diff --git a/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--xuh5l82.json b/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--xuh5l82.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b3a08a3f32610ba422c9ef588ae9e3d4dc0d21 --- /dev/null +++ b/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），属于首步前的外部中断，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--cgadubm.json b/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--cgadubm.json new file mode 100644 index 0000000000000000000000000000000000000000..fc99387500d992bdb8effb6af47a67d82979a65b --- /dev/null +++ b/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_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": "节点层（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" + } + } +} diff --git a/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy.json b/phase2/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--m3kmkoy.json new file mode 100644 index 0000000000000000000000000000000000000000..3cda33cae480c9bcd70924484cdeb2dae56a1eb0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--4zva8zm.json new file mode 100644 index 0000000000000000000000000000000000000000..7738358eae336269b92ccafe6d29f291b148e9e2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--jfvko6a.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e0d08c8da6554bf2e2ffd2e7558f21ed64519c --- /dev/null +++ b/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, + 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"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；未交付轨迹，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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ztvzumn.json new file mode 100644 index 0000000000000000000000000000000000000000..64e9ca962deb8c6f46fd6a302b603e941c97c325 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--cecn9xt.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--cecn9xt.json new file mode 100644 index 0000000000000000000000000000000000000000..4736c20ccc7de7a76adb1a4a228260edc6f38505 --- /dev/null +++ b/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": { + "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": 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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--figt26d.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--figt26d.json new file mode 100644 index 0000000000000000000000000000000000000000..78b1b59f38520c80f8228d5dd9452c057dda7564 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--sfnup6z.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--sfnup6z.json new file mode 100644 index 0000000000000000000000000000000000000000..ae99978dc7bff379412754056339506191cea1cb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--6rleiay.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--6rleiay.json new file mode 100644 index 0000000000000000000000000000000000000000..c648fc24fbebd352736ad21aa7e943610745ba9d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--78vpbrb.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--78vpbrb.json new file mode 100644 index 0000000000000000000000000000000000000000..fa992ebbaf2f5554d1d681df3bfd353436a4b3f1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--dfkxb9c.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--dfkxb9c.json new file mode 100644 index 0000000000000000000000000000000000000000..3408f7c2e1349a51ba730a7fbb910f08305ead38 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--gelgxnn.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--gelgxnn.json new file mode 100644 index 0000000000000000000000000000000000000000..299394af194194a08b9b82423eabe239b696bede --- /dev/null +++ b/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": 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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_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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--jpt4q62.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--jpt4q62.json new file mode 100644 index 0000000000000000000000000000000000000000..366767fcace58001e5fd119599b61c37faa5dc8d --- /dev/null +++ b/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，无法标注成立区间。" + } + ] + } + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--rfcemwg.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--rfcemwg.json new file mode 100644 index 0000000000000000000000000000000000000000..76557827b5c37fa3f05c5499a46d1cb6d95161b3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--ungabau.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--ungabau.json new file mode 100644 index 0000000000000000000000000000000000000000..8159c9c6e9190709a9d42b066e6ebd10a4c42e18 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yvxplmm.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yvxplmm.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb8d158f416f1a10a7c27a25823b7b8370790aa --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ef7n3pf.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ef7n3pf.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0117d2d879c887fec2ff71b1a7594c43411139 --- /dev/null +++ b/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。