实际接触；提供的参考成功录像属于另一运行，不能作为本次过程的证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频、无状态日志；四个计数节点终态为真由评分器 success/q_score=1.0 及 log step 108、110 的 done=True reason=success 支撑，观察与推断标注正确，intervals 为 null、contact_actual 为未知合理，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:06:10Z",
+  "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/behavior-chopping-wood-i00-standard--gelgxnn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--gelgxnn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89252b308deab5f9aee1483b1c799fde001a609fbd24fb07e183e5796e13585f",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--jpt4q62.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--jpt4q62",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5973,
+   "sim_steps": 5973,
+   "physics_steps": 23892,
+   "steps": 2177,
+   "elapsed_s": 3561.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的实时评分字段 graded_by_live=1、q_score=0.0、live_success=0；任务的八个目标半木初始均不存在。推断：q_score 为目标存在谓词的满足比例，终态没有目标半木存在，故至少1根原木各有完整两块半木的条件为假；这只决定终态，不能确定途中是否曾劈开。无本次视频或状态日志，无法标注成立区间。"
+     },
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "观察：log step 16 的机器人控制脚本为接近作业区而驱动底盘；log step 17 的实时服务 status 显示 control_steps=216、resumes=0，脚本由服务底座四元数算出的上轴竖直分量为-0.148。log step 82 仍在空手导航至斧头旁，log step 89 服务返回跌倒终止；agent 最终自述“no logs were split”（log step 95），仅作为其报告。推断：准备第一根劈柴的移动尝试已开始，但没有完成该节点的服务结果；接触细节不可由这些文字确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录机器人为第一根劈柴进行底盘移动、搜索斧头和扶正；本次视频与接触状态日志均未提供。推断：无法核实实际支撑接触及夹爪、斧头与木柴之间是否接触，故不从任务典型方案补写抓握或击打。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的实时评分字段 graded_by_live=1、q_score=0.0、live_success=0；任务的八个目标半木初始均不存在。推断：q_score 为目标存在谓词的满足比例，终态没有目标半木存在，故至少2根原木各有完整两块半木的条件为假；这只决定终态，不能确定途中是否曾劈开。无本次视频或状态日志，无法标注成立区间。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的实时评分字段 graded_by_live=1、q_score=0.0、live_success=0；任务的八个目标半木初始均不存在。推断：q_score 为目标存在谓词的满足比例，终态没有目标半木存在，故至少3根原木各有完整两块半木的条件为假；这只决定终态，不能确定途中是否曾劈开。无本次视频或状态日志，无法标注成立区间。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的实时评分字段 graded_by_live=1、q_score=0.0、live_success=0；任务的八个目标半木初始均不存在。推断：q_score 为目标存在谓词的满足比例，终态没有目标半木存在，故至少4根原木各有完整两块半木的条件为假；这只决定终态，不能确定途中是否曾劈开。无本次视频或状态日志，无法���注成立区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_1",
+   "t": null,
+   "log_step": 16,
+   "where": "转场",
+   "evidence_zh": "观察：log step 16 中机器人空手向作业区移动，返回底座位置约[-9.357,2.379,0.461]；log step 17 的服务姿态经脚本换算，上轴竖直分量为-0.148。log step 27 扶正后，机器人继续搜索和接近斧头（log step 70—82）；log step 89 服务明确返回 done=True、reason=\"failure: the robot fell over\"，终态评分 q_score=0。推断：首次失衡发生在准备第一根劈柴的转场阶段；扶正没有完成劈柴节点，后续仍未修复该步骤，所以断点保留在 logs_split_1。无视频时钟，t 留空。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 17,
+    "evidence_zh": "观察：log step 17 的实时服务底座姿态经脚本换算，上轴竖直分量为-0.148；log step 27 曾恢复为1.0。log step 87 的导航后倾斜余弦再次降至0.343，log step 88—89 扶正探测未能恢复，log step 89 服务返回 \"failure: the robot fell over\"。推断：机器人在第一根劈柴的准备移动中反复失去支撑，最终跌倒终止；这不是从零分推定的现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 16,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 16 的 agent 控制脚本注释预期移动约1.6米，却将底盘 x=0.05 重复32行并取 dt=0.1，服务报告执行96个控制步；服务底座位置从 log step 9 的[-13.731,2.822,0.005]变至 log step 16 的[-9.357,2.379,0.461]，log step 17 确认严重倾斜。log step 85 用每批10行、dt=0.1的底盘命令尝试脱困，机器人位置大幅变化且仍倾斜；log step 88—89 多方向底盘摇摆也未扶正，服务最终跌倒终止。推断：底盘移动幅度与姿态恢复的控制未能保持机器人稳定，且最初命令的实际控制步数与脚本预期不符；证据支持控制层归因，具体碰撞点及控制子类无视频可核实。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确 kind=none（HF视频404且没有本地视频），inputs/ 中也没有状态日志；所有视频时间和节点区间均为 null。终态由实时评分 q_score=0 确定，但不能据此排除途中曾短暂生成半木；接触方式、具体碰撞物与失衡几何无法核实，故不追加接触失败、碰撞或感知归因。参考成功视频只用于了解视角，不能证明本次运行发生了相同动作。",
+  "unmet": {
+   "logs_split_1": false,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  }
+ },
+ "summary_zh": "实时评分 q_score=0，四个劈半节点终态均为假（0/4）；没有本次视频和状态日志，历史进度与时刻未知。机器人在准备第一根劈柴的转场中首次失衡，扶正后仍未完成该步骤，最后服务明确以跌倒终止；日志中的底盘命令与姿态反馈支持控制层归因。实际接触方式及具体碰撞原因无法核实。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；四节点终态 false 由 q_score=0 决定，断点 logs_split_1/转场、平衡现象、控制根因均与 run.json 日志（step 16/17/27/85-89）相符，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:06:54Z",
+  "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/behavior-chopping-wood-i00-standard--jpt4q62/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--jpt4q62/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7bb6889b6bd383406c230846bc3b6e9cb342fe504764f4c43c7ac14e9e266be",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--rfcemwg.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--rfcemwg",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2112,
+   "sim_steps": 2112,
+   "physics_steps": 8448,
+   "steps": 944,
+   "elapsed_s": 922.8,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.25,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.192,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.261,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "logs_split_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward.q_score=0.25、graded_by_live=1，八个目标半木存在谓词中有两个在实时评分终态满足；评分记录未给出这两块半木的原木来源或完整切分对数。"
+     },
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：agent 在 log step 79 自述第一根木柴已经劈开，但同时称未找到另一半；log step 59、64 的深度分割统计也是 agent 自己的检查，不是服务对完整切分对数的判定。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：没有本次录像、状态日志或逐半木的评分字段，不能确认评分的两块半木属于同一根原木，也不能把半木总数直接除以二作为完整对数；依 N9，节点终值保留未知，所有视频时间区间为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 36 的服务本体反馈显示右夹爪开度由0.1米降至0.047米，log step 38 抬臂后仍为0.047米，log step 49、51 的右末端高度约0.061米并完成低位横扫；这些读数确认夹爪和末端运动，但没有物体身份、辅助抓取状态或接触对，无法确认夹住斧柄及斧刃如何接触木柴。本次无画面，工具接触方式保留未知；若工具接触得到确认，持工具的抓握也不应在同一接触链中重复标注（TAXONOMY_v2.md 规则5）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：log step 46 的脚本调用 goto 驶近第一根目标区域，返回 base now=[-14.944,5.468,1.35]，右末端位置也从该步移动前的[-13.638,4.848,0.355]米变至[-14.531,5.962,0.430]米。推断：单次实时局（reward.graded_by_live=1、resumes=0）的服务位姿反馈支持机器人在此步骤中实际移动底盘并由车轮支撑，按 DECISIONS.md S17 标注；没有本次录像，不赋视频时刻。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：实时评分 reward.q_score=0.25；任务的八个目标半木均为初始不存在的 future 物体，因此终态仅两个目标半木存在。至少2根完整劈半须有至少4块对应半木同时存在，超过评分总量，故本节点 final=false；总分不决定历史区间，本次无录像，intervals=null。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：实时评分 reward.q_score=0.25；任务的八个目标半木均为初始不存在的 future 物体，因此终态仅两个目标半木存在。至少3根完整劈半须有至少6块对应半木同时存在，超过评分总量，故本节点 final=false；总分不决定历史区间，本次无录像，intervals=null。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：实时评分 reward.q_score=0.25；任务的八个目标半木均为初始不存在的 future 物体，因此终态仅两个目标半木存在。至少4根完整劈半须有至少8块对应半木同时存在，超过评分总量，故本节点 final=false；总分不决定历史区间，本次无录像，intervals=null。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_1",
+   "t": null,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 49、51 的机器人命令只针对第一根木柴附近的低位横扫；log step 59、60 随后仍检查同一区域，log step 64 让底盘分六次转动以扫描。agent 在 log step 79 将此次扫描解释为寻找第一根木柴的另一半；日志没有转向第二根木柴的明确操作，第一根的完整对数也未被服务确认，故断点归入第一根劈半操作的结果检查。log step 66 的服务本体反馈已显示底座严重倾斜，log step 75 服务最终报告 failure: the robot fell over，后续起身命令未修复；无本次视频，t=null。"
+  },
+  "unmet": {
+   "logs_split_1": null,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 75,
+    "evidence_zh": "观察：这是同一实时评分局，reward.graded_by_live=1、resumes=0；log step 75 的机器人服务返回 done=True、reason=\"failure: the robot fell over\"、control_steps=2112。此前 log step 66 的服务 base_pose 四元数为[-0.606,0.341,0.626,0.353]，log step 70 的本体反馈上轴竖直分量约0.03，log step 71—74 的起身动作后仍接近水平；服务明确确认机器人跌倒，不能仅当作 agent 的失败自述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 62,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 62 的脚本保留右臂关节角，仅把躯干改为[0.3,-0.5,-0.6,0]并收回左臂，服务反馈右末端高度从 log step 60 的0.659米升至1.157米；随后 log step 64 沿用该关节目标连续转动底盘，每次1.047弧度，没有在各次转动间检查底座倾斜或重新收拢右臂，log step 66 已记录严重倾斜。这个躯干、右臂与底盘动作组合未保持全身稳定，支持控制层归因；实际持斧负载、重心和接地受力没有独立记录，不能进一步断言具体失稳机理。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确为 kind=none（录像地址404且无本地录像），inputs/ 也没有状态日志；日志中的图片仅有引用和字节位置，图像内容未提供。全部视频时间、区间均为 null；q_score 只能把第2至第4个计数节点排除，不能确认两块半木同源，第1节点保留未知。断点按第一根附近的操作及扫描序列推断，不能确定其是否已实际完整切开；底盘移动支撑由 log step 46 的服务位姿反馈支持，夹爪是否持斧及斧与木柴的接触方式仍未知。服务跌倒结果明确，但动作与失稳的联系只由日志顺序和本体反馈支持，缺少接触力、重心及支承记录，根因只标控制大类。已比较成功示范的抽帧及其视频20.0 s、47.9 s画面；该示范不是本次运行，不能补足本次节点或接触证据。"
+ },
+ "summary_zh": "实时评分终态 q_score=0.25，表示八个目标半木中仅两块存在；第2至第4根计数节点为假，两块是否同源不明，第1根计数节点未知。机器人执行第一根附近的横扫后仍在检查该区域，改变躯干与右臂的整体姿态并转动底盘扫描，随后服务以机器人跌倒终止；断点归入第一根劈半操作的结果检查阶段，根因保守归为控制。没有本次录像或状态日志，完整劈半对数、斧与木柴的实际接触及视频时刻仍不明；拒绝两项主要修改后仍无法独立确定完整半木对及扫描所处阶段，置信度由6降至5，成功示范不能替代本次证据。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无录像、无状态日志，q_score=0.25（八块半木中2块存在）本身即可决定第1根劈半节点：半木初始为 future 物体，只能由一次切割同时产生两块，故 logs_split_1 应判 final=true（method log，intervals null），而不是 unknown；随之断点应改为 logs_split_2（第1根已完成，机器人在去找/处理下一根途中摔倒）。其余（后三节点 false、平衡、控制）可接受。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无录像、无状态日志；q_score=0.25（八块半木仅两块存在）能排除第2–4节点，但不能排除两块来自不同原木的反例（须有两次切割各丢一块），故第1节点保持 unknown 与 N9 一致，已在第1轮被有证据地驳回，我无新证据推翻。断点（第1根附近的结果检查、操作中）、全身·平衡现象（服务 log step 75 返回 fell over）、控制根因（log step 62/64 躯干与右臂姿态加连续转底盘，已声明仅为推断）和底盘支撑接触均有 service 读数支持，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": "2026-10-30T22:12:16Z",
+  "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/behavior-chopping-wood-i00-standard--rfcemwg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--rfcemwg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--rfcemwg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--rfcemwg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "08075bf25dd7be1b7ff77f47013bafe7fed87248aac6a0f24d75bb788dc1f6d1",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--ungabau.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--ungabau",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4173,
+   "sim_steps": 4173,
+   "physics_steps": 16692,
+   "steps": 3991,
+   "elapsed_s": 916.7,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 1.0,
+   "goal_first_step": 4135,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 记录机器人实时服务返回 done=True、reason=success；inputs/run.json 的评分器 reward 同时报告 success=1、live_success=1、graded_by_live=1、q_score=1.0，resumes=0、replays=0，本次按单次实时 episode 判定。"
+     },
+     {
+      "t": null,
+      "log_step": 141,
+      "text_zh": "推断：评分器确认八块目标半木全部存在，实时服务的 success 还确认了共同脱手静置验收，因此至少1根原木完整劈半这一计数条件在终态成立。log step 141 保存的服务终态仍为 done=True、reason=success；本次没有视频或状态日志，无法确定该节点首次达成时刻或中途区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 75 记录 agent 脚本向机器人右臂发送 cut1 下移命令；本次无视频或状态接触记录，无法核实夹爪、斧刃与木柴的实际接触方式，亦不从命令推定底盘接触。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 记录机器人实时服务返回 done=True、reason=success；inputs/run.json 的评分器 reward 同时报告 success=1、live_success=1、graded_by_live=1、q_score=1.0，resumes=0、replays=0，本次按单次实时 episode 判定。"
+     },
+     {
+      "t": null,
+      "log_step": 141,
+      "text_zh": "推断：评分器确认八块目标半木全部存在，实时服务的 success 还确认了共同脱手静置验收，因此至少2根原木完整劈半这一计数条件在终态成立。log step 141 保存的服务终态仍为 done=True、reason=success；本次没有视频或状态日志，无法确定该节点首次达成时刻或中途区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 102 记录 agent 脚本向机器人右臂发送 log2_edge_align 与 log2_edge_cut 对齐、下移命令；本次无视频或状态接触记录，无法核实夹爪、斧刃与木柴的实际接触方式，亦不从命令推定底盘接触。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 记录机器人实时服务返回 done=True、reason=success；inputs/run.json 的评分器 reward 同时报告 success=1、live_success=1、graded_by_live=1、q_score=1.0，resumes=0、replays=0，本次按单次实时 episode 判定。"
+     },
+     {
+      "t": null,
+      "log_step": 141,
+      "text_zh": "推断：评分器确认八块目标半木全部存在，实时服务的 success 还确认了共同脱手静置验收，因此至少3根原木完整劈半这一计数条件在终态成立。log step 141 保存的服务终态仍为 done=True、reason=success；本次没有视频或状态日志，无法确定该节点首次达成时刻或中途区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 118 记录 agent 脚本向机器人右臂发送 above_log3 与 cut3 命令；本次无视频或状态接触记录，无法核实夹爪、斧刃与木柴的实际接触方式，亦不从命令推定底盘接触。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 139,
+      "text_zh": "观察：log step 139 记录机器人实时服务返回 done=True、reason=success；inputs/run.json 的评分器 reward 同时报告 success=1、live_success=1、graded_by_live=1、q_score=1.0，resumes=0、replays=0，本次按单次实时 episode 判定。"
+     },
+     {
+      "t": null,
+      "log_step": 141,
+      "text_zh": "推断：评分器确认八块目标半木全部存在，实时服务的 success 还确认了共同脱手静置验收，因此至少4根原木完整劈半这一计数条件在终态成立。log step 141 保存的服务终态仍为 done=True、reason=success；本次没有视频或状态日志，无法确定该节点首次达成时刻或中途区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 134 记录 agent 脚本向机器人右臂发送 cut4 下移命令；本次无视频或状态接触记录，无法核实夹爪、斧刃与木柴的实际接触方式，亦不从命令推定底盘接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 1.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分器按本次单次实时 episode 判定成功（reward.success=1、live_success=1、q_score=1.0），据此四个木柴劈半计数节点终值均为真。log step 139 的机器人服务返回 done=True、reason=success，log step 141 保存相同终态，支持八块半木存在且共同脱手静置验收已通过，无失败断点。本次没有可用视频或状态日志，全部节点区间与视频时刻留空、实际接触记为未知；提供的参考录像属于另一次运行，不能用于确定本次的节点时间或接触。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次无视频/状态日志，四个节点 final=true 由评分器 success=1、q_score=1.0 与 log step 139/141 的服务 done=True、reason=success 支持；时刻留空、接触未知均合规，无失败断点，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:08:29Z",
+  "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/behavior-chopping-wood-i00-standard--ungabau/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--ungabau/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "42e317acd84e1063550de4c6923946eac0b98fcc9c803196ee6f6f24a4eba7fb",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yvxplmm.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--yvxplmm",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 18975,
+   "sim_steps": 19125,
+   "physics_steps": 76500,
+   "steps": 6028,
+   "elapsed_s": 6646.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.646,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.282,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "logs_split_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、success=0、q_score=0.0；任务 DAG 说明八块目标半木均为切割后新生成的对象，初始不存在。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：q_score=0.0 表示终态八个新生成半木的存在目标均未满足；至少1根完整劈半需要至少2个对应的存在目标成立，因此本节点 final=false。该总量仅决定终值，不能证明中途从未切开；无本次视频，intervals=null。"
+     },
+     {
+      "t": null,
+      "log_step": 778,
+      "text_zh": "观察：log step 778 中 agent 的脚本向实时机器人服务提交针对其称为 Log 1 的目标的右臂切割动作，包含下降、保持和收回命令；这是操作尝试记录，不是木柴已经劈开的服务判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 778 记录了针对 agent 所称 Log 1 的右臂切割命令；本次无视频、图像内容和接触状态日志，无法核实右夹爪是否持斧及斧刃与木柴的实际接触。四处目标的称呼来自脚本，不据此确认木柴实例或劈半顺序。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、success=0、q_score=0.0；任务 DAG 说明八块目标半木均为切割后新生成的对象，初始不存在。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：q_score=0.0 表示终态八个新生成半木的存在目标均未满足；至少2根完整劈半需要至少4个对应的存在目标成立，因此本节点 final=false。该总量仅决定终值，不能证明中途从未切开；无本次视频，intervals=null。"
+     },
+     {
+      "t": null,
+      "log_step": 810,
+      "text_zh": "观察：log step 810 中 agent 的脚本向实时机器人服务提交针对其称为 Log 2 的目标的右臂切割动作，包含下降、保持和收回命令；这是操作尝试记录，不是木柴已经劈开的服务判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 810 记录了针对 agent 所称 Log 2 的右臂切割命令；本次无视频、图像内容和接触状态日志，无法核实右夹爪是否持斧及斧刃与木柴的实际接触。四处目标的称呼来自脚本，不据此确认木柴实例或劈半顺序。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、success=0、q_score=0.0；任务 DAG 说明八块目标半木均为切割后新生成的对象，初始不存在。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：q_score=0.0 表示终态八个新生成半木的存在目标均未满足；至少3根完整劈半需要至少6个对应的存在目标成立，因此本节点 final=false。该总量仅决定终值，不能证明中途从未切开；无本次视频，intervals=null。"
+     },
+     {
+      "t": null,
+      "log_step": 831,
+      "text_zh": "观察：log step 831 中 agent 的脚本向实时机器人服务提交针对其称为 Log 3 的目标的右臂切割动作，包含下降、保持和收回命令；这是操作尝试记录，不是木柴已经劈开的服务判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 831 记录了针对 agent 所称 Log 3 的右臂切割命令；本次无视频、图像内容和接触状态日志，无法核实右夹爪是否持斧及斧刃与木柴的实际接触。四处目标的称呼来自脚本，不据此确认木柴实例或劈半顺序。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、success=0、q_score=0.0；任务 DAG 说明八块目标半木均为切割后新生成的对象，初始不存在。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：q_score=0.0 表示终态八个新生成半木的存在目标均未满足；至少4根完整劈半需要至少8个对应的存在目标成立，因此本节点 final=false。该总量仅决定终值，不能证明中途从未切开；无本次视频，intervals=null。"
+     },
+     {
+      "t": null,
+      "log_step": 851,
+      "text_zh": "观察：log step 851 中 agent 的脚本向实时机器人服务提交针对其称为 Log 4 的目标的右臂切割动作，包含下降、保持和收回命令；这是操作尝试记录，不是木柴已经劈开的服务判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 851 记录了针对 agent 所称 Log 4 的右臂切割命令；本次无视频、图像内容和接触状态日志，无法核实右夹爪是否持斧及斧刃与木柴的实际接触。四处目标的称呼来自脚本，不据此确认木柴实例或劈半顺序。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_1",
+   "t": null,
+   "log_step": 778,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 778、790、798 记录 agent 的脚本对其称为 Log 1 的目标反复提交右臂切割动作，log step 803 随后转向另一处木柴；评分器终态 q_score=0.0，说明连一对完整半木也未保留，因此断点归于“第1根木柴劈半”。日志未提供切割成功的服务判定，不能认定此前尝试已修复；log step 778 仅为尝试的导航锚点，无视频时刻可填。"
+  },
+  "unmet": {
+   "logs_split_1": false,
+   "logs_split_2": false,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none（录像下载返回404且无本地录像），inputs/ 没有 states.jsonl，run.json 所有步骤的 pics 均为空；只有另一成功运行的 oracle 录像，不能作为本次接触或节点进度证据。本次是实时单 episode（log step 33；评分器 sim_startups=1、resumes=0），切割脚本与 agent 自述只能确认尝试意图，agent 自算的深度坐标、夹爪开度检查和“cut complete”打印不能证明劈半或有效持斧。log step 865 的末轮切割仅返回后台任务启动，log step 866 自述仍在等待，没有其完成结果；最终以评分记录为准。推断：缺少实际切割过程，不能区分未建立有效接触、持斧丢失、对位偏差或半木被再次切碎，无法定位首次失效/可能恢复的时刻，故所有视频时间与区间留空，接触标未知，现象与根因均留空；早期抓斧调试的问题也不能直接归为最终断点的原因。"
+ },
+ "summary_zh": "评分器记录 success=0、q_score=0.0；八块半木初始不存在，故四个劈半节点终态均为 false（0/4），中途峰值未知。日志记载 agent 多轮抓斧调试后向四处木柴目标提交切割动作，断点归于“第1根木柴劈半”；log step 866 的末次报告仍在等待末轮执行完成。本次无视频、图像内容与状态日志，无法核实实际接触、切割过程和具体失败原因，因此时间区间留空，现象与根因不作推定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无录像、无 states.jsonl；q_score=0.0 与 finalized/graded_by_live 约束了四个劈半节点终值为 false，断点归第1根、现象与根因留空并写明 gap_zh，均有依据。切割命令的输出只是后台任务启动，没有证据可支持具体现象，故留空合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:03:22Z",
+  "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/behavior-chopping-wood-i00-standard--yvxplmm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--yvxplmm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "77ab220349659c55e235965234b0d0a898686b2faa574b5bcf055c4275d51aae",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ef7n3pf.json