节点未知、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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ay5fhq9.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ay5fhq9.json new file mode 100644 index 0000000000000000000000000000000000000000..726a558b62df241b12543da6e42fdb657d077669 --- /dev/null +++ b/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终值均未知，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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--gjbspma.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--gjbspma.json new file mode 100644 index 0000000000000000000000000000000000000000..f8debc7f05775019863f1f10235d21963ec26860 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--bph4z4z.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--bph4z4z.json new file mode 100644 index 0000000000000000000000000000000000000000..c04e17638e901f701ad62ae784c247497b49376d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--sxsb6rf.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--sxsb6rf.json new file mode 100644 index 0000000000000000000000000000000000000000..abfc48b947671063827b98a510d963ea841c1358 --- /dev/null +++ b/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但最终仍未达成，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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--hjbnztf.json new file mode 100644 index 0000000000000000000000000000000000000000..10bcdaf5b9bd603085a6f7a866f92ecff8f17400 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--rk7z4jg.json new file mode 100644 index 0000000000000000000000000000000000000000..fff4decb459fc5a2175864e733f340c3876bdc32 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--zgfqkto.json new file mode 100644 index 0000000000000000000000000000000000000000..35e7d6ba368a4f5877190b7ed99994ca9f465e14 --- /dev/null +++ b/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，因此终态合格数量为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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--hbfcmee.json new file mode 100644 index 0000000000000000000000000000000000000000..a48e61777ccc9d45d08f3be91504b8b54b3446dd --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--ws9u3tp.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e2303b6ad4e59d673237d3c0fda99f950a1a98 --- /dev/null +++ b/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": { + "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": 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", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zyb2buj.json new file mode 100644 index 0000000000000000000000000000000000000000..4d139da760a196aec9d48be54a7302f249a55910 --- /dev/null +++ b/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", + "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": 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轨迹实际接触。" + } + ] + }, + "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": [ + { + "name": "q_score", + "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。" + }, + "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/ 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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--qc8wxbs.json new file mode 100644 index 0000000000000000000000000000000000000000..93a293c194f65c85347d25e4a7e89223620905b6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--mya7rsm.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--mya7rsm.json new file mode 100644 index 0000000000000000000000000000000000000000..3632cb7940d8de742ab6b875d6e4c64337b1ce6a --- /dev/null +++ b/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；会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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--aguca4k.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--aguca4k.json new file mode 100644 index 0000000000000000000000000000000000000000..cd797acebc92207cbac8b04192795df6a6beddb0 --- /dev/null +++ b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--aguca4k.json @@ -0,0 +1,282 @@ +{ + "schema": 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"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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--8gkhckz.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--8gkhckz.json new file mode 100644 index 0000000000000000000000000000000000000000..fae0e90fa91cdea6751cd33a28fd28e700f12028 --- /dev/null +++ b/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": { + 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"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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--xvjpguy.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--xvjpguy.json new file mode 100644 index 0000000000000000000000000000000000000000..9f96d9e8334e5f7196904cbdbb8ec26eeb9a7a9f --- /dev/null +++ b/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。" + } + ] + }, + "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": 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], + "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 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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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--8anxywm.