@@ -0,0 +1,153 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--ef7n3pf",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cornet_clean": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，replay=null；inputs/video.json 的 kind=none。本运行没有交付受评轨迹，也没有本运行的视频或状态日志，评分器未报告小号除尘节点的物理终值。"
+     },
+     {
+      "t": null,
+      "log_step": 67,
+      "text_zh": "观察：log step 64 的 agent 脚本先 load_ckpt(\"holding_brush\") 再执行持刷测试；log step 67 返回该会话的 FINAL STATUS：success=True、q_score=1.0、sim_steps=5423，并打印 remaining=0。推断：这是检查点恢复后的会话测试成功，未录制交付、未回放验收，不能作为受评轨迹 cornet_clean 的终值或视频时间。"
+     },
+     {
+      "t": null,
+      "log_step": 69,
+      "text_zh": "观察：log step 69 的末条消息为 Gemini 过滤器阻断提示，此后没有调用或交付记录。推断：受评交付确定前会话被外因中断；缺交付的 success=0 不能单独证明小号仍有灰尘，故节点 final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1、agent_records=0，没有交付轨迹；log step 35、64 的抓刷与擦刷脚本属于会话测试，不能记为受评轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 69,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 69 显示提供方 Gemini 过滤器阻断会话；评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0。log step 67 虽有会话测试 success=True，但其脚本在 log step 64 恢复检查点后运行，未形成保存并验证的交付。推断：外因中断发生在受评结果确定前，没有受评轨迹可定位物理失败步骤，按无交付外因中断规则记 unknown／首步前。"
+  },
+  "unmet": {
+   "cornet_clean": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本运行无视频、无状态日志，且评分器记录缺少交付轨迹；已有 inputs/oracle/replay.mp4 是另一成功运行，不能证明本运行的节点或接触。log step 67 的恢复检查点会话测试成功不等于受评交付成功；log step 69 随后出现 Gemini 提供方过滤器阻断，交付前外因中断按 CASES.md FAIL-5、DECISIONS.md D37 处理，待重测，不归入机器人失败分析。没有可归属受评尝试的物理现象或根因证据，两层均留空；所有视频时间及节点区间为 null，节点终值未知。"
+ },
+ "summary_zh": "本运行未交付受评轨迹（missing_trajectory=1、agent_records=0），唯一节点“小号除尘”的终值未知，实际接触为不适用。log step 67 记录恢复检查点后的会话测试成功，但未保存并验证交付；log step 69 随后被 Gemini 过滤器中断，应作为受评结果确定前的外因中断待重测，保留目录 success=0，断点记 unknown／首步前，现象和根因留空。本运行无视频或状态日志，成功参考录像不能补足这些证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本运行无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；log step 67 的 success=True 是恢复检查点后的会话测试，step 69 为 Gemini 过滤器阻断。节点未��、断点 unknown／首步前、现象根因留空并带 gap_zh，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": "2026-10-30T22:06:52Z",
+  "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/behavior-clean-a-trumpet-i00-privileged--ef7n3pf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--ef7n3pf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cc3edba3353ca538c27c9a931c3676cccc476bc30097398ed86973717594d16b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ay5fhq9.json

@@ -0,0 +1,178 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--ay5fhq9",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 25,
+   "agent_resets": 0,
+   "agent_sim_steps": 71260,
+   "agent_records": 6,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1、agent_replays=0，未报告 q_score 或手套清洁目标的终值；inputs/video.json 为 kind=none，且无状态日志。无法判定受评终态是否有至少一只手套无尘，故保留未知；整项失败不等于该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 500,
+      "text_zh": "观察：agent 读取的会话测试日志显示两只手套 Covered dust=True、q_score=0.0，并打印“Not yet successful. Trajectory not saved as final.”；这是未交付的会话测试结果，不能作为受评节点终值或视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；无交付轨迹可标注实际接触，会话测试的夹爪及底盘动作不计入。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1、agent_replays=0，未报告 q_score 或手套清洁目标的终值；inputs/video.json 为 kind=none，且无状态日志。无法判定受评终态是否有两只手套无尘，故保留未知；整项失败不等于该节点为假。"
+     },
+     {
+      "t": null,
+      "log_step": 500,
+      "text_zh": "观察：agent 读取的会话测试日志显示两只手套 Covered dust=True、q_score=0.0，并打印“Not yet successful. Trajectory not saved as final.”；这是未交付的会话测试结果，不能作为受评节点终值或视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；无交付轨迹可标注实际接触，会话测试的夹爪及底盘动作不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 542,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器记录 missing_trajectory=1、success=0、agent_records=6、agent_replays=0；会话录制次数不代表已交付。log step 500 的测试日志明确表示未将轨迹保存为最终文件；log step 541 启动另一抓取诊断，agent 最后在 log step 542 自述已启动该测试并将等待，未报告最终轨迹交付。推断：无受评轨迹可定位某一清洁步骤内的失败，断点取 unknown，位置取首步前。"
+  },
+  "unmet": {
+   "gloves_clean_1": null,
+   "gloves_clean_2": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有视频（inputs/video.json 的 kind=none），没有状态日志，评分器未给出 q_score 或逐手套清洁状态，且 missing_trajectory=1。log step 500 的无尘检查与抓取、开机等测试属于会话证据；log step 531 启动的后续完整脚本及 log step 541 启动的诊断在所给日志中未见最终返回，最后一条 log step 542 仅为 agent 等待测试的自述。推断：不能将任何会话测试视为交付后的受评尝试，不能定位物理失败现象，也不能从交付缺失反推控制、规划或交付操作根因，因此两层留空。成功参考视频属于另一条运行，不能补足本次节点终值。"
+ },
+ "summary_zh": "评分记录确认未交付轨迹（missing_trajectory=1、agent_replays=0），两个清洁节点的受评��值均未知，没有可确认完成的节点。log step 500 的完整会话测试未成功且未保存为最终轨迹，agent 在 log step 542 最后仍自述等待抓取诊断；断点记为 unknown／首步前。由于本次无视频、无状态日志且无清洁目标评分字段，不能把会话中的抓取或积尘检查当作受评进度，失败现象与根因均留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，评分为 missing_trajectory=1、agent_replays=0，两节点 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合规则；未发现把会话测试当作受评事实的地方。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:01:01Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--ay5fhq9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--ay5fhq9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f46e1817047a57b0c61f5e6e6f4cb557e93244db0d0252bbb40208576978ac8",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--gjbspma.json

@@ -0,0 +1,158 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--gjbspma",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 2,
+   "agent_resets": 14,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告 q_score 或逐手套无尘结果；inputs/video.json 为 kind=none，且本次无状态日志，不能判定受评终态是否满足“至少一只手套无尘”。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将多次重置后的会话调试接触作为受评接触。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告 q_score 或逐手套无尘结果；inputs/video.json 为 kind=none，且本次无状态日志，不能判定受评终态是否满足“两只手套均无尘”。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能将多次重置后的会话调试接触作为受评接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 510,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器报告 missing_trajectory=1，agent_records=0、agent_replays=0；log step 430 中 agent 仍自述在录制前测试装载，log step 510 的最后调用仍是双臂逆运动学查询，没有保存轨迹或最终完成报告。推断：本次没有可定位到清洁节点的受评轨迹，故断点为 unknown、位置为首步前；会话中的抓取和开门测试不算已交付尝试。"
+  },
+  "unmet": {
+   "gloves_clean_1": null,
+   "gloves_clean_2": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无视频、无状态日志，也无交付轨迹；评分器只报告交付缺失，未提供 q_score 或任何清洁节点终值。日志记录了多次重置后的会话测试：log step 502 中 agent 自述仍在协调持门和搬运手套，log step 503 返回门关节约0.0013弧度，log step 509 出现交互代码 SyntaxError，log step 510 继续查询双臂逆解；这些不是受评轨迹中的物理现象。run.json 的 wall_s=14400 与 time_limit_s=14400 相同，早先检查脚本退出后 agent 已在 log step 52 重开会话并继续操作，不能将早先退出视作最终外因中断。按 DECISIONS.md D23，未交付时现象和根因均留空；不从交付缺失或预算结束反推原因。提供的 oracle 视频属于另一成功运行，不能补证本次进度或接触。"
+ },
+ "summary_zh": "评分器报告 success=0、missing_trajectory=1，本次没有可重放的交付轨迹，两个清洁节点的终值均无法判定。会话末尾仍在调试双臂持门与手套装载（log step 502–510），不能把这些测试计入受评进度；断点记为 unknown／首步前，按未交付规则不标现象或根因。本次无视频、无状态日志，且评分器未报告 q_score 或逐节点结果。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "未交付运行（missing_trajectory=1，无视频/状态日志）；节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；引用的 log step 存在，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": "2026-10-30T22:02:12Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--gjbspma/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--gjbspma/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "29a986ed95e39c4c19283fb0af8aea76c78e9be2e29e7350a49faedc9042505c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--bph4z4z.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--bph4z4z",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4248,
+   "sim_steps": 4398,
+   "physics_steps": 17592,
+   "steps": 676,
+   "elapsed_s": 6640.1,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 14,
+      "text_zh": "观察：log step 14 中基准服务的 spec.task_text 写明两只手套初始均积尘，目标是两只均不留灰尘；DAG的两个计数节点分别对应至少一只、至少两只无尘。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.0、success=0；两项无尘目标初始均为假，因此最终满足的无尘目标为0/2，“第1只手套干净”最终为假。此结论只决定终值，不表明从未尝试或全程未曾达到；无本次视频和状态日志，时间区间不可确定。"
+     },
+     {
+      "t": null,
+      "log_step": 223,
+      "text_zh": "观察：log step 222 的 agent 控制脚本安排左右夹爪依次向白色洗衣机滚筒移动并张开，log step 223 启动执行，log step 258-259 又安排并启动右夹爪重新抓取、装载。它们证明有面向两只手套清洁的操作尝试，但不独立证明抓取、入筒或去尘成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 114、127、178、191、223、259 有针对手套抓取及洗衣机装载的执行请求；本次视频和状态接触记录均不可用。无法核实左右夹爪与手套、机门的实际接触，也不能由夹爪开度或动作指令认定抓握，故实际作用端和接触方式均记未知。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 14,
+      "text_zh": "观察：log step 14 中基准服务的 spec.task_text 写明两只手套初始均积尘，目标是两只均不留灰尘；DAG的两个计数节点分别对应至少一只、至少两只无尘。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.0、success=0；两项无尘目标初始均为假，因此最终满足的无尘目标为0/2，“第2只手套干净”最终为假。此结论只决定终值，不表明从未尝试或全程未曾达到；无本次视频和状态日志，时间区间不可确定。"
+     },
+     {
+      "t": null,
+      "log_step": 223,
+      "text_zh": "观察：log step 222 的 agent 控制脚本安排左右夹爪依次向白色洗衣机滚筒移动并张开，log step 223 启动执行，log step 258-259 又安排并启动右夹爪重新抓取、装载。它们证明有面向两只手套清洁的操作尝试，但不独立证明抓取、入筒或去尘成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 114、127、178、191、223、259 有针对手套抓取及洗衣机装载的执行请求；本次视频和状态接触记录均不可用。无法核实左右夹爪与手套、机门的实际接触，也不能由夹爪开度或动作指令认定抓握，故实际作用端和接触方式均记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": null,
+   "log_step": 223,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 114、127 启动双手套抓取，log step 222-224 记录 agent 脚本试图依次装入洗衣机，log step 258-261 又启动单只重新装载；评分器最终 q_score=0.0，两只初始积尘手套均未达到最终无尘目标。因此断点归于尚未完成的第1只手套清洁，位置为操作中。log step 223 仅作装载尝试的日志导航锚点，不表示已观测到某次碰撞或掉落；没有本次视频，无法定位物理失败瞬间。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 明确 kind=none，原因为远端录像404且无本地录像；本次也无状态日志。日志图像调用仅留下文字占位，没有可检查的本次画面。agent 在 log step 236 自述悬垂手套撞上机门上沿、关门并使两只手套落地，log step 230-231、298 是其自编深度与颜色统计，均不能替代实际动作和接触证据；故不据此标被挡/碰撞、没保持住、位姿不准或确定控制根因。log step 303-317 继续做逆解和运动学计算，末个非空 say 为 log step 261 的等待执行，并无完成报告；run.wall_s=7203、time_limit_s=7200 说明会话到预算边界，不能把预算耗尽本身作为现象或根因。评分器总分可决定两个终值，但无法恢复中途进度、实际接触或失败时刻，现象及根因层留空。已查看成功参考录像视频 0、30、55、80、100、110、119.2、120 s 的抽帧，参考录像中的积尘、装载及末态只说明该任务视图，不能作为本次已装载或已清洁的证据。"
+ },
+ "summary_zh": "推断：评分器最终 q_score=0.0，结合两只手套初始均积尘，两个清洁计数节点最终均为假（0/2），中途达到情况未知。观察：日志记录 agent 多次启动抓取和洗衣机装载动作，并在末段继续计算重新装载的逆解；推断：断点归于第1只手套清洁的操作过程。观察：本次无视频或状态日志，不能核实自述碰门、掉落及实际接触，故不填写具体失败现象或根因，所有视频时间与区间均留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "本次无视频、无状态日志；两个节点终值由 q_score=0 约束为假，区间/接触记未知，现象与根因留空并有 gap_zh，均符合证据纪律，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": "2026-10-30T22:00:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--bph4z4z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--bph4z4z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fa3a61607a57dddd6ab44859523ca46d3112184fd61a76a75e2406efb76a71a2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--sxsb6rf.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--sxsb6rf",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 16104,
+   "sim_steps": 16254,
+   "physics_steps": 65016,
+   "steps": 1724,
+   "elapsed_s": 6717.9,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward 报告 graded_by_live=1、finalized=1、q_score=0.0、success=0；DAG 两个目标文字分别要求一只手套无尘，且初态两只均积尘，故最终无尘数量为0，“第1只手套干净”最终为假。该总分不决定过程中是否曾达成，且本次无视频、无状态日志，不能给出到达区间。"
+     },
+     {
+      "t": null,
+      "log_step": 69,
+      "text_zh": "观察：log step 69 的机器人调用提交双臂下探、闭爪和抬升命令；log step 96 的 agent 脚本根据夹爪开度输出 success=True，log step 98 因此自述已持有一只手套。这些不是评分器的无尘结果，也不能替代画面确认抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录机器人为两只手套提交抓取及搬运准备命令，但本次没有可用视频或状态接触对。无法核实夹爪与手套、柜台或洗衣机之间实际发生的接触，不把命令或开度等同于抓握。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward 报告 graded_by_live=1、finalized=1、q_score=0.0、success=0；DAG 两个目标文字分别要求一只手套无尘，且初态两只均积尘，故最终无尘数量为0，“第2只手套干净”最终为假。该总分不决定过程中是否曾达成，且本次无视频、无状态日志，不能给出到达区间。"
+     },
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 100、104 提交左臂取另一只手套的脚本；log step 102、106 的脚本输出 success=False，其中 log step 106 报告14个重定位规划失败、随后未检出红色区域。这些仅说明 agent 的尝试及其检查结果，不作为手套位姿或清洁状态的判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录机器人为两只手套提交抓取及搬运准备命令，但本次没有可用视频或状态接触对。无法核实夹爪与手套、柜台或洗衣机之间实际发生的接触，不把命令或开度等同于抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": null,
+   "log_step": 109,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 69 开始提交取手套的双臂操作；log step 109 最后一次机器人动作仍是柜台附近的手臂收放和搬运准备，服务本体位置约为[23.666,-1.281]，脚本报告 stash bad: 4。log step 110–113 仅创建行驶、投放、另取手套及关门按键脚本，log step 114 无动作或最终汇报，完整日志中没有这些后续脚本的执行结果；评分器最终 q_score=0。推断：第1只手套的清洁工作已启动��最终仍未达成，断点归其操作过程；没有视频，无法定位具体物理失败时刻。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 标记 kind=none，原因为 HF replay.mp4 返回404且无本地录像；inputs/ 中无 states.jsonl，日志引用的图片仅有 steps.bin 偏移，实际图片文件未提供。成功 oracle 的视频属于另一回合，不能证明本次接触或物体运动。因此所有视频时间及 intervals 均为 null，实际接触未知，失败现象留空。log step 77 的 IK 失败仅涉及 row 20，log step 92 涉及 rows 0–2；log step 96 的脚本输出 move bad: 0、LIFTED, open now 0.077 和 success: True，log step 102、106 的左臂取物脚本输出 success: False，log step 106 的14个失败属于重定位规划，log step 109 在 stash bad: 4 后仍输出 parked。推断：这些反馈说明部分规划行失败后仍有后续执行，不能据此确定控制问题导致清洁失败；agent 自述的抓空、抓取辅助未触发，以及脚本依据夹爪开度宣称的抬起手套，均缺少画面或物体状态核实，不能确认手套A已被持住或手套B未被取到，也不足以判定根因类别，故根因留空。最终0/2可由评分器总分确定，但历史峰值、实际抓取、装载、去尘过程及具体失败原因均无法核实。"
+ },
+ "summary_zh": "评分器对唯一在线回合给出 success=0、q_score=0，两只手套最终均未达到无尘目标，完成0/2。日志记录取物和搬运准备尝试，最后仍未记录装载与开机执行，断点归“第1只手套干净”的操作中。缺少本次视频、状态日志及日志图片，无法确认实际抓取、接触或具体物理失败现象；部分规划行的 IK 失败不足以支持清洁失败的根因归类，亦无法恢复历史进度时间线。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（最终0/2、无视频时间全 null、contact 未知）和断点 gloves_clean_1 均合理；但根因“控制”把日志里零星的“no IK solution”行当成妨碍清洁推进的原因，证据不支持，应改为空根因并写 gap_zh。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "本次无视频、无状态日志；最终0/2由评分器 q_score=0 决定，时间全 null、contact 未知、根因留空并有 gap_zh，均与证据相符。第1轮意见已采纳，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": "2026-10-30T22:10:07Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--sxsb6rf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--sxsb6rf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--sxsb6rf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--sxsb6rf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a973260e5d30c158ffd2c8181d00261abb79dab36796876419d063ffe5a69ca",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 20,
+   "agent_resets": 214,
+   "agent_sim_steps": 104384,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 10.31,
+   "peak_memory_gb": 8.694,
+   "peak_processes": 20,
+   "peak_disk_gb": 12.276,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1根枝入桶”的受评终态；inputs/video.json 为 kind=none，且没有状态日志。log step 115 的抓取搜索和 log step 237 的放枝检查属于 agent 会话测试，不能据此确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；没有交付轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2根枝入桶”的受评终态；inputs/video.json 为 kind=none，且没有状态日志。log step 115 的抓取搜索和 log step 237 的放枝检查属于 agent 会话测试，不能据此确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；没有交付轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第3根枝入桶”的受评终态；inputs/video.json 为 kind=none，且没有状态日志。log step 115 的抓取搜索和 log step 237 的放枝检查属于 agent 会话测试，不能据此确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；没有交付轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 237,
+      "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第4根枝入桶”的受评终态；inputs/video.json 为 kind=none，且没有状态日志。log step 115 的抓取搜索和 log step 237 的放枝检查属于 agent 会话测试，不能据此确定本节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；没有交付轨迹，轨迹级接触不适用。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 248,
+      "text_zh": "观察：log step 248 中 agent 的桶盖测试脚本打印 ontop(bin, floor)=True，但这是会话测试；评分记录 missing_trajectory=1，且没有受评视频、状态日志或报告桶在地面终态的评分字段，故不能把测试读数或 DAG 的初态说明作为本次受评终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；没有交付轨迹，轨迹级接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 251,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 250 启动新一轮桶盖测试，最后的 log step 251 中 agent 自述正在等待该测试结束。未交付受评轨迹，不能从会话中的抓取或放枝失败指定一个受评物理断点。"
+  },
+  "unmet": {
+   "branches_in_bin_1": null,
+   "branches_in_bin_2": null,
+   "branches_in_bin_3": null,
+   "branches_in_bin_4": null,
+   "bin_on_garden_floor": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json、MANIFEST.json，无受评视频或状态日志；评分记录 missing_trajectory=1，未给逐节点终态或原生 q_score。log step 115、136、213、221、237、248 是 agent 自建脚本的会话搜索或测试，不能替代受评轨迹；最后 log step 251 仍称等待桶盖测试，未记录最终交付过程。推断：目前仅能确认没有交付轨迹，无法确定五个节点的受评终值、具体物理失败现象或导致未交付的根因；不从缺交付反推没尝试、控制或交付操作出错，两个原因层均留空。"
+ },
+ "summary_zh": "评分记录 success=0、missing_trajectory=1，录制和重放均为0；五个节点的受评终值全部未知，不能将会话抓取搜索或放枝测试计入受评进度。日志止于 agent 等待桶盖测试（log step 251），断点按无交付记 unknown／首步前；没有视频、状态日志及逐节点评分，无法给出受评物理现象或根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1，agent_records=0）；标注按 D23(a) 将五个节点记为 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，未把会话测试当作受评事实，未把超时当现象。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": "2026-10-30T21:53:16Z",
+  "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/behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "35e96e012e860a068de69bc802ddf83cd4d2170918359049cfc23db6c8e5ffd9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg.json

@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 5,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.806,
+   "peak_memory_gb": 9.603,
+   "peak_processes": 24,
+   "peak_disk_gb": 0.719,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 251,
+      "text_zh": "观察：inputs/video.json 标记无视频，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1根枝入桶”的终态。log step 251 记录模型提供方过滤器中断；log step 233 仅写入生成脚本，不能据此确定本节点在评分轨迹中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付轨迹；会话测试中的机器人接触不作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 251,
+      "text_zh": "观察：inputs/video.json 标记无视频，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2根枝入桶”的终态。log step 251 记录模型提供方过滤器中断；log step 233 仅写入生成脚本，不能据此确定本节点在评分轨迹中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付轨迹；会话测试中的机器人接触不作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 251,
+      "text_zh": "观察：inputs/video.json 标记无视频，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第3根枝入桶”的终态。log step 251 记录模型提供方过滤器中断；log step 233 仅写入生成脚本，不能据此确定本节点在评分轨迹中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付轨迹；会话测试中的机器人接触不作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 251,
+      "text_zh": "观察：inputs/video.json 标记无视频，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第4根枝入桶”的终态。log step 251 记录模型提供方过滤器中断；log step 233 仅写入生成脚本，不能据此确定本节点在评分轨迹中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付轨迹；会话测试中的机器人接触不作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 251,
+      "text_zh": "观察：inputs/video.json 标记无视频，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“回收桶留地面”的终态。log step 251 记录模型提供方过滤器中断；log step 233 仅写入生成脚本，不能据此确定本节点在评分轨迹中的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付轨迹；会话测试中的机器人接触不作为评分轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 251,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 251 的终止消息为“This request was blocked by Gemini's filters”；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。log step 233 只确认生成脚本写入，后续日志仍在恢复检查点并测试放枝动作（log steps 241–249），没有交付轨迹或已固定的评分结果。推断：本次在交付前被模型提供方过滤器截断，按外因中断处理；首步前指没有评分轨迹，无法定位物理步骤断点。"
+  },
+  "unmet": {
+   "branches_in_bin_1": null,
+   "branches_in_bin_2": null,
+   "branches_in_bin_3": null,
+   "branches_in_bin_4": null,
+   "bin_on_garden_floor": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json，无视频、状态日志或可检查的已交付轨迹；评分器未给出节点结果或原生 q_score。log step 249 的 q_score=0.6 及三根枝 Inside=True、桶 OnTop=True，是 log steps 241–242 恢复 b3_at_bin 检查点后运行的会话测试输出，不属于已交付评分轨迹，亦未完整报告松手静置判据。推断：依 CASES.md FAIL-5 / DECISIONS.md D37，此次为交付前外部过滤中断，应重试并排除出机器人失败分析；无法标注物理进度、接触、失败现象或根因，不以缺交付推断没尝试或交付操作出错。"
+ },
+ "summary_zh": "观察：评分记录为 success=0、missing_trajectory=1，五个节点的评分终态均无法确定；没有视频或状态日志，原生 q_score 也未由评分器报告。观察：agent 在 log step 233 写入生成脚本后仍继续会话测试，log step 251 记录 Gemini 过滤器中断。推断：这是评分轨迹交付前的外部中断，断点为 unknown／首步前，按 FAIL-5 留空现象和根因；会话测试的三根枝入桶读数不能代替评分进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；log 末步 251 为 Gemini 过滤器中断，交付前外因截断。断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 FAIL-5；会话测试读数未被当作评分进度。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:53:01Z",
+  "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/behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aa98cc5bbc78e617aa8abe47781e0e00814fa1d464b40b7b5e0b4bc5452faba2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2813,
+   "sim_steps": 2813,
+   "physics_steps": 11252,
+   "steps": 938,
+   "elapsed_s": 1793.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0、success=0；DAG 中四个树枝入桶关系均非初始已满足的目标，每根合格树枝都会贡献一个新增目标文字，因此终态合格数量为0，“第1根枝入桶”终态为假。log step 59 的服务状态确认该单次现场回合已结束；此结论不确定此前是否短暂入桶，无视频故不填写区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 56 的脚本驱动底盘接近枝条候选区域，log step 58 继续原地转动扫描；无视频和接触状态日志，夹爪是否触及树枝、底盘与地面及障碍的实际接触方式均无法核实。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0、success=0；DAG 中四个树枝入桶关系均非初始已满足的目标，每根合格树枝都会贡献一个新增目标文字，因此终态合格数量为0，“第2根枝入桶”终态为假。log step 59 的服务状态确认该单次现场回合已结束；此结论不确定此前是否短暂入桶，无视频故不填写区间。"
+     },
+     {
+      "t": null,
+      "log_step": 58,
+      "text_zh": "观察：log steps 20–58 的实际服务调用围绕扫描、调整躯干和底盘移动展开，未记录完成首根枝条后继续收集下一根的动作；log step 58 的扫描因服务报告跌倒而中止。无视频或状态日志，不能以这些调用推定抓取或放入曾经成功。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0、success=0；DAG 中四个树枝入桶关系均非初始已满足的目标，每根合格树枝都会贡献一个新增目标文字，因此终态合格数量为0，“第3根枝入桶”终态为假。log step 59 的服务状态确认该单次现场回合已结束；此结论不确定此前是否短暂入桶，无视频故不填写区间。"
+     },
+     {
+      "t": null,
+      "log_step": 58,
+      "text_zh": "观察：log steps 20–58 的实际服务调用围绕扫描、调整躯干和底盘移动展开，未记录完成首根枝条后继续收集下一根的动作；log step 58 的扫描因服务报告跌倒而中止。无视频或状态日志，不能以这些调用推定抓取或放入曾经成功。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0、success=0；DAG 中四个树枝入桶关系均非初始已满足的目标，每根合格树枝都会贡献一个新增目标文字，因此终���合格数量为0，“第4根枝入桶”终态为假。log step 59 的服务状态确认该单次现场回合已结束；此结论不确定此前是否短暂入桶，无视频故不填写区间。"
+     },
+     {
+      "t": null,
+      "log_step": 58,
+      "text_zh": "观察：log steps 20–58 的实际服务调用围绕扫描、调整躯干和底盘移动展开，未记录完成首根枝条后继续收集下一根的动作；log step 58 的扫描因服务报告跌倒而中止。无视频或状态日志，不能以这些调用推定抓取或放入曾经成功。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 58,
+      "text_zh": "观察：DAG 说明桶接触花园地面的关系初始已满足；log step 58 中 agent 自述桶似乎侧翻，并猜测行驶时碰到了桶。该文字不是服务对桶与地面关系的判定；无视频及状态日志可核实终态。"
+     },
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：现场 q_score=0 不计仍保持的初始目标，因此不能据此判定桶已离开花园地面；DAG 的本节点也不要求桶直立，故即便 agent 的侧翻描述属实，也不足以判假。log step 59 的终局服务状态只报告机器人跌倒，没有桶的接触关系字段，终态保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": null,
+   "log_step": 58,
+   "where": "探索",
+   "evidence_zh": "推断：log steps 56、58 的执行脚本仍在接近枝条候选位置、旋转底盘观察场景，未进入已证实的首根树枝搬送；log step 58 的扫描调用被服务以“failure: the robot fell over”终止，log step 59 确认 done=True、control_steps=2813、resumes=0。故断点归于第1根枝入桶的探索阶段，无后续修复；不是将跌倒约束作为断点。无视频时钟，t 留空。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 58,
+    "evidence_zh": "观察：log step 58 中机器人执行底盘原地转动的扫描脚本，服务在 submit 调用中返回 EpisodeOver: failure: the robot fell over；log step 59 的服务终局状态再次给出同一原因、done=True、control_steps=2813。该读数来自单次现场回合的服务判定，而非 agent 自述，足以确认机器人跌倒；没有视频可定位开始失衡的时刻。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "输入目录只有运行记录及元数据，无可用视频、状态日志或成功示范；所有视频时间与节点区间均留空。四个入桶节点终态由现场 q_score=0 约束，但无法恢复历史进度、核实目标接触或判断桶是否仍接触花园地面。服务已确认跌倒，然而撞桶、底盘卡在花坛边沿及随后转动致倾覆只是 agent 在 log steps 58、60、63 的推测和事后解释，缺乏可独立检查的碰撞、倾角及支承证据，故不另标碰撞现象，根因留空。",
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": null
+  }
+ },
+ "summary_zh": "现场评分 q_score=0，四个树枝入桶节点终态均为假；桶在花园地面的初始目标终态未知，无法恢复历史进度。机器人在为首根树枝扫描候选区域时，服务于 log steps 58–59 确认跌倒并终止回合，断点为“第1根枝入桶”的探索阶段，现象为全身失衡。无视频和状态日志，实际接触、失衡时刻及具体致因均无法核实，根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频，标签只用服务读数与 log：q_score=0 约束四个入桶节点为假，桶节点保留未知，断点在第1根枝入桶的探索阶段，现象为平衡（服务 EpisodeOver 跌倒），根因留空并有 gap_zh；log step id 对应正确，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": "2026-10-30T21:53:56Z",
+  "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/behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "065f728c169574c8135cc27e783d80979f6f33508707594b477ce66588c60887",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.4,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 13375,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 13525,
+   "fallen": 0,
+   "final_reward": 0.4,
+   "q_score": 0.4,
+   "replay_wall_s": 3068.9,
+   "replay_timeout_s": 10116.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 2,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.423,
+   "peak_memory_gb": 12.585,
+   "peak_processes": 47,
+   "peak_disk_gb": 2.08,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 291,
+      "text_zh": "观察：log step 291 的会话输出 OPENNEW 报告冰箱关节约1.4032弧度，但这是 agent 调试进程的读数；没有提交轨迹的视频、状态日志或评分器逐门结果，不能据此确认受评开门事件，终值与区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该步骤的录制或调试指令，但本任务无视频、无状态日志，不能核实提交重放中作用端与目标的实际接触方式。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 308,
+      "text_zh": "观察：log step 254 的会话自检 CHRESTORED=True，log step 308 又输出 CHPLACE_START 的鸡肉入盒=False、CHIN=False False；这些为 agent 脚本调用对象状态的自检，并非评分器对提交重放的逐节点结果。无视频或状态日志，无法确定受评鸡肉入盒终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该步骤的录制或调试指令，但本任务无视频、无状态日志，不能核实提交重放中作用端与目标的实际接触方式。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 314,
+      "text_zh": "观察：log step 284 的会话自检 PIERELOADED=True，log step 294 的 PIESTILL=False，log step 314 的 PIEINSIDEFINAL=False；均来自 agent 自己的检查，不能代替受评重放的节点判定。无视频或状态日志，派入盒终值和达到、失去时刻未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该步骤的录制或调试指令，但本任务无视频、无状态日志，不能核实提交重放中作用端与目标的实际接触方式。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 296,
+      "text_zh": "观察：log step 296 的会话自检 PIEBOX_IN=True False，分别检查第一个盒入冰箱及派入盒；这不是评分器逐节点结果。reward.q_score=0.4 仅给总量，不能唯一推出至少一盒在冰箱内，无视频或状态日志故终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该步骤的录制或调试指令，但本任务无视频、无状态日志，不能核实提交重放中作用端与目标的实际接触方式。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 308,
+      "text_zh": "观察：log step 308 的会话自检 CHIN=False False，agent 随后尝试回收食物；不能把自检当作提交重放的终值。推断：reward.q_score=0.4 对应新增目标字面值总数2/5，而两盒入冰箱本身需要2个字面值，总量并不排除该节点，也不证明它成立，故保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该步骤的录制或调试指令，但本任务无视频、无状态日志，不能核实提交重放中作用端与目标的实际接触方式。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 317,
+      "text_zh": "观察：log step 315 在 checkpoint() 之后才安排关门，log step 316 只见左手退让动作；log step 315、317 两次导出文件均为13375个动作，未记录 CLOSEHAND 或 FINAL_STATUS 返回。推断：不能把后续关门计划算作已保存的关门动作；评分器也未报告终态门开合值，初始关闭不能证明最终关闭，故终值未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.4,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 317,
+   "where": "未知",
+   "evidence_zh": "观察：reward 报告 success=0、goal=0、q_score=0.4、n_actions=13375、deterministic=1、infra_error=0；log step 317 确认提交文件形状为(13375,25)且数值有限，log step 318 明确承认未完成。推断：有有效交付，但总分未定位失败步骤；会话中多个装盒和入冰箱尝试的自检不能确定受评轨迹中第一个始终未修复的失败，断点及阶段保留未知。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": null,
+   "pie_in_tupperware": null,
+   "tupperwares_in_fridge_1": null,
+   "tupperwares_in_fridge_2": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 的 kind=none（视频未取得），inputs/ 实际仅提供运行记录及元数据，没有视频、状态日志或成功示范。reward 虽有 video_rendered=1、video_replay_matches=1，但没有可供本次检查的画面；逐节点最终值也未报告。log step 117、183-185、215-216 显示会话经历重置、截取前缀和新进程重放，且新进程自检与早期调试结果不同；log step 315-317 只验证已保存文件，关门后 FINAL_STATUS 未返回。推断：按无视频规则N9，全部视频时间和区间为null，节点终值不取自 agent 自检；0.4总分不能唯一分配给六个DAG节点。无法定位受评断点、观察实际接触或失败现象，也无法把会话中的抓取、跟踪或逆解问题可靠归到受评失败，因此现象和根因均留空；不把未知当作从未尝试，不由失败或停止反推原因。"
+ },
+ "summary_zh": "评分器确认提交的13375动作轨迹失败，q_score=0.4，未报告倒地、仿真崩溃或基础设施错误；六个DAG节点的具体终值均无法由总分唯一确定。日志记录了食物装盒、开门和两盒入冰箱的尝试，但最后关门计划未见保存完成，不能把会话自检替代提交重放的进度。没有视频和状态日志，断点、实际接触、失败现象及根因缺乏可核实证据，保留未知或空层。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志；标签把全部节点、断点保留为未知并留空现象与根因，附 gap_zh，符合 N9，q_score=0.4 也不能唯一分配到节点。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:56:53Z",
+  "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/behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3fdd1386d2033b39f7deda9098113b468c30e0d2e909b1871655d9a67d3ac0bf",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp.json