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--8anxywm.json new file mode 100644 index 0000000000000000000000000000000000000000..488b6515235fa7ca71bfc1874db13f45c9ab4ee8 --- /dev/null +++ b/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, + 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+ "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": [ + { + "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”有服务读数支持，根因留空并有 gap_zh，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": 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"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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--cfga8ox.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--cfga8ox.json new file mode 100644 index 0000000000000000000000000000000000000000..e62a02ddd5e0bbd6c39ad240e072a0f1ab2734cc --- /dev/null +++ b/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": 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"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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--d6e2kdu.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--d6e2kdu.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2676e02d9da4686e65ff6b7928cee069278b20 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--cenyous.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--cenyous.json new file mode 100644 index 0000000000000000000000000000000000000000..9af9f956634dfba16d686d57761b3f0d2dd9c56e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--jm2fdif.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--jm2fdif.json new file mode 100644 index 0000000000000000000000000000000000000000..bb69f20647fea04300573239305689455e5063ba --- /dev/null +++ b/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。" + } + ] + } + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--lpb8ue7.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--lpb8ue7.json new file mode 100644 index 0000000000000000000000000000000000000000..33b25d78a3782f7fbab01a9d386e1ff1e1fafa19 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--a7abrkd.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--a7abrkd.json new file mode 100644 index 0000000000000000000000000000000000000000..bde59943975213b33bbf61a442c90b4537918c8b --- /dev/null +++ b/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, + 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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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--vgay9lh.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--vgay9lh.json new file mode 100644 index 0000000000000000000000000000000000000000..a785f05d22527feae9e89f678a8537ee6af76c9b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--ppb7q7e.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--ppb7q7e.json new file mode 100644 index 0000000000000000000000000000000000000000..afa076f8a1440a9d47630b92772a9f4d3eded6c2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--jm6q2av.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--jm6q2av.json new file mode 100644 index 0000000000000000000000000000000000000000..f244d75d6b4383afc0c5febf043bbbd310ebee91 --- /dev/null +++ b/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，保留未知。" + } + ] + } + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--8kvrcpy.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--8kvrcpy.json new file mode 100644 index 0000000000000000000000000000000000000000..4eea95a1509ddd44ff21e8933107ea9c51d9c0f0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--kr2hatb.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--kr2hatb.json new file mode 100644 index 0000000000000000000000000000000000000000..28b0d96bedb1276308aa1d89ee1f0e7ba339d3d9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ueegelu.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ueegelu.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f99d984bf02d3dfbcc1c85c4cd616eda455f78 --- /dev/null +++ b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ueegelu.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-fruit-i00-privileged--ueegelu", + "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": 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": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“打开橱柜”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“打开冰箱”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "apples_in_boxes_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第1个苹果入盒”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "apples_in_boxes_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第2个苹果入盒”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "strawberries_in_boxes_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第1个草莓入盒”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "strawberries_in_boxes_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第2个草莓入盒”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第1盒入冰箱”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“第2盒入冰箱”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + }, + "fridge_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 401, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，inputs/video.json 为 kind=none，且无状态日志；log step 401 为 Gemini 过滤提示。没有受评轨迹或报告“关上冰箱”的受评节点结果，无法判定该节点；交互测试及其检查点不计为受评进度。" + } + ], + "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，交互测试中的机器人接触不作为本次受评轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 401, + "where": "首步前", + "evidence_zh": "观察：log step 399 中交互仿真服务的 s.status() 返回 success=True、goal_held_steps=30、q_score=1.0；随后 log step 401 出现 Gemini 模型过滤提示并结束，评分器 reward 仍报告 missing_trajectory=1、agent_records=0、agent_replays=0。推断：中断前没有已保存并验证的受评交付，交互成功不能确定受评物理步骤的断点，故标 unknown／首步前。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json，无视频、无状态日志；评分器报告 missing_trajectory=1。log step 6 定义的 save_ckpt/load_ckpt 保存与恢复交互仿真内存状态，log step 394 先恢复 tups_in_fridge 再关门，log step 399 的成功是该交互测试的服务结果；完整日志未见录制、保存动作交付或新进程重放验证，log step 401 是模型提供方过滤中断。推断：按外因中断处理，不把交互测试成功当作受评节点值，也不把会话中的抓取失败移作受评失败现象；没有交付前已固定的受评结果，不适用交付验证完成后的中断例外。节点终值、时间、物理断点与接触均无法从受评证据确定；现象和根因留空，不能从缺交付推定交付操作出错或没尝试。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，没有可标注的受评轨迹，9个节点终值均未知。log step 399 的交互仿真服务报告任务成功，但这次测试使用恢复检查点，未见保存交付与新进程重放验证；log step 401 随即出现 Gemini 模型过滤提示，按交付前外因中断处理，断点为 unknown／首步前，现象与根因留空。无视频和状态日志，不能从会话测试重建受评进度或实际接触，原生 q_score 的受评值也未报告。", + "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、agent_records=0、agent_replays=0，无视频和状态日志；log step 399 的成功来自恢复检查点后的交互会话测试，不是受评轨迹。标注把9个节点全部设为unknown、断点unknown/首步前、现象与根因留空并写明gap_zh，符合外因中断（交付前）的规则，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": "2026-10-30T22:04:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-fruit-i00-privileged--ueegelu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-fruit-i00-privileged--ueegelu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "985fccc085fab3b43b08cb509e92742636fa64e513ec0fca6cf57e2f08ad379f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mqtc9r7.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mqtc9r7.json new file mode 100644 index 0000000000000000000000000000000000000000..ad0a9f9c0179109745058d30c9a503b81e5bed89 --- /dev/null +++ b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mqtc9r7.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-fruit-i00-standard--mqtc9r7", + "taskKey": "behavior-1k/freeze_fruit", + "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af", + "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": 727, + "sim_steps": 727, + "physics_steps": 2908, + "steps": 162, + "elapsed_s": 712.0, + "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": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：完整日志未提供服务端的橱柜开度或本节点完成判定；log step 21记录的是底盘全景转向，log step 34的后续导航请求返回EpisodeOver。无视频和状态日志，不能判定橱柜曾否打开到可取盒的程度。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 36, + "text_zh": "观察：完整日志未提供服务端的冰箱开度或本节点完成判定；log step 36的服务状态只报告机器人倒地终止。无视频和状态日志，不能判定冰箱曾否打开到可通盒的程度。" + } + ] + }, + "apples_in_boxes_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；至少1个苹果入盒至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "apples_in_boxes_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；2个苹果分别入不同盒至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "strawberries_in_boxes_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；至少1个草莓入盒至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "strawberries_in_boxes_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；2个草莓分别入不同盒至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；至少1个保鲜盒入冰箱至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：run.json评分器记录graded_by_live=1、q_score=0.0，DAG给出的初态中水果均未入盒、保鲜盒均未入冰箱；2个保鲜盒入冰箱至少需要1条初始不成立的inside目标字面量成立，与新增满足字面量为0的评分总量不相容，因此本节点终值为false。该推断只确定终值，不确定历史进度或接触。" + } + ] + }, + "fridge_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 36, + "text_zh": "观察：DAG说明冰箱初始关闭，但run.json的评分器q_score=0不计仍保持的初始目标，log step 36也未报告冰箱最终开关状态。无视频和状态日志，不能由初态或零分确定本节点终值。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 34, + "where": "探索", + "evidence_zh": "推断：log step 20-21的脚本及执行输出表明机器人通过底盘原地转向采集厨房全景，尚不能将这段通用场景探索归到某一DAG物体操作。agent在log step 33提出靠近水果碗，log step 34的首次导航submit即被服务以“failure: the robot fell over”拒绝；log step 36再次确认done=true、control_steps=727、resumes=0。故倒地发生于导航请求获准之前，无法可靠指定一个DAG节点作为断点；无视频，t留空。" + }, + "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": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 36, + "evidence_zh": "观察：log step 34的实时机器人服务返回EpisodeOver: failure: the robot fell over；log step 36直接查询同一服务，返回done=true、reason=\"failure: the robot fell over\"、control_steps=727、resumes=0。该服务判定确认本次实时评分回合因机器人倒地结束；run.json同时记录task_failure=1、sim_error=0、infra_error=0。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 21, + "source_zh": "日志", + "evidence_zh": "推断：log step 20给出的全景控制脚本每段均发送base_yaw=0.05 rad/控制步，结束前没有底盘回零或稳定性检查；log step 21修正video参数后成功执行八段转向。log step 15-16的服务规格说明底盘指令逐控制步重复施加、零指令才停止；后续导航首次submit在log step 34已因倒地被拒绝，支持将问题定位到此前的底盘旋转控制及其结束处理，子类型不足以确定。agent在log step 38、44将其解释为调用间持续持令导致旋转失稳，此具体机理仍待核实。" + } + ], + "gap_zh": "无视频：inputs/video.json记载远端replay.mp4为404且无本地视频；inputs/仅有run.json、video.json、meta.json及MANIFEST.json，没有状态日志或成功参考视频。无法标定任何视频时间或节点区间，也无法核实倒地姿态、准确发生时刻、旋转中的意外接触及最终门状态。全景扫描尚未明确对应到某个DAG节点，被服务拒绝的靠碗导航不算已执行，因此没有为各节点虚填操作接触。log step 37的姿态统计由agent自己的脚本生成，不能替代状态日志；agent在log step 38、44关于调用间持令和加速度致倒的解释没有连续姿态或服务实现证据，仅作待核实解释，不进一步标注参数调试或具体控制子类。" + }, + "summary_zh": "本次实时评分回合在机器人采集厨房全景后因倒地终止；评分器q_score=0可推出六个装果入盒、盒入冰箱节点的终值均为false，两个开门事件和冰箱关闭终值未知。服务在log step 34、36明确报告倒地，断点只能定位为通用场景探索，无法归到某一DAG节点；旋转脚本末端未回零支持控制层面的归因，agent关于调用间持续旋转的具体解释待核实。