@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
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+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“打开冰箱”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“鸡肉入保鲜盒”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“派入保鲜盒”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“第1盒入冰箱”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“第2盒入冰箱”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 80,
+      "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 80 记录模型响应超过32000输出 token 上限的 API 错误。inputs/video.json 标明无视频，亦无状态日志或受评节点结果，无法判定“关上冰箱”的达成情况；会话测试不作为提交轨迹证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付可受评轨迹；不将会话调试中的接触计入本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 80,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.missing_trajectory=1，未获得提交轨迹；log step 80 的末条记录为“API Error: Claude's response exceeded the 32000 output token maximum.”，此前 log step 73、75、77、79 均无工具调用或交付记录。推断：会话在提交轨迹前受 API 输出上限错误中断，属于外因截断，无法定位受评物理步骤。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": null,
+   "pie_in_tupperware": null,
+   "tupperwares_in_fridge_1": null,
+   "tupperwares_in_fridge_2": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，inputs/ 无视频及状态日志；评分器仅报告 missing_trajectory=1、success=0，没有逐节点结果或 q_score。log step 80 记录 API 输出上限错误且没有交付轨迹，按外因截断处理，不标机器人失败现象或根因；log step 65 的抓取测试、log step 72 的自写诊断及其 q_score=0.0 均是会话证据，不能代替受评轨迹。六个节点的终值和全部视频时间均未知，初始关门状态也不能当作不存在的受评轨迹终态。"
+ },
+ "summary_zh": "评分器记录 missing_trajectory=1、success=0，没有可受评轨迹，六个节点均无法判定，实际接触均记不适用。日志最后在 log step 80 报告 API 响应超过输出上限，按交付前外因截断处理，断点为 unknown／首步前，现象与根因留空。无视频、状态日志或逐节点评分结果，会话中的抓取测试及诊断不计为受评进度。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；六个节点 unknown、接触不适用、首步前/unknown 断点、现象与根因留空并写 gap_zh，均有依据。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": "2026-10-30T21:55:54Z",
+  "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/behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cae26b609ff9ea543735d610b945dbfc1d19a1eb3785c312c932d8b0ad29922b",
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+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj.json

@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
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+  "reward": 0.0,
+  "source": "catalog",
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+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
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+ "video": {
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+  "fps": null,
+  "frames": null,
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+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“打开冰箱”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为轨迹实际接触。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“鸡肉入保鲜盒”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为轨迹实际接触。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“派入保鲜盒”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为轨迹实际接触。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“第1盒入冰箱”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为轨迹实际接触。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“第2盒入冰箱”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为���迹实际接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 331,
+      "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，没有报告“关上冰箱”的评分终态；inputs/video.json 为 kind=none，亦无状态日志。log step 331 仅加载会话检查点，输出 recorded actions: None；不能据会话调试判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 missing_trajectory=1，未交付评分轨迹；会话调试中的机器人接触不作为轨迹实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 334,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward 报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0。log step 331 加载检查点时 recorded actions 为 None；log step 332 的关门测试由 agent 脚本直接设置门关节并随后恢复检查点；最后的 log step 334 仍在计算门运动几何，没有评分轨迹交付记录。推断：缺少评分尝试，无法将断点归到任何物理节点，位置记为首步前；并非认定机器人在会话内没有操作。"
+  },
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+   "pie_in_tupperware": null,
+   "tupperwares_in_fridge_1": null,
+   "tupperwares_in_fridge_2": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json 和 video.json，无视频、状态日志或成功示范；评分器报告未交付轨迹。run.json 的 wall_s=7203，time_limit_s=7200，日志末尾 log step 334 仍在会话调试，没有记录最终完成汇报或导致会话结束的明确异常。log step 332 中 agent 脚本直接设置冰箱门关节，所读服务状态 goal=True、success=False、goal_held_steps=17、q_score=1.0 属于该会话测试，随后已恢复检查点，不能作为评分终态或原生指标。推断：无评分轨迹可观察其物理失败现象，也无法仅凭缺交付、会话耗时或调试问题确定根因，故两层均留空；所有节点的时段和终值保留未知，实际接触记不适用。"
+ },
+ "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1，未交付评分轨迹；六个节点均无可判定的评分终态。观察：log step 331 的检查点未录制动作，log step 332 的直接设门关节测试随后被恢复，不能将该会话中的装盒及关门结果计为轨迹进度。推断：断点只能记 unknown／首步前；无视频、状态日志及明确的缺交付原因，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": 7,
+    "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1、agent_records=0；六个节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合“被外部因素截断且无交付”的处理。会话内 step 332 的关门测试读数未被当作评分进度。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:53:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "daae9bf5c6f6e9d3910f454225c01ede3a1f474f258289cddd65138094ff897e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs.json

@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1473,
+   "sim_steps": 1473,
+   "physics_steps": 5892,
+   "steps": 741,
+   "elapsed_s": 1428.9,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 51,
+      "text_zh": "观察：inputs/video.json 标记 kind=none，未提供状态日志；运行 reward 及 log step 51 的服务终态仅报告倒地失败，没有冰箱门开度或开门事件字段。无法由服务结果确定本事件节点是否达到。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.q_score=0.0、graded_by_live=1；结合任务 DAG 中该放入关系初始不成立，若终态“鸡肉位于任意保鲜盒内”成立则须贡献新增目标字面值，与总分为零矛盾，因此本节点终态为 false。没有视频，不能判断过程中是否曾短暂达到，也不据总分推断从未尝试。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.q_score=0.0、graded_by_live=1；结合任务 DAG 中该放入关系初始不成立，若终态“苹果派位于任意保鲜盒内”成立则须贡献新增目标字面值，与总分为零矛盾，因此本节点终态为 false。没有视频，不能判断过程中是否曾短暂达到，也不据总分推断从未尝试。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.q_score=0.0、graded_by_live=1；结合任务 DAG 中该放入关系初始不成立，若终态“至少一个保鲜盒位于冰箱内”成立则须贡献新增目标字面值，与总分为零矛盾，因此本节点终态为 false。没有视频，不能判断过程中是否曾短暂达到，也不据总分推断从未尝试。"
+     },
+     {
+      "t": null,
+      "log_step": 49,
+      "text_zh": "观察：log step 43、45、48、49 的 agent 脚本驱动机器人接近台面、转向观察并继续驶向保鲜盒候选物；log step 53 将搬盒及后续装食物、入冰箱明确列为未执行计划。此处只记录取盒前的场景探索，不确认抓取或搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 43—49 记录机器人为辨认台面上的保鲜盒候选物而移动和转向；没有视频或状态接触记录，无法确认底盘与周围家具、夹爪与保鲜盒之间实际发生了哪些接触。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 reward.q_score=0.0、graded_by_live=1；结合任务 DAG 中该放入关系初始不成立，若终态“两个保鲜盒均位于冰箱内”成立则须贡献新增目标字面值，与总分为零矛盾，因此本节点终态为 false。没有视频，不能判断过程中是否曾短暂达到，也不据总分推断从未尝试。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 51,
+      "text_zh": "观察：任务 DAG 记载冰箱初始关闭，但没有视频、状态日志或报告冰箱终态的服务字段。评分器 q_score=0 不计入仍成立的初始目标，不能据此判断冰箱终态是否关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperwares_in_fridge_1",
+   "t": null,
+   "log_step": 49,
+   "where": "探索",
+   "evidence_zh": "推断：log step 43、48、49 显示 agent 正让机器人近距离辨认台面上的保鲜盒候选物，作为取盒准备；log step 53 说明先取盒到桌上、最终搬盒入冰箱的操作尚未执行，因此将断点归入第1盒入冰箱的取盒前探索。log step 49 的机器人服务返回 EpisodeOver: failure: the robot fell over，log step 51 确认 done=true、control_steps=1473、resumes=0；此次倒地结束实时评分回合，未被修复。没有视频，t 保留 null。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": null
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 51,
+    "evidence_zh": "观察：log step 49 的机器人服务异常为 failure: the robot fell over；log step 51 的服务 /status 返回 done=true、reason=\"failure: the robot fell over\"、control_steps=1473、resumes=0，log step 52 再提交动作被服务以同一原因拒绝。该单回合实时服务的终态直接确认机器人倒地，并非仅依据 agent 自述。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无视频：inputs/video.json 为 kind=none，说明远端视频返回404且没有本地视频；inputs/ 也未提供状态日志或可查看的相机图片。所有视频时间及节点区间均为 null；四个新增放入节点的终态只由评分总分约束，冰箱开门事件和最终关门状态未知。断点归属由取盒前探索及后续任务计划推断，不能核实探索对象身份和实际接触。agent 在 log step 50 猜测碰到台面转角，在 log step 52、58 又推测底盘骑上木椅；log step 45 虽打印底盘高度从0.01米升至0.05米，但无接触对、姿态序列或图像可验证碰撞对象及致倒机制，故不追加碰撞现象，根因层留空。"
+ },
+ "summary_zh": "实时评分回合在辨认台面保鲜盒、准备取盒的探索阶段因机器人倒地终止（log step 49、51），断点归入第1盒入冰箱。评分器 q_score=0 确定鸡肉入盒、派入盒及第1/2盒入冰箱四个节点终态均不成立；冰箱开门事件及最终关闭状态未知。没有视频和状态日志，无法确认节点时序、实际接触或致倒根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志；节点终态仅由 q_score=0 约束，冰箱开/关节点保持 unknown 合理；断点（第1盒入冰箱前的探索）与 全身·平衡 由服务返回的 EpisodeOver/status 直接支持，根因留空并写明 gap_zh，无可证错误。",
+    "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": "2026-10-30T21:56:17Z",
+  "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/behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "48c870ed6341a7801d4b4661a2374f57ee70c1e5adfcdaff01074560d036a34c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--mya7rsm.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--mya7rsm",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第1罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第2罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第3罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第4罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第5罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；��话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 47,
+      "text_zh": "观察：inputs/video.json 标记 video.kind=none，本运行无视频及状态日志；评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告第6罐入桶的受评终值。log step 47 以模型 API 输出长度错误结束；会话测试不构成受评轨迹，故本节点的区间及终值均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不计入本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 47,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 47 记录“API Error: Claude's response exceeded the 32000 output token maximum”；此后日志结束，评分字段 missing_trajectory=1、agent_records=0、agent_replays=0。没有已交付的受评轨迹可定位物理步骤断点。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": null,
+   "cans_in_bucket_2": null,
+   "cans_in_bucket_3": null,
+   "cans_in_bucket_4": null,
+   "cans_in_bucket_5": null,
+   "cans_in_bucket_6": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有视频及状态日志，评分字段确认交付轨迹缺失；log step 47 记录模型 API 输出长度错误，会话在该错误后结束。推断：这是交付与受评结果固定之前的外部 API/CLI 中断，按外因规则保留目录 success=0，但不归入机器人失败分析。log step 20、27、29、36、39 属于会话测试及重置，不能据此填写受评节点、接触或失败现象；六个节点终值均未知。评分 reward 未报告 q_score，log step 20 的测试 q_score=0.0 不作为原生受评指标。成功参考视频属于另一运行，不能补足本运行证据，故现象与根因两层留空。"
+ },
+ "summary_zh": "观察：评分字段 success=0、missing_trajectory=1，本运行未交付可回放轨迹，六个入桶节点的终值及时间区间均未知，接触记不适用。观察：log step 47 以模型 API 输出超过32000 token上限的错误结束；推断：这是受评结果固定之前的外部中断，断点记 unknown／首步前，不标机器人失败现象或根因。观察：本运行无视频和状态日志，日志中的抓取及导航诊断仅是会话测试；评分 reward 未报告 q_score。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本运行无视频、无状态日志、无 state_progress；标注把六个节点记 unknown、接触记不适用，断点 unknown／首步前，现象与根因留空并写 gap_zh，符合 D23/D37 对外部 API 中断且未交付轨迹的处理。log step 47 的 API 报错、missing_trajectory=1 均属实，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": "2026-10-30T21:54:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--mya7rsm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--mya7rsm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7c85695cb68ed1044338262c52c71b437a3571932f403962b9a10aff6eec3e50",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--aguca4k.json

@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--aguca4k",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 8776,
+   "sim_steps": 8776,
+   "physics_steps": 35104,
+   "steps": 6209,
+   "elapsed_s": 2359.9,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 1.0,
+   "goal_first_step": 8726,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": 6,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有1个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有2个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有3个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有4个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有5个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "观察：本次实时单局的机器人服务在 log step 194 返回 done=true、reason=\"success\"；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1、q_score=1.0，且 sim_startups=1、resumes=0。"
+     },
+     {
+      "t": null,
+      "log_step": 194,
+      "text_zh": "推断：任务要求六罐全部入同一桶，并在六罐及桶均释放、静止时连续保持30个控制步；服务成功终态因此满足“桶内至少有6个合格罐”，该计数节点 final=true。无本次视频或状态日志，无法定位首次成立及中途丢失的时刻，intervals=null；未把 agent 的抓取或放入自述当作独立完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "本次没有可用视频或状态日志，无法核实夹爪与汽水罐的实际接触、是否双臂同时参与及底盘在本步骤中的移动；服务终态成功不能确定具体接触方式，故不沿用任务 DAG 的典型方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分器记录本次实时单局成功（live_success=1、q_score=1.0），机器人服务也在 log step 194 返回 done=true、reason=\"success\"，据此六个入桶计数节点终态均为真（6/6），无失败断点。服务成功判定支持六罐及桶均已释放、静止并满足联合保持窗口，agent 在 log step 195 确认成功后结束。inputs/video.json 标明本次视频为 none，且无状态日志，因此所有节点时间区间保留 null、实际接触记未知；另一个成功运行的 oracle 视频不能证明本次动作或时间。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "本次运行无视频、无状态日志；评���器 live_success=1、q_score=1.0，log step 194 服务返回 done=true/reason=success，六个计数节点 final=true、时间 null、接触未知均有依据，无失败断点，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:58:09Z",
+  "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/behavior-collecting-aluminum-cans-i00-standard--aguca4k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--aguca4k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "407a56f472174a9499d86cec1fa90ae0a813142ae6425addf69676327d369021",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--wrrnyjk.json