无视频、状态日志和成功参考，所有区间及视频时刻留空，不能核实实际物体接触。", + "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；标注仅依据评分器 q_score=0 与服务 /status 的倒地读数（log step 34/36），未发现需改动的错误。终值、unknown、断点（探索）、平衡现象与控制根因均有所引证据支持，且已注明agent的机理解释待核实。", + "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": "2026-10-30T22:06:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-fruit-i00-standard--mqtc9r7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-fruit-i00-standard--mqtc9r7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "96a59a6683018d8460b8b38bcf634f6343eacba3465e35e59ecd9c6776f3716e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--4jqatqf.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--4jqatqf.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc59801a6ecef05304026c97877125f564accd8 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--4jqatqf.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--4jqatqf", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 31, + "agent_resets": 1, + "agent_sim_steps": 474, + "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": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 468, + "text_zh": "观察：本次视频元数据为kind=none，且无状态日志；评分器reward只报告success=0、missing_trajectory=1，未报告“打开冰箱”的节点结果，也未报告q_score。log step 468的会话记录显示一次1753动作的录制success=false，不能据此判定该节点真或假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付供评分的机器人轨迹；会话内测试接触不作为本次轨迹接触。" + } + ] + }, + "egg_halved": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 468, + "text_zh": "观察：本次视频元数据为kind=none，且无状态日志；评分器reward只报告success=0、missing_trajectory=1，未报告“鸡蛋切半”的节点结果，也未报告q_score。log step 468的会话记录显示一次1753动作的录制success=false，不能据此判定该节点真或假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付供评分的机器人轨迹；会话内测试接触不作为本次轨迹接触。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 468, + "text_zh": "观察：本次视频元数据为kind=none，且无状态日志；评分器reward只报告success=0、missing_trajectory=1，未报告“第1半蛋上盘”的节点结果，也未报告q_score。log step 468的会话记录显示一次1753动作的录制success=false，不能据此判定该节点真或假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付供评分的机器人轨迹；会话内测试接触不作为本次轨迹接触。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 468, + "text_zh": "观察：本次视频元数据为kind=none，且无状态日志；评分器reward只报告success=0、missing_trajectory=1，未报告“第2半蛋上盘”的节点结果，也未报告q_score。log step 468的会话记录显示一次1753动作的录制success=false，不能据此判定该节点真或假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付供评分的机器人轨迹；会话内测试接触不作为本次轨迹接触。" + } + ] + }, + "knife_in_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 468, + "text_zh": "观察：本次视频元数据为kind=none，且无状态日志；评分器reward只报告success=0、missing_trajectory=1，未报告“刀具入水槽”的节点结果，也未报告q_score。log step 468的会话记录显示一次1753动作的录制success=false，不能据此判定该节点真或假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付供评分的机器人轨迹；会话内测试接触不作为本次轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 468, + "where": "首步前", + "evidence_zh": "观察：评分器reward报告missing_trajectory=1、agent_records=1、agent_replays=0。log step 468记录会话内录制1753个动作且success=false；log step 475所读的agent脚本仅在final_status.success为真时保存轨迹，log step 453的输出目录清单未见轨迹文件。推断：没有交付供评分的轨迹，无法将物理断点归到某个DAG节点，按无交付标为首步前。" + }, + "unmet": { + "egg_halved": null, + "egg_halves_on_plate_1": null, + "egg_halves_on_plate_2": null, + "knife_in_sink": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频（inputs/video.json为kind=none），无状态日志，也没有可识别的交付轨迹；评分器未给逐节点结果或q_score，五个节点的终值及视频时间均无法判定。log step 468的失败录制与其他抓刀、开门测试均为会话证据，不能当作评分轨迹的物理现象。日志最后仍在查阅抓取实现（log step 562），没有最终完成报告；不能仅凭未交付或会话结束断定控制、规划或交付操作根因。按D23，无交付时现象和根因均留空。" + }, + "summary_zh": "评分器判失败，报告missing_trajectory=1，未交付可评分轨迹；五个DAG节点均无可确认的最终结果。日志中的1753动作失败录制（log step 468）及仅成功时保存的脚本（log step 475）属于会话证据，断点记unknown、首步前，现象和根因留空。无本次视频、状态日志或逐节点评分结果，无法核实开门、切半、两半上盘及刀入水槽的实际进度。", + "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、无逐节点评分；评分器仅给 missing_trajectory=1。五个节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 D23(a)；引用的 log step 453/468/475/562 均存在且内容与证据文字一致（468 为 1753 动作 success=false 的录制，475 脚本仅在 success 为真时保存）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:01Z", + "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-halve-an-egg-i00-privileged--4jqatqf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--4jqatqf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4b9ba9692794ee657a9e6c7cb8e904035f6ea31c46e17a3c33063694a9f9ae69", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--5bbakak.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--5bbakak.json new file mode 100644 index 0000000000000000000000000000000000000000..b985ddbb24db5031e1b52a17c7f5f9777822c11e --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--5bbakak.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--5bbakak", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 4, + "agent_resets": 14, + "agent_sim_steps": 4099, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 614, + "text_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；log step 614 的开发会话输出门关节为1.9256弧度，但这不是已交付轨迹的服务结果，不能据此判定受评开门节点。无本次视频或状态日志，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；开发会话中的机器人接触不计入轨迹级实际接触。" + } + ] + }, + "egg_halved": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 616, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告受评鸡蛋切半状态；log step 616 仍是 agent 在开发会话中测试右臂进入冰箱的逆解。无本次视频或状态日志，不能把会话测试当作受评切割结果，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；开发会话中的机器人接触不计入轨迹级实际接触。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告受评盘上半蛋数量或逐目标结果；inputs/video.json.kind=none，且无本次状态日志。