@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--wrrnyjk",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333333333333333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4236,
+   "sim_steps": 4236,
+   "physics_steps": 16944,
+   "steps": 1412,
+   "elapsed_s": 1856.5,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.3333333333333333,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": 2,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少1罐入桶”为真。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     },
+     {
+      "t": null,
+      "log_step": 41,
+      "text_zh": "观察：log step 37、39、41 的脚本依次命令左夹爪闭合、抬升、移至估计桶中心后张开；未提供这些动作对应的本次图像，无法核实左夹爪与罐的实际接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 37、39、41 的脚本依次命令左夹爪闭合、抬升、移至估计桶中心后张开；未提供这些动作对应的本次图像，无法核实左夹爪与罐的实际接触。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少2罐入桶”为真。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     },
+     {
+      "t": null,
+      "log_step": 52,
+      "text_zh": "观察：log step 50、52 的脚本命令右夹爪抓取后驱动底盘返回桶边并张开右夹爪；无本次视频或状态日志，无法核实右夹爪与罐、底盘与地面的实际接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 50、52 的脚本命令右夹爪抓取后驱动底盘返回桶边并张开右夹爪；无本次视频或状态日志，无法核实右夹爪与罐、底盘与地面的实际接触。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少3罐入桶”为假。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     },
+     {
+      "t": null,
+      "log_step": 110,
+      "text_zh": "观察：log step 62–87 的脚本多次命令左夹爪接近床上罐并闭合，log step 110 又执行返回桶边并放入的脚本；无本次图像或状态日志，左夹爪是否持罐及搬运时的实际接触未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 62–87 的脚本多次命令左夹爪接近床上罐并闭合，log step 110 又执行返回桶边并放入的脚本；无本次图像或状态日志，左夹爪是否持罐及搬运时的实际接触未知。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少4罐入桶”为假。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     },
+     {
+      "t": null,
+      "log_step": 94,
+      "text_zh": "观察：log step 91、94 的脚本另以右夹爪接近床上另一目标并闭合，log step 97–102 尝试移开右臂；这是对后续罐的额外尝试，不代表第3罐已入桶。无本次视频或状态日志，右夹爪与目标的实际接触未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 91、94 的脚本另以右夹爪接近床上另一目标并闭合，log step 97–102 尝试移开右臂；这是对后续罐的额外尝试，不代表第3罐已入桶。无本次视频或状态日志，右夹爪与目标的实际接触未知。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少5罐入桶”为假。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 graded_by_live=1、finalized=1、q_score=0.3333333333333333；任务 DAG 的六个入桶目标初态均为假，因此本局末态恰有2个入桶关系成立，按任意实例计数，“至少6罐入桶”为假。无本次视频或状态日志，不能给出达成区间，也未以 agent 自行检查或夹爪读数认定放入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3333333333333333,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_3",
+   "t": null,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "推断：评分器最终仅有2/6个入桶关系成立，第3罐入桶未完成。log step 87 的脚本尝试左夹爪抓取床上罐，agent 在 log step 114 自述该橙罐仍由左手持有；log step 110 的脚本明确计划左手返回桶边并执行 drop2，但在首个 goto 内服务报告“failure: the robot fell over”，未执行到放罐。故定位为第3罐入桶的搬运操作中；持罐情况仅为 agent 自述，缺少图像核实，不换算视频时间。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 110,
+    "evidence_zh": "观察：本局机器人服务在 log step 110 的底盘移动调用中返回“EPISODE DONE failure: the robot fell over”；log step 111 的 r.status() 再次报告 done=True、reason=\"failure: the robot fell over\"、control_steps=4236、resumes=0。该现象依据服务对本次实时局的判定，非 agent 对画面的猜测；无视频时刻。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "本次 inputs/video.json 为 kind=none（记录 HF replay.mp4 为404，且无本地视频），inputs/ 也无状态日志；oracle 视频属于另一成功局，不能证明本次的动作或接触。因此所有视频区间及时间为 null，实际接触标为未知，节点末值仅由评分器2/6总数推断，单罐释放与静止过程不可核对。服务确认跌倒，但 agent 在 log step 113、114 所称右臂可能挂住床或床头柜只是事后假设；无实际碰撞、支承变化或倾角序列可区分碰撞与底盘控制失稳，故根因层留空。后续罐的脚本尝试不证明曾达到更高计数，历史峰值未知。"
+ },
+ "summary_zh": "评分器以本局实时结果判失败，q_score=2/6；按任务的计数节点推断第1、2罐入桶末态为真，其余为假，达成时间及历史峰值未知。log step 110 的返回桶边脚本在底盘移动期间触发服务的跌倒判定，断点为第3罐入桶的操作中，现象为全身失衡。无本次视频或状态日志，实际接触、左手持罐及家具碰撞假设无法核实，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": "本次无视频、无状态日志，标签全部基于评分器字段（q_score=2/6）与服务的跌倒判定，均为null时间、接触未知，处理克制；断点（第3罐入桶、操作中）、现象（全身·平衡，服务报告 fell over）与空根因层（附 gap_zh）与证据一致，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:54:58Z",
+  "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/behavior-collecting-aluminum-cans-i00-standard--wrrnyjk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--wrrnyjk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b8206892c54a14f676388cd61e1b8ce86b5031e56381383176e0eea745b39ee1",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--8gkhckz.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--8gkhckz",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 4,
+   "agent_resets": 22,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第1枚骰子入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第2枚骰子入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第1只熊入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第2只熊入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第1盒桌游入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“第2盒桌游入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 367,
+      "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“火车玩具入柜”的终态；log step 367 最后输出为新进程 evaluator ready，没有交付轨迹保存结果。inputs/video.json 的 kind=none，且没有状态日志，无法判定该节点；会话内测试不能替代正式交付的节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标注实际接触；日志中的交互测试不属于正式交付。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 367,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器记录 success=0、missing_trajectory=1、grader_error=0。agent 在 log step 359 自述将改用新进程录制并保存，log step 360 启动生成脚本，log step 362 自述场景仍在加载；log step 367 仅见 evaluator ready，未见轨迹保存确认。没有正式交付，无法把会话中的某次抓取或摆放失败指定为评分轨迹的断点。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": null,
+   "dice_in_bookcase_2": null,
+   "teddies_in_bookcase_1": null,
+   "teddies_in_bookcase_2": null,
+   "board_games_in_bookcase_1": null,
+   "board_games_in_bookcase_2": null,
+   "train_in_bookcase": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，没有视频、状态日志或成功参考视频。评分器报告 missing_trajectory=1，既无正式轨迹逐节点终态，也未报告 q_score；全部节点的 intervals 和 final 均为 null。日志包含多次重置、录制与一次会话内前缀重放，但不足以建立任何正式评分轨迹的过程或接触；无交付时接触均为不适用，现象层留空。log step 355 的抓取未持物及逆解异常只属于交互测试，log step 359-367 的新进程启动记录没有揭示可确认的保存操作错误，不能仅凭缺交付或预算结束推断控制、规划或交付根因，故根因层亦留空。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，未形成可供评分的交付轨迹，七个入柜节点的终态均未知。日志中的熊和骰子搬放、重置与前缀重放属于会话测试，末次生成脚本启动后仅见模拟器就绪输出（log step 359-367）；断点记为未知／首步前，实际接触为不适用。没有视频或状态日志，无法确认评分轨迹的物理失败现象，也无足够证据确定缺交付的根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无交付轨迹（missing_trajectory=1），日志在 14400 s 墙钟上限处停在新进程 evaluator ready；七个节点 unknown、接触不适用、现象/根因层留空并有 gap_zh，符合 N9 与外因截断规则，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": "2026-10-30T21:54:23Z",
+  "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/behavior-collecting-childrens-toys-i00-privileged--8gkhckz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--8gkhckz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "41da116d210f155886c8b7dea763f499692d8cc97787f966d7cf20dbaf74ed84",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--xvjpguy.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--xvjpguy",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 20,
+   "agent_resets": 0,
+   "agent_sim_steps": 17316,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第1枚骰子入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第2枚骰子入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第1只熊入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第2只熊入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第1盒桌游入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“第2��桌游入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器reward报告missing_trajectory=1、success=0，未报告“火车玩具入柜”的节点终值或q_score；inputs/video.json为kind=none，且未提供状态日志。会话测试不能决定正式评分轨迹的节点值，因此终值与时间区间均未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告missing_trajectory=1，没有交付的评分轨迹；不将agent会话测试中的夹爪或底盘接触转作该节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 274,
+   "where": "首步前",
+   "evidence_zh": "观察：inputs/run.json的评分器reward为missing_trajectory=1、agent_records=2、agent_replays=0。log step 124与198只记录agent脚本将测试动作保存为工作区的attempt.npz；log step 272只生成gen.py副本，log step 274仍是测试脚本的骰子放置输出，未出现正式轨迹保存或重放结果。没有交付的评分轨迹，无法将断点绑定到七个物理节点中的某一个。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/仅有MANIFEST.json、meta.json、run.json和video.json，无视频、状态日志或成功参考视频；评分器报告正式轨迹缺失，且没有节点级结果与q_score。run.json记录agent会话wall_s=14400，与time_limit_s=14400相同，日志末尾log step 274仍在监测测试脚本，未记录最后一次测试完成或交付保存。log step 124、198的服务status和agent脚本inside检查属于会话测试，不能作为未交付评分轨迹的节点值或失败现象。按未交付轨迹规则保留节点未知、实际接触不适用，现象及根因均留空；不从交付缺失或会话中的抓放失败反推根因。",
+  "unmet": {
+   "dice_in_bookcase_1": null,
+   "dice_in_bookcase_2": null,
+   "teddies_in_bookcase_1": null,
+   "teddies_in_bookcase_2": null,
+   "board_games_in_bookcase_1": null,
+   "board_games_in_bookcase_2": null,
+   "train_in_bookcase": null
+  }
+ },
+ "summary_zh": "观察：评分器判success=0、missing_trajectory=1，未报告七个玩具入柜节点的终值；本次七个节点均未知，没有可确认的评分轨迹进度。日志仅显示agent在log step 124、198保存会话测试文件，log step 272更新生成脚本后，log step 274仍在监测骰子放置测试；断点记为unknown／首步前，现象和根因留空。无视频或状态日志，无法用会话中的抓取、放置输出替代正式评分轨迹证据，q_score亦未报告。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分器missing_trajectory=1、无视频无状态日志，七个节点unknown、断点unknown/首步前、现象与根因为空并附gap_zh，符合未交付轨迹规则；log step 124/198/272/274与文件所述一致，未将会话测试当作正式轨迹事实。",
+    "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": "2026-10-30T21:56:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--xvjpguy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--xvjpguy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b05b8c24c504ce85841bfac5dfdc718fe6404aac7785e8f1179902bf64e66316",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--zvpkxsy.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--zvpkxsy",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第1枚骰子入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第2枚骰子入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第1只熊入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第2只熊入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第1盒桌游入柜”的终态，故���节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“第2盒桌游入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0；log step 48 以模型 API 响应超过32000输出 token 上限的错误结束。没有交付轨迹、视频或状态日志，也无评分器或服务结果报告“火车玩具入柜”的终态，故该节点为未知，不能由总体 success=0 判为未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付评分轨迹，故无可标注的机器人作用端与玩具实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 48,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 12 的 agent 脚本启动仿真会话，log step 26 报告会话就绪，随后至 log step 40 仅有源码和几何查询；log step 41、43、45、47 无工具调用，log step 48 报模型 API 响应超过32000输出 token 上限。评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未交付评分轨迹，无法定位任何物理步骤的失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 仅提供 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，无视频、状态日志或交付轨迹；reward 未报告 q_score 或各节点终态。log step 48 明确记录模型 API 输出长度错误，会话在交付前中断。推断：按外因中断规则处理，应重试并排除于机器人失败分析；目录 success=0 保留，但七个节点终态均未知，接触均不适用，现象与根因均留空。会话中的几何查询不能替代评分回放或节点结果，也不能据缺交付反推规划、控制或交付操作出错。",
+  "unmet": {
+   "dice_in_bookcase_1": null,
+   "dice_in_bookcase_2": null,
+   "teddies_in_bookcase_1": null,
+   "teddies_in_bookcase_2": null,
+   "board_games_in_bookcase_1": null,
+   "board_games_in_bookcase_2": null,
+   "train_in_bookcase": null
+  }
+ },
+ "summary_zh": "评分器记录缺少交付轨迹（reward.missing_trajectory=1），七个玩具入柜节点均无可确认的评分终态。agent 在 log step 12–40 启动仿真并查询几何，log step 48 因模型 API 响应超过输出 token 上限而中断，断点记 unknown／首步前，按外因中断待重试，不归为机器人能力失败。无视频、状态日志、节点结果或 q_score，节点终态均为未知，实际接触不适用，失败现象与根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无交付轨迹，评分器 missing_trajectory=1；log step 48 为 API 输出 token 上限错误，属外因中断（wall 4460 s < 7200 s 预算，未交付）。七节点 unknown、接触不适用、现象与根因留空并写 gap_zh，均符合 D23/D37 规则，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": "2026-10-30T21:54:17Z",
+  "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/behavior-collecting-childrens-toys-i00-privileged--zvpkxsy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--zvpkxsy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0beed0f82dd1363b82a6ead9062eaf177260129638705f128678d6f22b2cc867",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--8anxywm.json

@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--8anxywm",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5714285714285714,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 18028,
+   "sim_steps": 18028,
+   "physics_steps": 72112,
+   "steps": 17788,
+   "elapsed_s": 5204.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.5714285714285714,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 110,
+      "text_zh": "观察：agent 在 log step 110 自述已释放黑骰子，并在 log step 126 自述两枚骰子并排留在柜内。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该节点的夹爪及搬运控制指令，但没有视频或状态接触记录，不能核实夹爪与玩具的实际接触方式。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 126,
+      "text_zh": "观察：agent 在 log step 122、126 自述两枚骰子已释放并在书柜内放稳。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该节点的夹爪及搬运控制指令，但没有视频或状态接触记录，不能核实夹爪与玩具的实际接触方式。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 398,
+      "text_zh": "观察：agent 在 log step 357 自述第一只熊落地，随后执行恢复与再次放置指令，并在 log step 398 自述其已在上层柜内放稳。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该节点的夹爪及搬运控制指令，但没有视频或状态接触记录，不能核实夹爪与玩具的实际接触方式。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 480,
+      "text_zh": "观察：log step 462、470 的脚本对第二只熊执行闭爪、抬臂和返回书柜的指令；log step 480 实时服务以机器人跌倒结束该局。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该节点的夹爪及搬运控制指令，但没有视频或状态接触记录，不能核实夹爪与玩具的实际接触方式。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 271,
+      "text_zh": "观察：agent 在 log step 266 自述正释放第一盒桌游，log step 271 自述其已在骰子旁放稳。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：日志记录了针对该节点的夹爪及搬运控制指令，但没有视频或状态接触记录，不能核实夹爪与玩具的实际接触方式。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 481,
+      "text_zh": "观察：完整日志未记录对第二盒桌游的搬放指令，agent 的最终报告（log step 481）只声称放好一盒桌游。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 481,
+      "text_zh": "观察：完整日志未记录针对火车玩具的搬放指令，agent 最终报告（log step 481）未声称火车入柜。本作业没有视频或状态日志；评分器只报告 q_score=4/7，没有该节点的逐项结果，故无法确认其终值。上述 agent 自述及控制指令不作为入柜、释放和静止达标的证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "name": "q_score",
+   "value": 0.5714285714285714,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "teddies_in_bookcase_2",
+   "t": null,
+   "log_step": 480,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 462 的脚本对第二只熊执行闭爪和抬升，log step 470 继续把右夹爪目标抬至1.20米并调用 goto 返回书柜；agent 在 log step 478 自述正持第二只熊返回。该控制进程在 log step 480 收到实时服务结果：step=17788、done=true、reason=\"failure: the robot fell over\"，故将断点定位于第2只熊入柜的搬运操作；实际持物情况未获视频或状态日志核实。没有视频时钟，t 留空。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": null,
+   "dice_in_bookcase_2": null,
+   "teddies_in_bookcase_1": null,
+   "teddies_in_bookcase_2": null,
+   "board_games_in_bookcase_1": null,
+   "board_games_in_bookcase_2": null,
+   "train_in_bookcase": null
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 480,
+    "evidence_zh": "观察：本次为单局实时服务评估，评分器字段 graded_by_live=1、replays=0、resumes=0；log step 478 的服务结果仍为 done=false，log step 480 明确返回 done=true、reason=\"failure: the robot fell over\"。这是服务对本次评分局跌倒的判定，而非仅有 agent 的事后自述。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.json 标明 kind=none，没有可用视频，也没有状态日志或成功示范。无法核实各件玩具的实际抓取、柜内位置、松手静止和历史恢复情况，所有节点 intervals 与 final 均为 null，已尝试节点接触均标未知；q_score=4/7 仅给出目标文字条件总量，不能唯一分配到七个节点。断点按末段控制脚本及服务终止结果推断，不能排除更早存在未修复的节点失败。服务证实跌倒，但没有跌倒附近的连续基座姿态、接触对或可见场景，无法区分碰撞、承载布局或跟踪失稳，根因留空。"
+ },
+ "summary_zh": "评分器报告 success=0、q_score=4/7；agent 在 log step 481 自述两枚骰子、一盒桌游和第一只熊已入柜，但没有逐节点服务判定，七个节点的终值均保留为未知。末段脚本尝试搬运第二只熊返回书柜，log step 480 的实时服务明确以机器人跌倒终止，断点据此定位为第2只熊入柜，失败现象为平衡。无视频或状态日志，实际接触、节点达标时刻及跌倒根因无法核实。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频/状态日志，节点均为 unknown 合理（q=4/7 无逐项结果）；断点在第2只熊搬运、log step 480 服务返回 fell over 作为观察，现象“平衡”有服���读数支持，根因留空并有 gap_zh，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:55:36Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--8anxywm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--8anxywm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a59aa1deccd6018f80ac37d24d5efd3acf6fa29857f4f4c5dc26083d56a630b1",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--pqgikwt.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--pqgikwt",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3089,
+   "sim_steps": 3089,
+   "physics_steps": 12356,
+   "steps": 1450,
+   "elapsed_s": 2143.1,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第1枚骰子入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第2枚骰子入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第1只熊入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "log step 63 定位地面物体后，log step 64 的机器人动作脚本驶向地面玩具区域准备近看，服务随即返回跌倒终止。无视频或接触状态日志，无法核实机器人作用端与熊或周围物体的实际接触。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第2只熊入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第1盒桌游入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，第2盒桌游入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0；任务 DAG 说明所有玩具入柜目标初始均不成立，因此终态连一个入柜目标字面量也未满足，火车玩具入柜的最终值为 false。log step 65 的机器人服务状态确认该实时回合已结束；无视频及状态日志，不能确定过程中是否短暂达到该条件，intervals 留 null。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "teddies_in_bookcase_1",
+   "t": null,
+   "log_step": 64,
+   "where": "探索",
+   "evidence_zh": "推断：log step 63 的 agent 深度反投影脚本定位地面物体，log step 64 标题为近看地面物体，机器人动作脚本先令底盘驶向 (22.85, 6.8) 并低头，尚未开始抓放；结合 log step 79 将该区域粉色物体认作两只熊的自述，将此探索归于第1只熊入柜。观察：log step 64 两次调用均返回 EpisodeOver: failure: the robot fell over；log step 65 的机器人服务 status 返回 done=True、control_steps=3089、resumes=0，证实这一实时回合因跌倒终止，之后没有修复机会。无视频，t 留 null。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 64,
+    "evidence_zh": "观察：log step 64 在机器人动作脚本执行驶向地面物体的 s_goto 调用期间，机器人服务返回 failure: the robot fell over；log step 65 服务最终状态重复确认这一终止原因，control_steps=3089。此为服务判定的跌倒，未将 agent 自述的碰撞位置当作观察。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 8,
+    "t": null,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 8 的 drive_to 控制代码按目标位置及偏航误差持续驱动底盘，虽然接收基座姿态，却没有以倾斜姿态限停或恢复支撑的分支；log step 40-41 的修改仅处理接口与关节保持，log step 64 仍调用该导航脚本，log step 65 服务确认导航期间跌倒。结合 agent 在 log step 79 自述导航环缺少倾斜监测，支持底盘运动控制未保持稳定这一宽泛归因；缺少跌倒过程记录，不能进一步确定碰撞、姿态跟踪或具体参数的作用。"
+   }
+  ],
+  "gap_zh": "inputs/video.json 为 kind=none（远端视频404且无本地视频），inputs/ 也没有状态日志；全部 intervals 及视频时刻留 null，节点 final 仅由评分器 q_score 总量与 DAG 初始目标均为假作逻辑推断，不能由零分断言从未尝试。断点归于第1只熊的探索依赖 log step 63-64 的近看地面物体动作及 agent 对物体身份的判断，缺少画面核实；实际接触和具体跌倒诱因均未知，未标碰撞或感知错误。log step 67-78 的收纳脚本是在实时回合已终止后才编写和做离线数学检查，不能用于认定已抓取或放置。",
+  "unmet": {
+   "dice_in_bookcase_1": false,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  }
+ },
+ "summary_zh": "评分器记录本次单一实时回合失败、q_score=0；结合 DAG 所有玩具入柜条件初始均不成立，七个收纳节点终态均为 false（0/7），过程进度无法确定。日志表明机器人在近看地面玩具的探索行驶中跌倒并终止，将断点推断归于第1只熊入柜，现象为平衡，根因保守记为控制；终止后补写的抓放策略未在该回合执行。无视频或状态日志，无法核实接触、具体跌倒诱因及任何视频时刻。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "七个节点终态 false 由评分器 q_score=0 与 DAG 初始全假推出，合理；断点在近看地面熊的探索途中，由服务返回的 'robot fell over' 支持，现象平衡、根因停在宽泛的控制，均有 log 支撑且表述保守。无视频，未发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:54:18Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--pqgikwt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--pqgikwt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "255217654dbd3a1e66f96567b21f230e3be68e61e178ae1d07f3f32ca1dc5ce9",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--cfga8ox.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--cfga8ox",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 258,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 258 是 agent 恢复 FRIDGE_OPEN 检查点后的门关节诊断，属于会话测试，不能作为已交付轨迹中开门达成的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 45 是 agent 自行查询灶台 ToggledOn=True 的调试输出，属于会话测试，不能作为已交付轨迹中热源开启的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少1片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少2片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少3片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少4片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少5片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仅为 agent 恢复检查点后的培根位置诊断，不是受评终态；评分记录未报告 Cooked 状态或至少6片已熟的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 381,
+      "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、success=0，未报告此节点的受评结果；inputs/video.json 为 kind=none，且本次无状态日志。log step 381 仍在恢复 TRAY_GRASPED 检查点并检查物体位置，没有评分器或服务终态结果报告冰箱是否关闭，不能从 DAG 初态推定受评终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分字段 missing_trajectory=1；未交付受评轨迹，故没有可标注的本节点轨迹接触，会话测试接触不计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 374,
+   "where": "首步前",
+   "evidence_zh": "观察：评分字段 missing_trajectory=1、agent_records=0、agent_replays=0；log step 374 的输出目录清单只有 rcb_session_log.jsonl，没有交付轨迹，log step 381 仍是恢复检查点后的会话诊断。推断：没有可供评分的交付动作，不能把会话中搬托盘的困难指定为受评物理节点断点，故标 unknown／首步前。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有视频或状态日志，评分记录也没有逐节点终态或 q_score；success=0 与 missing_trajectory=1 只说明未交付，不能判定九个物理节点为假。log step 5 定义的 save_ckpt 将状态及动作列表保存在内存字典，log step 373 最后自述仅称已启动保存检查点测试并等待，log step 381 仍在恢复检查点检查物体；这些均是会话证据。按 DECISIONS.md D23，缺交付的会话测试不作为受评失败现象，也不能仅由缺交付反推根因，因此两层留空；没有已交付物理尝试可定位具体失败步骤或视频时刻。inputs/oracle/replay.mp4 属于另一成功运行，不能填补本次证据缺口。",
+  "unmet": {
+   "bacon_cooked_1": null,
+   "bacon_cooked_2": null,
+   "bacon_cooked_3": null,
+   "bacon_cooked_4": null,
+   "bacon_cooked_5": null,
+   "bacon_cooked_6": null,
+   "fridge_closed": null
+  }
+ },
+ "summary_zh": "评分字段 missing_trajectory=1、success=0，未交付可评分轨迹，九个节点的终值均未知，不能将会话中的开灶、开门或托盘测试记为受评进度。log step 374 的输出目录只有会话日志，log step 381 仍在恢复检查点做位置诊断，故断点为 unknown／首步前。无本次视频、状态日志或逐节点评分结果，按 D23 将接触标为不适用，现象与根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未交付任何可评分轨迹。九个节点均为 unknown、断点 unknown／首步前、现象与根因留空并写明 gap_zh，符合 03 的外因/无交付规则与 D23；引用的 log step 均存在（45、258、373、374、381），会话测试未被当作受评事实。validator 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:15:23Z",
+  "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_rerun1/runs/behavior-cook-bacon-i00-privileged--cfga8ox/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/behavior-cook-bacon-i00-privileged--cfga8ox/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "763c81e0ed6538399f4e90314ff62c27f2ebdadff70ed044624f9c78256d134a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--czmla2a.json

@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--czmla2a",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告打开冰箱的节点结果；log step 57 是重置后的导航及逆解会话测试，log step 62 仅写入部分开门计划函数，未执行或保存为评分轨迹。无本次视频、无状态日志，无法判定评分节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告热源开启状态；log step 62 写入的脚本只定义并查询热源对象，没有执行加热设备开关操作的结果。无本次视频、无状态日志，不能由计划或会话检查确认该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少1片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少2片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少3片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少4片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少5片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 62,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告 Cooked 数量或 q_score，无法确定至少6片培根熟；log step 58 只是读取 Cooked 实现，log step 62 只写入部分计划函数，没有烹饪执行或评分终态结果。无本次视频、无状态日志，会话检查不能确定该节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告冰箱最终开合状态；log step 28 的 fridge_open=False 是 agent 检查脚本读取的会话初态，不能代替不存在的评分轨迹终态。无本次视频、无状态日志，节点终值未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付评分轨迹；会话测试中的动作不作为本节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 62,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、agent_records=0、agent_replays=0，且 infra_error=0、grader_error=0；log step 62 仅写入含开门动作的71行部分计划函数并统计行数，完整日志没有录制、保存或重放交付轨迹的调用，也没有最终完成报告。未形成评分回合，无法将失败定位到某个物理节点。"
+  },
+  "unmet": {
+   "bacon_cooked_1": null,
+   "bacon_cooked_2": null,
+   "bacon_cooked_3": null,
+   "bacon_cooked_4": null,
+   "bacon_cooked_5": null,
+   "bacon_cooked_6": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次无视频（inputs/video.json.kind=none）、无状态日志且没有交付轨迹；inputs/oracle/replay.mp4 是另一次成功运行，不能证明本次动作或节点。评分器未报告任何节点终值，亦未报告 q_score，因此九个节点均未知，所有视频时间均为 null。log step 52 的导航停滞与无逆解、log step 57 的重新导航及逆解成功均属会话测试；log step 61 的写入参数解析错误在 log step 62 通过 shell 写入部分脚本后得到处理，不能据此认定控制器崩溃或交付操作出错。run.wall_s=7203、time_limit_s=7200 记录了预算耗尽时未交付的结果，但不足以支持具体能力根因；按 D23 不将会话测试冒充评分失败现象，现象与根因均留空。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；本次未交付评分轨迹，九个节点的完成情况均未知，不能把会话测试计作任务进度。log step 57 的导航和逆解测试后，agent 在 log step 62 仅写入部分开门计划函数；断点记为 unknown／首步前，现象和根因均无充分证据。本次没有视频或状态日志，参考成功录像不能补足本次执行证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无交付轨迹（missing_trajectory=1，agent_records=0，agent_replays=0），agent 侧原因未交付；九个节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a)；会话测试未被当作评分事实，时间均为 null，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": "2026-10-30T22:00:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--czmla2a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--czmla2a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e9c65d242b6762ee95f011360514e7735acc75d89d5989de0f31dc48b1559f6",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--hjqaxid.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--hjqaxid",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 13,
+   "agent_resets": 0,
+   "agent_sim_steps": 2651,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 167,
+      "text_zh": "观察：log step 167 中 agent 测试脚本连续输出 door grasp 的 in_hand=None；这仅是会话试验。评分记录 missing_trajectory=1，且没有本次视频或状态日志，也没有评分器报告该节点，故无法判定交付轨迹是否开过冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 163,
+      "text_zh": "观察：log step 163 中 agent 测试脚本输出 STOVE ON: True；这不是交付后的重放结果。评分记录 missing_trajectory=1、agent_replays=0，且没有本次视频或状态日志，故不能据会话试验将热源开启记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少1片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少2片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少3片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少4片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少5片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：评分记录 success=0、missing_trajectory=1，未报告 q_score 或熟培根数量；log step 174 的输出目录仅有生成脚本和会话日志。没有本次视频、状态日志或交付重放的逐片结果，无法判定至少6片培根已熟；失败总分不能单独证明该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：log step 174 中 agent 测试脚本输出 fridge_open=False，但同一步输出目录仅有生成脚本和会话日志；评分记录 missing_trajectory=1。没有交付轨迹、视频、状态日志或该节点的评分结果，不能将会话中的关门状态作为节点终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分记录 missing_trajectory=1；没有交付轨迹，轨迹级实际接触不适用，会话试验接触不移记于此。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 174,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 success=0、missing_trajectory=1、grader_error=0、agent_replays=0。log step 159 和 log step 174 的输出目录均只有生成脚本与会话日志，没有最终轨迹文件；log step 175 是最后一次等待保存的调用，返回文本为空。没有已交付的评分轨迹，无法定位其中的物理失败步骤，首步前指评分轨迹未开始，不指会话中机器人从未动作。"
+  },
+  "unmet": {
+   "bacon_cooked_1": null,
+   "bacon_cooked_2": null,
+   "bacon_cooked_3": null,
+   "bacon_cooked_4": null,
+   "bacon_cooked_5": null,
+   "bacon_cooked_6": null,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有视频（inputs/video.json 的 kind=none）、没有状态日志，且评分器报告 missing_trajectory=1；inputs/oracle/replay.mp4 是另一成功运行，不能证明本次进度。log step 163 的开灶读数、log step 167 的抓门失败和 log step 174 的 could not grasp tray 异常均来自 agent 的会话测试，不能充当已交付评分尝试的节点值或失败现象。最后 log step 175 返回文本为空，记录未给出最终轨迹的保存或重放结果，也不能仅从交付缺失推断某一根因；按无交付规则将现象及根因留空。"
+ },
+ "summary_zh": "本次评分失败，评分器明确报告 missing_trajectory=1，九个节点均无交付轨迹的可判定终值。会话测试曾输出热源开启，随后抓门和抓托盘未成功，但这些试验不计入评分进度；没有交付轨迹，断点记 unknown／首步前。缺少本次视频、状态日志和节点级评分结果，现象与根因按无交付规则留空，q_score 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": "本次无视频、无状态日志，评分器报告 missing_trajectory=1、agent_replays=0；文件把所有节点记为 unknown、接触记 不适用、断点 unknown/首步前、现象与根因留空并写明 gap_zh，符合无交付规则（D23、CONTACT-8）。会话读数（开灶、抓门失败、抓托盘异常）均未被当作交付轨迹的事实。",
+    "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": "2026-10-30T22:00:39Z",
+  "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/behavior-cook-bacon-i00-privileged--hjqaxid/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--hjqaxid/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b366c6ef97b9d2b87611c61fd7a86cb918ae2a846bdb33a8da4d03ccacad1011",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--d6e2kdu.json