总成功值0不能单独证明第1半蛋未上盘，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；开发会话中的机器人接触不计入轨迹级实际接触。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告受评盘上半蛋数量或逐目标结果；inputs/video.json.kind=none，且无本次状态日志。总成功值0不能单独证明第2半蛋未上盘，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；开发会话中的机器人接触不计入轨迹级实际接触。" + } + ] + }, + "knife_in_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告受评刀具与水槽的inside关系；inputs/video.json.kind=none，且无本次状态日志。总成功值0不能单独证明刀具未入水槽，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹；开发会话中的机器人接触不计入轨迹级实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 616, + "where": "首步前", + "evidence_zh": "观察：评分记录 reward.missing_trajectory=1、agent_records=0、agent_replays=0；log step 611 的 agent 最后自述仍将穿过冰箱开口再下降到鸡蛋搁板，log step 616 仍在查询右臂逆解，未见后续录制、保存或回放交付。推断：没有受评轨迹可定位物理失败步骤，断点记unknown，受评流程位置记首步前；不把开发会话当作已交付尝试。" + }, + "unmet": { + "egg_halved": null, + "egg_halves_on_plate_1": null, + "egg_halves_on_plate_2": null, + "knife_in_sink": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json.kind=none，没有受评视频或状态日志；评分记录仅给出未交付轨迹，未报告逐节点结果或q_score。run.json 的 wall_s 与 time_limit_s 均为14400秒，log step 616 位于 agent 工作第14321.4秒且仍在调试，没有最终交付报告；早期异常后会话继续，log step 145 已成功重置，log step 614 仍返回动作结果。推断：未交付使受评节点终值及物理断点无法确定；按无交付规则，开发测试不能充当受评失败现象，也不能仅凭缺交付或预算耗尽指定能力根因，因此两层留空。参考成功视频属于另一运行，不能补足本次证据。" + }, + "summary_zh": "评分记录为success=0、missing_trajectory=1，录制与回放计数均为0；没有交付受评轨迹，五个节点终值均未知。开发会话结束前仍在调试开门后的右臂入冰箱路径（log step 611—616），不能据此计入受评进度；断点记unknown／首步前，因无本次视频、状态日志或逐节点评分结果，失败现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分记录为 missing_trajectory=1、agent_records=0、agent_replays=0。五个节点记 unknown、断点 unknown/首步前、两层留空并写 gap_zh，符合 03 的无交付规则和 D23。会话中的测试读数没有被当作受评事实。", + "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": "2026-10-30T22:02:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--5bbakak/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--5bbakak/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a4eb91cb967b8da1a1e8cfe6a05fc0247d6e1c6377307c9421ed4bf67f4eb166", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--d52uycj.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--d52uycj.json new file mode 100644 index 0000000000000000000000000000000000000000..e7fcff1b725bb9e5bf7a04cd318b0f1b490348fd --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--d52uycj.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--d52uycj", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 2, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.681, + "peak_memory_gb": 17.611, + "peak_processes": 76, + "peak_disk_gb": 1.506, + "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": { + "fridge_opened": { + "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_replays=0，未报告“打开冰箱”的节点结果，也未报告 q_score；inputs/video.json 为 kind=none，且无状态日志，无法判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，本次没有交付供评分回放的轨迹。" + } + ] + }, + "egg_halved": { + "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_replays=0，未报告“鸡蛋切半”的节点结果，也未报告 q_score；inputs/video.json 为 kind=none，且无状态日志，无法判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，本次没有交付供评分回放的轨迹。" + } + ] + }, + "egg_halves_on_plate_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_replays=0，未报告“第1半蛋上盘”的节点结果，也未报告 q_score；inputs/video.json 为 kind=none，且无状态日志，无法判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，本次没有交付供评分回放的轨迹。" + } + ] + }, + "egg_halves_on_plate_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_replays=0，未报告“第2半蛋上盘”的节点结果，也未报告 q_score；inputs/video.json 为 kind=none，且无状态日志，无法判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，本次没有交付供评分回放的轨迹。" + } + ] + }, + "knife_in_sink": { + "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_replays=0，未报告“刀具入水槽”的节点结果，也未报告 q_score；inputs/video.json 为 kind=none，且无状态日志，无法判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，本次没有交付供评分回放的轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 91, + "where": "首步前", + "evidence_zh": "观察：评分器字段 missing_trajectory=1、agent_replays=0；agent 的两次会话测试在 log step 71、72 均输出 success=False，log step 69 的脚本仅在 success 为真时保存轨迹。agent 在 log step 83 启动另一生成脚本，同样仅成功后保存；log step 90 仅见 evaluator ready，log step 91 轮询未返回阶段或保存结果。推断：没有可供定位物理失败步骤的已交付评分轨迹，断点记 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频（inputs/video.json: kind=none），无状态日志；评分器报告缺少轨迹且未给出各节点或 q_score 结果。log step 71、72 的运动和状态属于会话测试，最后新进程在 log step 90、91 之后的执行及保存结果未见记录；run.wall_s=7202、time_limit_s=7200。推断：依 D23，无交付的预算结束运行保留空现象和根因；不能把会话开门失败移作评分轨迹的接触现象，不能仅凭交付缺失归因于交付操作出错，也不能由 success=0 推出五个节点全为假。成功参考视频属于其他运行，不能补足本次节点证据。", + "unmet": { + "egg_halved": null, + "egg_halves_on_plate_1": null, + "egg_halves_on_plate_2": null, + "knife_in_sink": null + } + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，未交付评分轨迹；五个节点均无可判定的终值，不能确认完成任何节点。会话测试在 log step 71、72 未成功，agent 在 log step 83 启动新的生成脚本，但日志末尾 log step 90、91 未记录任务阶段结果或保存完成。无本次视频、状态日志及节点评分，断点记 unknown／首步前，按 D23 留空失败现象和根因。", + "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、无状态日志、无交付轨迹（missing_trajectory=1）；五个节点 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": "2026-10-30T22:03:10Z", + "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-halve-an-egg-i00-privileged--d52uycj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--d52uycj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "94f2cd977bab7e85f68e38f691a8d0be19a7b67615e039e83e33febd70f8e91c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--jokr2w5.