@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--d6e2kdu",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 866,
+   "sim_steps": 866,
+   "physics_steps": 3464,
+   "steps": 289,
+   "elapsed_s": 1975.8,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 34,
+      "text_zh": "观察：本次没有可用视频及状态日志。log step 23、27、34记录机器人转向、驶向疑似冰箱，log step 58的服务终态仅报告倒地失败，未报告冰箱Open状态；不能从接近动作或agent最后自述推定开门事件真伪。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：inputs/run.json log step 23的底盘坐标为(5.23,0.11)，log step 27前进后为(5.63,-0.20)，log step 29倒退后为(4.85,-0.32)；log step 34再次提交转向及前进，log step 37读取到(5.76,-0.08)。这些本体位置读数证明机器人在接近冰箱的转场中移动底盘，按DECISIONS.md S17记底盘与支承面的支撑交互；无本次画面或接触日志，手指/夹爪与冰箱门的接触仍无法核实，所核对调用未见抓握冰箱门的记录。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/video.json为kind=none，没有状态日志；完整日志及评分器reward未给出任何热源的原生开启结果。DAG也注明热源初态待核实，不能凭没有按开关的记录认定热源未开启。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片为生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少1片已熟则总分必大于0，故“至少1片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片为生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少2片已熟则总分必大于0，故“至少2片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片为生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少3片已熟则总分必大于0，故“至少3片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片��生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少4片已熟则总分必大于0，故“至少4片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片为生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少5片已熟则总分必大于0，故“至少5片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json的实时评分字段graded_by_live=1、finalized=1、q_score=0.0。任务初始六片为生培根，六个Cooked目标均不是初始已满足而被q_score排除的条件；若至少6片已熟则总分必大于0，故“至少6片熟”的终态为假。没有本次视频及状态日志，intervals保持null。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：没有本次视频、状态日志或逐项冰箱开合服务结果。DAG记载冰箱初始关闭；BEHAVIOR的q_score不计保持初态的目标，因此reward.q_score=0.0不能区分最终仍关闭和最终已打开，终态保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": null,
+   "log_step": 34,
+   "where": "转场",
+   "evidence_zh": "推断：log step 27的机器人接近疑似冰箱后基座升高，log step 29倒退回到base_z=0.01；随后log step 34再次执行朝通道转向并前进，log step 37记录base_z=0.36，log step 39服务control_steps=594且回合仍运行。log step 41—56均为倒地后的恢复指令，log step 58服务最终在control_steps=866报告done=True、reason=\"failure: the robot fell over\"、resumes=0。按这些调用的工作目标，将断点归于打开冰箱前的空手接近转场；未完成后续开门修复。没有本次视频，不设视频时间。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": null,
+    "log_step": 27,
+    "evidence_zh": "观察：inputs/run.json log step 25的服务本体读数为base=(5.23,0.11,0.01)、yaw=5.71 rad；log step 27机器人执行前进1.3米的命令后，服务读数为base=(5.63,-0.20,0.14)、yaw=0.23 rad，实际平面位移约0.51米。log step 29读取log step 27保存的服务本体快照，rx=0.3775、ry=0.5367 rad；该步倒退后base_z回到0.01。log step 34再次提交前进命令，log step 37服务本体位置读数base_z=0.36，log step 38读取该快照得cos(rx)·cos(ry)=-0.009。推断：机器人底盘前进受障碍接触阻挡并抬升，第一次倒退后恢复，随后再次前进抬升并失衡；yaw的原始差值跨越2π，第一次净偏转约0.80 rad，不能按-5.49 rad解释为整圈旋转。按DECISIONS.md N5，这些单一实时回合的服务读数支持被挡/碰撞；障碍身份及接触部位无法确认，不采用agent对岛台的自述。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 58,
+    "evidence_zh": "观察：本次为无重置、无恢复快照的单一实时评分回合；log step 57的服务异常为EpisodeOver: failure: the robot fell over，log step 58的r.status()直接返回done=True、reason=\"failure: the robot fell over\"、control_steps=866。这是服务对机器人倒地的判定，非仅agent叙述；没有本次视频，无法定位翻倒的视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 34,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 22、32所写导航脚本将底盘位移重复提交一整段，未在段内依据倾角或障碍距离停止；log step 27第一次前进后base_z从0.01升至0.14，log step 29倒退回0.01。log step 34仍提交整段前进，log step 37记录基座升至0.36，随后log step 41—56多次底盘恢复指令未避免log step 58的服务倒地终止。该证据支持导航与恢复的控制失败；缺少画面、接触数据及完整运动轨迹，不能细分接触几何或轨迹跟踪原因。"
+   }
+  ],
+  "gap_zh": "本次inputs/video.json明确kind=none（视频获取404且无本地视频），也没有状态日志；日志中的[picture]及图片偏移不是可查看的帧，因此所有视频时间、节点区间均为null。inputs/oracle/replay.mp4属于另一成功运行，不能证明本次进度或接触。六片熟态终值由实时q_score=0.0逻辑确定，冰箱开门事件、热源开启事件及冰箱最终关闭状态无逐项服务结果，均保留未知。倒地由服务终态直接确定；按DECISIONS.md N5，log step 27、29、37、38的服务本体读数支持底盘被挡并抬升的推断，故补标被挡/碰撞。障碍身份、具体接触部位及几何没有画面或接触日志可核，不能采用agent关于岛台的自述；控制根因不细分。"
+ },
+ "summary_zh": "本次实时评分失败，q_score=0.0可确定六片培根终态均未做熟，冰箱开门、热源开启及冰箱最终关闭状态未知。机器人在接近冰箱的转场中被挡并抬升（由服务本体读数推断），随后失衡且恢复控制未成功，log step 58服务确认倒地终止；断点归于打开冰箱。没有本次视频及状态日志，无法给出节点区间、视频时刻或冰箱门接触细节，另一次成功运行的oracle不能补足这些证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "无视频，节点终值（六片培根 final=false 由 q_score=0 推出，其余 unknown）、断点（fridge_opened/转场）、平衡现象与控制根因都与 log 及服务终态一致，无大错。仅 fridge_opened 的 contact_actual 应按底盘移动写 底盘×支撑，而不是整体写未知。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "无视频；六片培根 final=false、冰箱节点 unknown、断点 fridge_opened/转场、平衡现象均与 log 和服务终态一致。但缺少一个有服务读数支持的现象：底盘撞上障碍并爬升（被挡/碰撞），它先于倒地发生。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已完整落实：新增 运动×被挡/碰撞（log_step 27），步号已按实际纠正，数值与日志一致，未采用障碍名称；平衡保留，gap_zh 与 summary_zh 同步。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已完整落实：新增 运动×被挡/碰撞（log_step 27），步号已按实际纠正，数值与日志一致，未采用障碍名称；平衡保留，gap_zh 与 summary_zh 同步。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:11:37Z",
+  "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/behavior-cook-bacon-i00-standard--d6e2kdu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--d6e2kdu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--d6e2kdu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--d6e2kdu/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--d6e2kdu/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--d6e2kdu/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89420dadbf053c3974e501c7c5a4ec9d05fb981896385b018203acb1f12f5f87",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--cenyous.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--cenyous",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "agent_sessions": 3,
+   "agent_resets": 23,
+   "agent_sim_steps": 19,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“打开冰箱”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“开启烹饪热源”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“煎锅放上热源”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“卷心菜切丁”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“辣椒切丁”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“卷心菜熟丁在锅”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“辣椒熟丁在锅”的节点结果；交互调试记录不能确定已交付轨迹中的该节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付可供评分的轨迹；会话调试中的接触不计入轨迹级接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 371,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 260 将录制动作存入会话变量 bad 后，log step 261 再次 reset。log step 371 仍在交互控制台求解冰箱前的双臂位姿，完整调用记录未见保存最终轨迹的调用；无已交付评分尝试，不能定位某个物理步骤的失败。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": null,
+   "chili_cooked_in_pan": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行无交付轨迹（reward.missing_trajectory=1），无视频、无状态日志，reward 也没有 q_score 或逐节点结果；所有节点的 intervals 与 final 均无法判定。log step 82、249 开始录制，log step 83、260 停止录制后仅存入变量 bad；后续会话持续调试，未见保存或重放最终轨迹的调用。推断：run.wall_s=14400 与 time_limit_s=14400 相同，且 log step 371（agent 工作时间 14358.7 s）仍在调试，符合预算结束时未完成交付；这不证明任何具体物理失败现象或根因，因此两层均留空，也不将缺交付本身标成交付操作出错。"
+ },
+ "summary_zh": "评分器记录 success=0、missing_trajectory=1，未交付可评分轨迹，七个节点的最终状态均未知，不能把会话调试进展计入轨迹。日志末尾 agent 仍在调整冰箱前的双臂位姿（log step 370—371），无从定位已交付尝试中的物理断点，故记 unknown／首步前。没有视频、状态日志或逐节点评分结果，失败现象及根因均留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无交付轨迹（missing_trajectory=1、agent_replays=0），无视频与状态日志；七个节点均为 unknown、失败现象与根因留空并写明 gap_zh，符合规则。日志里只有会话内的 record_stop 并存入变量，未见保存或重放，标注未把会话调试当作已交付轨迹。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:57:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--cenyous/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--cenyous/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "485d523fe961304480b5ab8debd51a6a7cbaed15b8bea8943d217f08aabf8f99",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--jm2fdif.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--jm2fdif",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 85,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 235,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 796.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的最终录制脚本先重置环境，再仅调用两次 move_base 后保存；log step 107 确认保存了 85 行动作，没有开门动作。无视频、状态日志或评分服务逐节点门状态，故不把会话调试的门角度当作评分轨迹的节点值，final 保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 106–107 仅记录朝冰箱附近的底盘接近动作；没有视频或状态接触对，无法核实实际接触及支撑情况，不把早先会话中右夹爪接触门板的调试结果记入本次交付。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的最终录制脚本只有两段底盘接近运动，未操作热源；评分字段未报告热源开关状态，且无视频和状态日志，无法判定本事件是否成立。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的最终录制脚本未搬动煎锅；评分字段未报告锅与热源的加热关系，且无视频和状态日志，不能由动作缺失断定初态关系，final 保持未知。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的最终录制脚本未操作卷心菜或刀具；评分器未单独报告切丁事件，无视频和状态日志；q_score=0 不能单独证明此前未切丁，final 保持未知。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 的最终录制脚本未操作辣椒或刀具；评分器未单独报告切丁事件，无视频和状态日志；q_score=0 不能单独证明此前未切丁，final 保持未知。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，goal=0，success=0；任务的四个目标文字为两种熟丁各自的 real 与 contains，任务文本说明熟丁为初始不存在的 future 物质。卷心菜熟丁在锅内若成立至少需要两个目标文字成立，与零分总量不相容，因此本节点终态为 false；此结论不判定此前是否有过切丁，也不提供到达时刻。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，goal=0，success=0；任务的四个目标文字为两种熟丁各自的 real 与 contains，任务文本说明熟丁为初始不存在的 future 物质。辣椒熟丁在锅内若��立至少需要两个目标文字成立，与零分总量不相容，因此本节点终态为 false；此结论不判定此前是否有过切丁，也不提供到达时刻。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": null,
+   "log_step": 106,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 106 在重置后开始录制，仅令机器人底盘分两段驶向冰箱附近，随即停止录制并保存；log step 107 返回 leg1 49、leg2 36 和 saved rows (85, 25)，与评分器 n_actions=85 一致。推断：评分交付停在接近冰箱的准备动作，尚未启动打开冰箱这一首个语义步骤；log step 88–93 的开门试验发生在最终重置前，不属于该交付。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 106,
+    "evidence_zh": "观察：log step 106 的完整录制代码在两次 move_base 后直接 record_stop 和 save_trajectory，未包含手臂接近门板、闭合夹爪或拉门命令；log step 107 确认 85 行动作已保存，评分器也只回放 85 个动作。推断：交付基线没有启动开门操作，故标为没尝试；不是将会话中的抓取失败移作评分轨迹现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：最终仅交付接近动作之前，agent 的开门控制一直未建立有效抓取。会话日志 log step 91 显示安全接近后，右臂两个候选位姿的末端误差分别为 0.013 米和 0.0 米，但 in_hand 均为 None、门角为 0；log step 93 的三个深度试验中，前两个 contacts/raycast 均为空，最深处有门板接触但 raycast 仍为空，闭爪后仍未持门、门角仍为 0。随后 log step 94–104 继续排查辅助抓取几何，log step 106 最终只录制底盘接近。该会话证据支持有效开门抓取未实现这一控制困难；不足以进一步确定接触设计、逆解或反馈控制中的具体子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，inputs/ 中无 replay.mp4 和 states.jsonl，skeleton.state=null；成功示例 inputs/oracle/oracle.json 也没有视频或状态日志。评分字段虽有 video_rendered=1，但本工作目录没有可检查的影片。无视频时所有时间和 intervals 均为 null；五个中间节点缺少评分器或服务逐节点结果而保持未知，两项熟丁目标的终态仅由 q_score 总量约束推断。实际接触未知；控制根因使用明确标为会话调试的证据，不能定位评分轨迹的物理抓取故障或更细控制原因。"
+ },
+ "summary_zh": "观察：最终交付在重置后只录制了两段朝冰箱附近的底盘接近动作，共 85 行，未包含开门、切丁或烹饪命令；评分器 success=0、q_score=0，两项熟丁在锅目标终态均为 false，五个中间节点未知。推断：断点为打开冰箱首步前，现象为没尝试；会话中反复无法建立有效门板抓取的记录支持控制根因，但这些开门试验未被录入交付。观察：本次和成功示例均无视频或状态日志，无法标注时间区间或核实实际接触。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志。标注与日志一致：log step 106–107 的交付只含两段 move_base（85 行，与 n_actions=85 一致），断点为 fridge_opened / 首步前 / 没尝试，与 FAIL-22 的处理一致；中间节点未知、两项熟丁终态 false（由 q_score=0 约束）合理；控制根因明确标为会话证据（log 91、93 读数属实），未把会话读数当作评分轨迹事实。",
+    "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": "2026-10-30T21:58:22Z",
+  "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/behavior-cook-cabbage-i00-privileged--jm2fdif/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--jm2fdif/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "def46ac50ed0214b6b9820efcfd5f11d1049339126d458aaa0b34d5676aac0a0",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--lpb8ue7.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--lpb8ue7",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“打开冰箱”节点结果，不能用会话中的测试动作判定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“开启烹饪热源”节点结果，不能用会话中的测试动作判定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“煎锅放上热源”节点结果，不能用会话中的测试动作判定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“卷心菜切丁”节点结果，不能用会话中的测试动作判定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“辣椒切丁”节点结果，不能用会话中的测试动作判定该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“卷心菜熟丁在锅”节点结果，不能用会话中的测试动作判定该节点。"
+     },
+     {
+      "t": null,
+      "log_step": 456,
+      "text_zh": "观察：log step 456 中仿真服务 s.status() 返回 success=True、q_score=1.0，但同一步保存的内存检查点显示 0 recorded steps；评分记录仍为 missing_trajectory=1。推断：这是交互测试的服务结果，不是已交付并验证的受评轨迹结果，不能据此给本节点赋真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 457,
+      "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 标明无视频，亦无状态日志。log step 457 记录 Gemini 过滤器中断；没有可归属交付轨迹的“辣椒熟丁在锅”节点结果，不能用会话中的测试动作判定该节点。"
+     },
+     {
+      "t": null,
+      "log_step": 456,
+      "text_zh": "观察：log step 456 中仿真服务 s.status() 返回 success=True、q_score=1.0，但同一步保存的内存检查点显示 0 recorded steps；评分记录仍为 missing_trajectory=1。推断：这是交互测试的服务结果，不是已交付并验证的受评轨迹结果，不能据此给本节点赋真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录 missing_trajectory=1；没有交付轨迹，不把交互测试中的机器人接触记为受评轨迹接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 457,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 457 的终止消息为“This request was blocked by Gemini's filters”；评分记录 missing_trajectory=1、agent_records=0、agent_replays=0。log step 456 虽有测试服务 success=True，却只保存了显示 0 recorded steps 的内存检查点，没有交付与回放验证结果。推断：过滤器在有效交付前切断会话，没有受评轨迹可定位具体物理步骤，故记 unknown、首步前；该位置指交付轨迹，不指会话从未操作机器人。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": null,
+   "chili_cooked_in_pan": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本运行无视频、无状态日志，评分器报告缺失交付轨迹；log step 457 明确记录模型提供方过滤器中断。log step 110 的 save_ckpt/load_ckpt 将仿真状态和录制列表存入内存字典，log step 456 的检查点仍显示 0 recorded steps，测试服务 success=True、q_score=1.0 未形成受评交付结果。推断：按 CASES.md FAIL-5 及 D37，这是有效交付前的外因中断，应重测并排除在机器人失败归因之外；保留目录 success=0，不以测试成功改写结论。所有节点终值与视频区间未知，原生 q_score 未在评分记录中报告，故指标值留空；无法定位受评物理失败，现象与根因均留空，不标没尝试或交付操作出错。"
+ },
+ "summary_zh": "评分记录为 success=0、missing_trajectory=1，没有交付轨迹；7 个节点终值均未知，无法报告受评节点进展。log step 456 的交互测试服务虽返回 success=True、q_score=1.0，检查点却显示 0 recorded steps，随后 log step 457 出现 Gemini 过滤器中断。按外因中断规则记 unknown／首步前，现象和根因留空；无视频、无状态日志，测试成功不能代替交付与回放验收。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分记录 missing_trajectory=1、agent_records=0；log step 456 的测试 success=True 对应 0 recorded steps，未交付，step 457 为 Gemini 过滤器中断。标注为外因中断（节点 unknown、breakpoint unknown/首步前、现象与根因留空并写 gap_zh）符合 D37，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": "2026-10-30T21:56:40Z",
+  "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/behavior-cook-cabbage-i00-privileged--lpb8ue7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--lpb8ue7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "95c819d6b55f11cfb06db686d53377d264a093a6f5d435c68a7d4f97d536c1e3",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--a7abrkd.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--a7abrkd",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1821,
+   "sim_steps": 1939,
+   "physics_steps": 7756,
+   "steps": 423,
+   "elapsed_s": 2317.6,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 118,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 89,
+      "text_zh": "观察：log step 83 中 agent 表示寻找冰箱，log step 89 中 agent 自述驶向冰箱并由脚本执行底盘转向、前进；log step 91 打印服务返回的严重倾斜底座姿态。没有视频、状态日志或报告冰箱门开度的服务结果字段，不能判定开门事件，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 89 的脚本在驶向 agent 所认定的冰箱途中驱动底盘；没有可检查画面或接触对记录，无法核实夹爪是否接触冰箱把手以及实际接触方式。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 72,
+      "text_zh": "观察：log step 59 的脚本驱动机器人靠近灶台；log step 72 中 agent 自述看到灶具及红色标记并执行躯干巡视。该颜色描述是 agent 自述，没有可检查图像或热源开关服务结果，不能据此判定是否开启，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 59 的脚本驱动机器人靠近灶台，log step 72 中机器人巡视灶具控制件所在区域；没有可检查画面或接触对记录，不能从接近和巡视推定夹爪对灶具控制件的接触。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 82,
+      "text_zh": "观察：log step 74 中 agent 自述找到煎锅，log step 82 打印其自行从深度反投影计算的锅位置；这些不是服务报告的有效加热关系。没有视频、状态日志或对应服务结果字段，不能确定煎锅放上热源，final 保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 59 的脚本驱动机器人靠近灶台，log step 74 中机器人巡视煎锅所在区域；没有可检查画面或接触对记录，不能从接近和巡视推定夹爪对煎锅的接触。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：log step 103 写入的记录脚本把切卷心菜列在尚未执行的操作计划中，log step 108 中 agent 自述未操作任何目标物。没有视频、状态日志或报告切丁事件的服务结果字段，不能把计划或自述当作节点终值；q_score=0 也不能排除曾切出过生丁，final 保留未知。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：log step 103 写入的记录脚本把切辣椒列在尚未执行的操作计划中，log step 108 中 agent 自述未操作任何目标物。没有视频、状态日志或报告切丁事件的服务结果字段���不能把计划或自述当作节点终值；q_score=0 也不能排除曾切出过生丁，final 保留未知。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0、success=0。任务文本与 DAG 明确熟丁在初态尚不存在，四个目标文字均为新增目标；零总分排除了熟丁存在且在锅内的两文字合取，因此“卷心菜熟丁在锅”终值为 false。该推断只决定终值，不证明此前未切丁或未接触食材。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 给出 graded_by_live=1、finalized=1、q_score=0.0、success=0。任务文本与 DAG 明确熟丁在初态尚不存在，四个目标文字均为新增目标；零总分排除了熟丁存在且在锅内的两文字合取，因此“辣椒熟丁在锅”终值为 false。该推断只决定终值，不证明此前未切丁或未接触食材。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": null,
+   "log_step": 89,
+   "where": "转场",
+   "evidence_zh": "推断：log step 89 中 agent 明确表示驶向其认定的冰箱，脚本先转向再空手前进；该次动作后打印底座高度 0.36 米，log step 91 的服务本体反馈为 base_pose=[5.972,-1.526,0.364,0.117,-0.586,-0.789,-0.138]，已严重倾斜。log step 93、98–101 的恢复动作后底座仍未直立，log step 103/108 记录停止操作。故将最早未修复的失败定位在打开冰箱前的转场；无视频时只用日志锚点，不给视频时间。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 91,
+    "evidence_zh": "推断：这是 reward 所记录的一次实时单局（graded_by_live=1、resumes=0），log step 91 打印的服务 base_pose 四元数为 xyzw=[0.117,-0.586,-0.789,-0.138]，据此底座上轴竖直分量约为 1−2×(0.117²+0.586²)=0.286，表明机器人已严重倾斜。log step 93、98–101 的本体反馈经脚本计算的竖直分量依次约为 −0.044、−0.072、−0.124、0.006、0.038，支持持续侧倒且未恢复；不是仅依据 agent 的摔倒自述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 89,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 64 的 drive 函数按给定步数连续发送底盘位移，未设置倾斜或高度反馈中止；log step 89 调用它连续完成转向和前进，直至两段动作后才观察。该调用后的服务底座反馈从 log step 87 的约 0.01 米高度变为 log step 89 的约 0.36 米，log step 91 确认严重倾斜；后续 log step 93、98–101 的恢复驱动也未恢复直立。因此归为底盘运动及恢复控制失败；没有接触几何或连续跟踪数据，停在“控制”而不细分。"
+   }
+  ],
+  "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 内没有 replay.mp4、states.jsonl 或日志引用的相机图片；run.json 的图片只保留索引和占位文本。所有视频时间与 intervals 均为 null，五个非目标节点缺少服务结果字段而 final 未知，接近、巡视过的冰箱、热源和煎锅接触均保留未知。推断：断点的冰箱身份及导航目的依据 log step 83/89 的 agent 自述和相应动作，无法用画面复核；“撞岛台并爬上台面”的具体接触过程、所有恢复方案是否不可行也无法确认。观察：log step 102 服务状态仍为 done=false、control_steps=1821，最终评分器为 task_failure=1、sim_breakdown=0、sim_error=0、infra_error=0；日志未提供最终终止 reason，不能把 log step 108 中 agent 对倾倒终止的解释当作服务最终判词。DAG open_questions_zh 将成功示例 gefpdvx 说成当前运行，实际本次 runId 为 a7abrkd；oracle.json 只有参考运行元信息，未作为本次执行证据。"
+ },
+ "summary_zh": "本次实时单局没有可确认达到的节点：评分器 q_score=0，两个熟丁在锅目标终值均为 false，其余五个节点因无直接服务结果保留未知。推断：机器人在 log step 89 空手驶向 agent 所认定的冰箱时严重失衡，后续恢复未成功，断点为打开冰箱的转场阶段，根因归入控制。没有视频或状态日志，无法定位视频时间、复核具体碰撞接触或采信 agent 关于无法自救的绝对判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频/状态日志，标注仅依据 log 与评分器字段：两个熟丁节点由 q_score=0 判 false，其余未知，均合理；断点在 log step 89 空手驶向冰箱时底座升至 0.36 m、step 91 倾斜余弦 0.285，服务本体读数支持平衡失败，标注保守且证据可追。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:00:00Z",
+  "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/behavior-cook-cabbage-i00-standard--a7abrkd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--a7abrkd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7e3f2e8e2cec4def8b87222da2889aa9dc122ae9aad61be5fa5b0650c7a6dbb3",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--vgay9lh.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--vgay9lh",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4467,
+   "sim_steps": 4617,
+   "physics_steps": 18468,
+   "steps": 1489,
+   "elapsed_s": 4788.6,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 223,
+      "text_zh": "观察：agent 在 log step 215 启动开冰箱脚本，log step 216 自述要以左夹爪拉门并配合底盘运动；log step 223 的门板坐标是 agent 自行从深度图计算的结果，log step 224—225 仍在测试继续推门的 IK/FK。没有视频、状态日志或服务的开门达成字段，无法确认曾达到原料可取出的开口判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 215—216 记录左夹爪与移动底盘参与的开冰箱脚本；缺少画面及接触状态，不能确认左夹爪与门把手或门板实际形成抓握、勾拉还是推压。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：完整 inputs/run.json 未提供兼容热源的开启状态或服务达成字段，记录的动作围绕观察场景、导航和开柜门／冰箱门；没有视频或状态日志可核对热源初态与实际加热状态。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/meta.json 描述煎锅初始在台面，完整 inputs/run.json 未提供煎锅与热源有效加热关系的服务结果字段；无视频或状态日志，不能以任务描述或未见搬锅调用判定该节点终值。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 222,
+      "text_zh": "观察：log step 220—222 是 agent 自行从 RGB-D 数据估计冰箱内卷心菜位置，未提供服务报告的切丁物质生成事件；没有视频或状态日志。q_score 只评分熟丁目标，不能据其为零反推卷心菜从未切丁。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 222,
+      "text_zh": "观察：log step 220—222 是 agent 自行从 RGB-D 数据估计冰箱内辣椒位置，未提供服务报告的切丁物质生成事件；没有视频或状态日志。q_score 只评分熟丁目标，不能据其为零反推辣椒从未切丁。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward 报告 graded_by_live=1、q_score=0.0、live_success=0、settled_success=0；DAG 将本节点绑定到 cooked__diced__head_cabbage.n.01_1 的 real 与 contains 两个新目标文字。初始任务为冰箱内生原料，熟丁并非初始保留条件；本节点为真至少需满足两个目标文字，与终局零分不相容，故卷心菜熟丁在锅终值为假。这不判定是否曾切丁或尝试烹饪；无视频，达成历史与视频时间均未知。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward 报告 graded_by_live=1、q_score=0.0、live_success=0、settled_success=0；DAG 将本节点绑定到 cooked__diced__chili.n.01_1 的 real 与 contains 两个新目标文字。初始任务为冰箱内生原料，熟丁并非初始保留条件；本节点为真至少需满足两个目标文字，与终局零分不相容，故辣椒熟丁在锅终值为假。这不判定是否曾切丁或尝试烹饪；无视频，达成历史与视频时间均未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 226,
+   "where": "未知",
+   "evidence_zh": "观察：log step 226 明确显示 Gemini 过滤器拦截；此前 log step 224—225 仅测试继续推冰箱门的 IK/FK，没有提交该段动作或报告任务完成。reward 记录 graded_by_live=1、n_actions=4467、resumes=0；已有实时动作执行，不能称为首步前，也没有视频、状态日志或节点服务判据证明哪一步出现了未修复的物理失败。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none（HF 视频返回404且无本地视频），inputs/ 内也无状态日志；oracle 仅有无视频、无状态的元数据，不能用作本次执行证据。打开冰箱、开启热源、煎锅上热源及两种切丁均无可判定的服务结果字段，实际接触与物理失败不可复核。log step 226 为供应商过滤器拦截，log step 224—225 尚在规划后续动作，未见中断前已完成并验证交付或实时局已结束的记录；reward.finalized=1 仅是最终评分记录，不能证明先于拦截完成。按外因规则应重测并排除本次机器人失败归因，保留目录原始 success=0，不把过滤器记作现象或根因；无法证实拦截前存在独立物理失败，故两层均留空。"
+ },
+ "summary_zh": "本次实时执行在日志中反复尝试开冰箱；无视频、无状态日志，也没有服务报告前五个节点的达成情况，因此这些节点终值均未知，两种熟丁在锅终值由评分器 q_score=0 推断为假。log step 226 出现 Gemini 过滤器拦截，之前仍在计算继续推门的动作，未能定位已证实且未修复的物理断点，现象和根因留空。此为结果固定前的外因中断，应重测并排除机器人失败归因，原始目录成功值0照录。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；日志在 step 226 被供应商过滤器拦截，此前仍在测试推门 IK/FK，未见已保存并验证的交付，故按外因中断处理（两层留空+gap_zh）合规。两个熟丁节点由 q_score=0 推断为假，其余 unknown，均有依据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:58:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--vgay9lh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--vgay9lh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8685e4f21b89f9a05e92140521df383b62ef1153363fa75ae9edd1a3d4728098",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--ppb7q7e.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-privileged--ppb7q7e",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供本次评分视频或状态日志；log step 79 中 agent 调试脚本虽输出电池3在桶内并保存检查点，但同时 recording len=None，属于会话测试，不能确定本节点的评分终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，不能把 agent 会话调试中的机器人接触作为本节点的实际接触。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 273,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告桶内至少2节电池的节点终态，也未报告 q_score；本次无视频或状态日志。log step 270、271 仅为 agent 的抓取调试及等待，log step 273 随后出现过滤器中断，不能据此判定评分节点真或假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，不能把 agent 会话调试中的机器人接触作为本节点的实际接触。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 273,
+      "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告桶内至少3节电池的节点终态，也未报告 q_score；本次无视频或状态日志。log step 270、271 仅为 agent 的抓取调试及等待，log step 273 随后出现过滤器中断，不能据此判定评分节点真或假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，不能把 agent 会话调试中的机器人接触作为本节点的实际接触。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 65,
+      "text_zh": "观察：log step 65、79 中 agent 调试脚本输出垃圾桶 ontop floor=True，但评分器 reward.missing_trajectory=1，且没有本次评分视频、状态日志或逐节点终态结果；调试输出和任务初态不能确定未交付轨迹的终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，不能把 agent 会话调试中的机器人接触作为本节点的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": null,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 273,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 271 中 agent 仍在等待左臂抓取电池1的会话测试；log step 273 的末条消息为“This request was blocked by Gemini's filters”。评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，没有已保存并验证的交付结果。推断：外部过滤器在交付前切断会话，无法定位评分轨迹中的物理失败步骤，按 CASES.md FAIL-5 记 unknown／首步前。"
+  },
+  "unmet": {
+   "batteries_in_bin_1": null,
+   "batteries_in_bin_2": null,
+   "batteries_in_bin_3": null,
+   "bin_on_copy_room_floor": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/video.json 为 kind=none，本次没有视频或状态日志；reward.missing_trajectory=1，且未报告 q_score 或逐节点终值。log step 79 的桶内电池测试及 log step 270 的抓取命令均属于未交付的会话调试。log step 273 明确显示 Gemini 过滤器中断；依 CASES.md FAIL-5，外部因素切断且没有交付，不标“没尝试”或机器人根因，也不将会话测试当作评分节点进度。参考成功视频属于其他运行，无法补足本次证据。"
+ },
+ "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1），四个节点的评分终值均无法确认，不能把 log step 79 的单节电池入桶调试结果计为评分进度。log step 273 明确显示 Gemini 过滤器在交付前中断，因此按外部因素处理，断点为 unknown／首步前，现象与根因留空。本次无视频、状态日志、q_score 或逐节点评分结果，无法标注视频时间或实际接触。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；log step 273 为 Gemini 过滤器拦截，属外部因素且无交付。节点全 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 CASES.md FAIL-5；未把会话调试当作评分进度。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:06:59Z",
+  "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/behavior-dispose-of-batteries-i00-privileged--ppb7q7e/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--ppb7q7e/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5695e3522feffaa7480796d050035df08ad63c7220eb0604ef3ec23dc60c4933",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--jm6q2av.json

@@ -0,0 +1,245 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-standard--jm6q2av",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 505,
+   "sim_steps": 505,
+   "physics_steps": 2020,
+   "steps": 505,
+   "elapsed_s": 1418.3,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：本次为单个实时评分场景，reward.graded_by_live=1、resumes=0；log step 45 的机器人服务状态为 done=True、reason=\"failure: the robot fell over\"，最终 reward.q_score=0.0。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：按任务 DAG，三节电池入桶均为初始不成立的目标；BEHAVIOR 的 q_score=0 排除终态任何一节电池入桶，因此“至少1节入桶”终值为 false。此总分不证明过程从未入桶；本次无视频及状态日志，所有区间保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 24、29、33 记录机器人以底盘环视和行驶探索场景，尚无电池抓取或投放指令；无本次视频或接触状态日志，不能核实底盘、躯干与环境的实际接触，不从任务典型抓握方案补填。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：本次为单个实时评分场景，reward.graded_by_live=1、resumes=0；log step 45 的机器人服务状态为 done=True、reason=\"failure: the robot fell over\"，最终 reward.q_score=0.0。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：按任务 DAG，三节电池入桶均为初始不成立的目标；BEHAVIOR 的 q_score=0 排除终态任何一节电池入桶，因此“至少2节入桶”终值为 false。此总分不证明过程从未入桶；本次无视频及状态日志，所有区间保留 null。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 45,
+      "text_zh": "观察：本次为单个实时评分场景，reward.graded_by_live=1、resumes=0；log step 45 的机器人服务状态为 done=True、reason=\"failure: the robot fell over\"，最终 reward.q_score=0.0。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：按任务 DAG，三节电池入桶均为初始不成立的目标；BEHAVIOR 的 q_score=0 排除终态任何一节电池入桶，因此“至少3节入桶”终值为 false。此总分不证明过程从未入桶；本次无视频及状态日志，所有区间保留 null。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：任务 DAG 将垃圾桶在复印室地面上列为初态已成立的目标；本次 reward 只有总体 q_score=0.0，没有垃圾桶 ontop 关系的终态字段，inputs/video.json 为 kind=\"none\"，也无状态日志。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：BEHAVIOR 的 q_score 不计持续保留的初始真目标，因此 q_score=0 不能判断垃圾桶是否仍在原地面；依无视频规则，不由未见搬桶指令推定该节点终值，保留未���。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batteries_in_bin_1",
+   "t": null,
+   "log_step": 33,
+   "where": "探索",
+   "evidence_zh": "观察：log step 24 的脚本让机器人用底盘旋转采集相机图像；log step 29 前进后，log step 33 再执行125个控制步的原地环视。log step 45 的实时机器人服务最终判定“failure: the robot fell over”，reward 显示同一场景共505个控制步、无恢复或重置。推断：机器人在寻找第一节电池的场景探索中倒地，之后没有完成任何电池入桶，断点归第1个电池入桶；无本次视频，不能给出视频时刻。"
+  },
+  "unmet": {
+   "batteries_in_bin_1": false,
+   "batteries_in_bin_2": false,
+   "batteries_in_bin_3": false,
+   "bin_on_copy_room_floor": null
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": null,
+    "log_step": 45,
+    "evidence_zh": "观察：log step 45 中机器人服务 submit 返回 done=True、reason=\"failure: the robot fell over\"，status 同样报告该跌倒终止原因和 control_steps=505；这是本次单场景实时服务的判定，不是 agent 自述。推断：探索环视时的倒地未被后续恢复动作修复，现象为全身平衡失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 24、25 的环视脚本把固定底盘旋转指令一次性提交整段，中间没有根据姿态反馈中止；log step 33 执行125个控制步并报告躯干目标限幅，输出的末端底座姿态随后被 log step 35 的诊断打印为 up_z=-0.001。log step 39 的恢复动作诊断仍报告 up_z 约0，log step 45 的服务确认因跌倒终止。推断：机器人执行探索运动时失稳且恢复控制未能将其扶正，支持归于控制；不足以确认具体碰撞对象、转速参数不当或更细控制子类。"
+   }
+  ],
+  "gap_zh": "本次 inputs/video.json 明确无可用视频，inputs/ 中无状态日志；日志中的图片占位与 agent 自行保存的姿态诊断不能替代逐帧接触或节点观测。三项电池入桶终值由评分器 q_score=0 推断，但历史进度、准确倒地时刻、环境接触及垃圾桶地面关系终值无法核实；因此所有视频时间和区间为 null，首节点接触为未知。参考成功视频 inputs/oracle/replay.mp4 存在，但属于另一运行，不能填补本次缺口；不采信 agent 关于柜体卡住或绝对无法自救的说法作为已证实事实。"
+ },
+ "summary_zh": "本次实时评分失败：q_score=0 可确定三项电池入桶节点终值均为 false，垃圾桶留在复印室地面的初始目标终值未知。机器人在为第1个电池入桶探索场景、执行第二次底盘环视后倒地，恢复动作未修复，最终机器人服务在 log step 45 判定跌倒失败，根因谨慎归为控制。无本次视频及状态日志，不能确认接触、历史区间、视频时刻或具体失稳机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；标签已按日志与评分器字段如实标注：三项入桶终值 false（q_score=0），垃圾桶节点 unknown，断点在 log step 33（第二次环视中倒地）、全身·平衡，根因谨慎归控制。log_step 均为 steps[].id 且存在，未换算 agent 时间，未采信 agent 关于卡在柜边的自述。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": "2026-10-30T22:09:19Z",
+  "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/behavior-dispose-of-batteries-i00-standard--jm6q2av/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-standard--jm6q2av/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "983397a2cf78400ebbeb291903e70f2272c4f1a68ccf4f69e280ed08fe1cc7f4",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--8kvrcpy.json

@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-privileged--8kvrcpy",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 245,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 395,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1115.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.798,
+   "peak_memory_gb": 13.448,
+   "peak_processes": 45,
+   "peak_disk_gb": 0.927,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 81,
+      "text_zh": "观察：log step 79 的录制脚本在 reset 后启动记录，命令底盘靠柜、右夹爪靠近门面后闭合并向外拉；log step 81 确认保存245行动，等于评分器 n_actions=245。没有视频、状态日志或服务逐门结果，无法判定取盒通道是否打开；agent 在 log step 82 自述门未打开不单独作为节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 79 命令右夹爪尝试抓拉橱柜门并驱动底盘；无视频或接触记录，实际接触作用端、方式及底盘运动无法核验。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：log step 79 的最终录制脚本只含靠近橱柜和尝试拉柜门，log step 81 确认该记录已保存；评分器没有冰箱开启或通盒开度字段，且无视频和状态日志，不能判定该事件是否达到。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒在橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“至少一个苹果进入任一保鲜盒”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒在橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“两个苹果分别进入两个不同保鲜盒”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒在橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“至少一个草莓进入任一保鲜盒”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒���橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“两个草莓分别进入两个不同保鲜盒”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒在橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“至少一个保鲜盒进入冰箱”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0；DAG 与任务初态显示水果在碗或托盘内、保鲜盒在橱柜内，此关系不是初始已满足而被 q_score 排除的字面量。若末态满足“两个保鲜盒进入冰箱”，至少新增一个计分字面量，与总分零矛盾，故 final=false；无视频或状态日志，不能判断历史达到情况或时间。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 81,
+      "text_zh": "推断：DAG 记载冰箱初始关闭，该初始字面量持续成立时不计入 BEHAVIOR q_score，因此评分器 q_score=0.0 无法区分末态仍关闭与已经打开。log step 81 的服务结果只报告整体 success、goal、fallen、sim_steps，未报告门状态；无视频或状态日志，末态保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": null,
+   "log_step": 81,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 79 的录制脚本明确以右夹爪抓拉柜门为目标，log step 81 保存245行动后结束，未包含装果、搬盒或操作冰箱；评分器 n_actions=245、goal=0 与该交付对应。因此断点定位于开柜尝试，无法定位具体失效瞬间。log step 76 的357步倾倒测试在 log step 79 reset 前，不属于本交付；评分器 fallen=0。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": null
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 81,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话 log step 76 的开柜控制测试记录底盘姿态异常、柜门关节始终约零，未验证成功开门；log step 79 改用保持原朝向的靠柜与右臂抓拉动作后录制，log step 81 的脚本检查仍为 in_hand: None。agent 在 log step 82、84 承认开柜动作仍未解决。结合最终录制只覆盖此动作，支持开柜运动/接触控制能力未解决这一宽泛归因；测试中的倾倒不作为交付现象，也不足以区分抓取设计、逆解或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json、MANIFEST.json；video.kind=none，没有视频、状态日志或成功参考。评分器总分只决定六个新增放入关系的末态，不能决定开柜、开冰箱的历史事件及初始关闭冰箱的末态；所有视频时间和区间均为 null。最终录制没有柜门关节、手指接触或末端跟踪记录，无法核验接触、区分空夹与位姿偏差等物理现象，故现象层留空、实际接触记未知；根因仅由会话测试、录制脚本检查和 agent 自述支持宽泛的控制归因。"
+ },
+ "summary_zh": "评分器 success=0、q_score=0，六个新增放入节点末态均为假；开柜、开冰箱与冰箱关闭共三个节点未知，没有可确认达成的节点。log step 79—81 保存的245步交付仅尝试靠柜和右夹爪拉门，断点定位于开柜，日志支持该动作控制仍未解决；此前倾倒测试不属于交付。无视频和状态日志，不能给出进度时间或实际接触，物理失败现象留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频/状态日志；q_score=0 约束六个放入节点为假，三个节点未知，均合理。断点在开柜、现象层留空并附 gap_zh、根因停在宽泛的 控制（会话证据，符合 FAIL-22 的处理），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": "2026-10-30T21:57:16Z",
+  "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/behavior-freeze-fruit-i00-privileged--8kvrcpy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--8kvrcpy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "456b9a7677fcbe47f8490e894f7334e2e7cdf830c73bac9922c75e70466777a0",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--kr2hatb.json

@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-privileged--kr2hatb",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 119,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“打开橱柜”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“打开冰箱”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第1个苹果入盒”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第2个苹果入盒”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第1个草莓入盒”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第2个草莓入盒”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第1盒入冰箱”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“第2盒入冰箱”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1979,
+      "text_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=0、agent_replays=0，未逐项报告“关上冰箱”的终态；inputs/video.json为kind=none，且无状态日志。log step 1979仍是agent调用橱柜抓取测试，没有交付轨迹可供判断；会话测试不能确定该节点，终态保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告未交付轨迹；不将会话测试中的机器人接触作为评分轨迹的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 1979,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器reward为success=0、missing_trajectory=1，agent_records=0、agent_replays=0。log step 1978是agent重置后的机器人肩部位置测试，log step 1979又启动橱柜抓取测试；最后一条agent发言（log step 1975）仅称已启动保鲜盒触达测试、等待结果。未交付评分轨迹，不能把会话中正在测试的步骤指定为评分尝试的物理断点。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/仅提供run.json、video.json、meta.json和MANIFEST.json；没有视频、状态日志或成功参考录像。评分器仅报告缺失轨迹与整体失败，未提供任何节点终态或q_score。会话日志包含多次reset和开门、抓取、逆解调试，例如log step 1947的柜门角度与log step 1591的fallen、q_score均属于测试会话，没有被交付为评分轨迹。推断：按D23，无交付时现象、根因均留空；不能从调试中的碰撞、抓取或控制误差推定评分轨迹的物理失败，也不能仅由缺交付推定交付操作出错。日志止于log step 1979的后台测试启动，未说明最终停止原因，缺乏足够证据判定具体根因。",
+  "unmet": {
+   "apples_in_boxes_1": null,
+   "apples_in_boxes_2": null,
+   "strawberries_in_boxes_1": null,
+   "strawberries_in_boxes_2": null,
+   "boxes_in_fridge_1": null,
+   "boxes_in_fridge_2": null,
+   "fridge_closed": null
+  }
+ },
+ "summary_zh": "评分器报告success=0、missing_trajectory=1，未收到可评分轨迹；9个节点的终态均未知，不能将整体零分解释为逐节点未完成。会话末尾仍在调试橱柜抓取与保鲜盒触达（log step 1974—1979），断点记为unknown／首步前，按D23不赋予物理现象或根因。没有视频、状态日志和逐节点评分结果，无法确认评分进度、接触与失败时刻；原生q_score也未在reward中报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、评分器报告 missing_trajectory=1；所有节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a)，未把会话测试读数当作评分轨迹事实。",
+    "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": "2026-10-30T22:01:04Z",
+  "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/behavior-freeze-fruit-i00-privileged--kr2hatb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--kr2hatb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d84e76fdd38207a3df5dab8910ce0ea84d08168689d0667f7add07b99aac0a79",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  }
+ }
+}