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--jokr2w5.json new file mode 100644 index 0000000000000000000000000000000000000000..08e45052026996d15b1c24ff0fe93d808168f99b --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--jokr2w5.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--jokr2w5", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 7414, + "sim_steps": 7414, + "physics_steps": 29656, + "steps": 3914, + "elapsed_s": 2747.3, + "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": 7382, + "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": { + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 113, + "text_zh": "观察：agent 在 log step 113 自述“门已开到足以查看搁板”，并在 log step 134 宣布改用右臂控制冰箱门；这些是机器人操作计划与 agent 自述，服务返回字段没有报告冰箱门开合状态。本次无视频、无状态日志，成功评分也不单独检查开门节点，故无法确认该事件判据是否满足。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录机器人先用左夹爪、后改右夹爪尝试操作冰箱门把手；无本次视频或接触状态，无法确认夹爪与把手实际如何接触，亦无法确认开门期间底盘的实际支承移动。" + } + ] + }, + "egg_halved": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 212, + "text_zh": "推断：log step 212 中，执行并检查本次唯一实时评分局的机器人服务返回 done=True、reason=success；inputs/run.json 的评分器字段同时记录 live_success=1、graded_by_live=1、finalized=1、q_score=1.0、resumes=0。按本局任务规定的联合成功规则，终态必有两个独立半蛋均存在，全体目标均离手且速度达标，连续满足30个控制步。此为服务成功结果对该目标节点终态的逻辑保证；没有本次视频或状态日志，不能确定首次达成时刻或中途是否失去。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "缺少本次视频和接触状态日志，无法确认机器人夹爪、切肉刀与鸡蛋之间的实际切割接触；服务的成功结果只确定目标终态，不能确定接触方式。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 212, + "text_zh": "推断：log step 212 中，执行并检查本次唯一实时评分局的机器人服务返回 done=True、reason=success；inputs/run.json 的评分器字段同时记录 live_success=1、graded_by_live=1、finalized=1、q_score=1.0、resumes=0。按本局任务规定的联合成功规则，终态必有盘上至少有一个已离手且静止的半蛋，全体目标均离手且速度达标，连续满足30个控制步。此为服务成功结果对该目标节点终态的逻辑保证；没有本次视频或状态日志，不能确定首次达成时刻或中途是否失去。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "缺少本次视频和接触状态日志，无法确认机器人将鸡蛋装盘或在盘上切割时夹爪、刀刃与鸡蛋的实际接触；服务的成功结果只确定目标终态，不能确定接触方式。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 212, + "text_zh": "推断：log step 212 中，执行并检查本次唯一实时评分局的机器人服务返回 done=True、reason=success；inputs/run.json 的评分器字段同时记录 live_success=1、graded_by_live=1、finalized=1、q_score=1.0、resumes=0。按本局任务规定的联合成功规则，终态必有盘上至少有两个已离手且静止的半蛋，全体目标均离手且速度达标，连续满足30个控制步。此为服务成功结果对该目标节点终态的逻辑保证；没有本次视频或状态日志，不能确定首次达成时刻或中途是否失去。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "缺少本次视频和接触状态日志，无法确认机器人将鸡蛋装盘或在盘上切割时夹爪、刀刃与鸡蛋的实际接触；服务的成功结果只确定目标终态，不能确定接触方式。" + } + ] + }, + "knife_in_sink": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 212, + "text_zh": "推断：log step 212 中，执行并检查本次唯一实时评分局的机器人服务返回 done=True、reason=success；inputs/run.json 的评分器字段同时记录 live_success=1、graded_by_live=1、finalized=1、q_score=1.0、resumes=0。按本局任务规定的联合成功规则，终态必有切肉刀位于水槽内部且已离手、静止，全体目标均离手且速度达标，连续满足30个控制步。此为服务成功结果对该目标节点终态的逻辑保证；没有本次视频或状态日志，不能确定首次达成时刻或中途是否失去。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "缺少本次视频和接触状态日志，无法确认机器人夹爪与切肉刀之间的实际抓持、释放接触及持刀移动时的底盘支承；服务的成功结果只确定目标终态，不能确定接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：log step 212 的机器人服务返回 done=True、reason=success，评分器记录 live_success=1、q_score=1.0；据联合成功规则，鸡蛋切半、两半上盘和刀入水槽这四个目标节点终态均为真，任务成功，无失败断点。按无视频规则 N9，非目标节点“打开冰箱”缺少服务侧节点状态，保留未知，不能仅凭 agent 在 log step 113 的开门自述判真。本次没有视频或状态日志，全部时间区间及实际接触方式未知，参考成功视频不能证明本次动作。", + "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（video.kind none）。四个目标节点 final=true 来自 log step 212 的服务 done=True/success 与 q_score=1.0，符合 N9；fridge_opened 无服务侧字段，保持 unknown 合规；contact_actual 均为未知，成功故无断点。未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--jokr2w5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--jokr2w5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6f36b9cbe20dc1c15dfa865d18b829b05d9734f0cc950e762b2840ced0d9f0bf", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--l7jz554.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--l7jz554.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b9a85d14cbca66d0c9f2624527bf605ca479da --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--l7jz554.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--l7jz554", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 693, + "sim_steps": 693, + "physics_steps": 2772, + "steps": 647, + "elapsed_s": 1486.2, + "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": 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": { + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 48, + "text_zh": "观察：log step 47 的动作是驶向厨房，log step 48 的动作是近距离全景扫描；日志没有服务返回的冰箱开门状态，本次无视频、无状态日志。评分器 q_score 不评开门这一前置事件，不能据此确定是否完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 36、47、48 记录机器人底盘扫描和驶向厨房，属于开冰箱前的场景探索；本次无视频和状态日志接触对，不能核验底盘与环境或夹爪与冰箱的实际接触，故不从任务级接触方案复制抓握标签。" + } + ] + }, + "egg_halved": { + "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=0.0；鸡蛋切半要求两个半蛋的 real 字面量均成立；任务文本说明半蛋初始为 future、尚不存在。这些目标均非初始已满足的目标，零总分排除了该节点终态为真。此结论只约束终态，不证明过程从未达成；本次没有视频或状态日志，无法给出区间。" + } + ] + }, + "egg_halves_on_plate_1": { + "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=0.0；第1半蛋上盘至少要求一个半蛋的 ontop 字面量成立；半蛋初始尚不存在。这些目标均非初始已满足的目标，零总分排除了该节点终态为真。此结论只约束终态，不证明过程从未达成；本次没有视频或状态日志，无法给出区间。" + } + ] + }, + "egg_halves_on_plate_2": { + "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=0.0；第2半蛋上盘要求两个半蛋的 ontop 字面量均成立；半蛋初始尚不存在。这些目标均非初始已满足的目标，零总分排除了该节点终态为真。此结论只约束终态，不证明过程从未达成；本次没有视频或状态日志，无法给出区间。" + } + ] + }, + "knife_in_sink": { + "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=0.0；刀具入水槽要求 inside 刀具 水槽这一字面量成立；任务文本说明刀具初始位于台面的案板上，而非水槽内部。这些目标均非初始已满足的目标，零总分排除了该节点终态为真。此结论只约束终态，不证明过程从未达成；本次没有视频或状态日志，无法给出区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": null, + "log_step": 48, + "where": "探索", + "evidence_zh": "观察：log step 36 的机器人动作是原地扫描，log step 47 驶向厨房中心，log step 48 执行厨房近距离全景转向扫描并返回明显倾斜的 base_pose；尚无切蛋、装盘或持刀入槽的操作调用。log step 55 中负责本次单一在线评分回合的机器人服务返回 done=True、reason=\"failure: the robot fell over\"，control_steps=693、resumes=0。推断：结合任务中鸡蛋初始位于冰箱、打开冰箱是取蛋的必要前置，将这段厨房定位与场景探查归到 fridge_opened 的探索阶段；该步尚未进入把手操作就被翻倒终止，没有更早未修复的步骤。按 S14/S15 以该步骤为断点，服务判定的倒地不另列断点；本次无视频，t 保持 null。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 55, + "evidence_zh": "观察：log step 55 的机器人在线服务（负责执行并判定这一次 standard 回合的接口）在 get_obs 返回 done=True、reason=\"failure: the robot fell over\"，status 再次确认同一原因及 control_steps=693；log step 59 的服务状态仍为此终局。评分器 finalized=1、task_failure=1、sim_breakdown=0、infra_error=0，确认这是已发生的翻倒失败。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 kind=none；inputs/ 只有本次 run.json 等元数据及另一次成功的 oracle 视频，没有本次 replay.mp4 或 states.jsonl，日志中的图片仅为占位符。成功参考视频不能补充本次的观测。推断：所有视频区间与时刻均不可确定；q_score=0 约束四个目标节点终态为假，但不评分开冰箱。审查 I2 提议用 log step 36、47、48 只有扫描和底盘行驶、没有开门动作来判 fridge_opened 为假；按 DECISIONS.md N9 的 Now（无视频时节点 final 仅来自报告该节点的评分器或服务结果字段）及 docs/03_trajectory.md Step 2，动作列表不能替代冰箱门状态，故仍保留 method=unknown、final=null，并记录此分歧。厨房探索按 S14 归到打开冰箱的准备阶段不等于开门已完成；该节点的实际接触因无视频或状态接触记录标为未知，其他未操作节点不填 contact_actual。agent 在 log step 60 自述“凳子卡在底盘下导致翻倒”只是猜测，缺少碰撞、支撑或接触记录，无法确认初始失稳的机制及控制责任，因此根因留空。", + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + } + }, + "summary_zh": "评分器 q_score=0，切半、两半上盘及刀入水槽四个目标节点终态均为假；打开冰箱没有可判定该节点的服务结果字段，按 N9 保留未知。单次在线回合在厨房定位扫描时翻倒，机器人服务于 log step 55 确认失败；断点修订为打开冰箱的探索阶段，现象为全身平衡失效。没有本次视频或状态日志，无法核验开门终值、实际接触及翻倒根因，也无法实证排除审查 I2 的“从未开门”判断，故 conf 从6降为5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "无视频，只能依据 run.json 日志与评分器字段。跌倒标签（全身·平衡、根因留空）有服务读数支持，无需改；但断点 ref 不应为 unknown，且 fridge_opened 可由完整动作日志判为未达成。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志。四个目标节点终态为假有 q_score=0 约束；fridge_opened 按 N9 保持 unknown（动作列表不是服务结果字段）；断点 fridge_opened/探索、全身·平衡（服务 step 55 翻倒读数）、根因留空并带 gap_zh，均有证据支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:12:56Z", + "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-halve-an-egg-i00-standard--l7jz554/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--l7jz554/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--l7jz554/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--l7jz554/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37f6bcaab87c6b5a3d40602a0faaccd20bb56bccafeeb8632dfc7ea44672b003", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--rsy2tct.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--rsy2tct.json new file mode 100644 index 0000000000000000000000000000000000000000..81cfb446ff6c2bd452eba0bf2db59614c6c7cada --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--rsy2tct.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--rsy2tct", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 2947, + "sim_steps": 2947, + "physics_steps": 11788, + "steps": 474, + "elapsed_s": 5304.0, + "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": 2905, + "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": { + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 68, + "text_zh": "观察：log step 62、68记录agent脚本提交右夹爪靠近冰箱把手并沿圆弧拉门的动作，log step 69自述正在开门；本次无视频或状态日志，评分器也没有冰箱开门结果字段，不能据脚本命令、agent深度测量或最终自述确认此历史事件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62、68为机器人右夹爪操作冰箱把手的尝试；无本次画面或接触对记录，无法确认夹爪与把手、门板实际如何接触。" + } + ] + }, + "egg_halved": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 240, + "text_zh": "观察：log step 236的机器人服务调用返回046 done: True reason: success；log step 240再次查询服务，状态为done=True、reason='success'、control_steps=2947、resumes=0。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，指向本次单一live episode的成功验收。" + }, + { + "t": null, + "log_step": 240, + "text_zh": "推断：本次评分器成功及q_score=1.0要求任务全部目标字面量成立，故两个半蛋均存在，即鸡蛋切半状态最终成立；依据成功验收而非agent自己的位置测量或完成自述。无本次视频和状态日志，无法确定达成时刻、途中是否失去或联合静置窗口的起止，intervals保持null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 219记录agent脚本提交机器人右臂持刀下切鸡蛋的动作；无本次视频或接触状态记录，刀刃与鸡蛋实际接触方式未知。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 240, + "text_zh": "观察：log step 236的机器人服务调用返回046 done: True reason: success；log step 240再次查询服务，状态为done=True、reason='success'、control_steps=2947、resumes=0。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，指向本次单一live episode的成功验收。" + }, + { + "t": null, + "log_step": 240, + "text_zh": "推断：本次评分器成功及q_score=1.0要求任务全部目标字面量成立，故盘上至少有1个离手且静止的半蛋最终成立；依据成功验收而非agent自己的位置测量或完成自述。无本次视频和状态日志，无法确定达成时刻、途中是否失去或联合静置窗口的起止，intervals保持null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 106记录agent脚本把整蛋放到盘上的动作，log step 219记录盘内切蛋方案；缺少本次画面与接触对，不能确认夹爪、刀刃与鸡蛋的实际接触或盘面承接过程。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 240, + "text_zh": "观察：log step 236的机器人服务调用返回046 done: True reason: success；log step 240再次查询服务，状态为done=True、reason='success'、control_steps=2947、resumes=0。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，指向本次单一live episode的成功验收。" + }, + { + "t": null, + "log_step": 240, + "text_zh": "推断：本次评分器成功及q_score=1.0要求任务全部目标字面量成立，故盘上至少有2个离手且静止的半蛋最终成立；依据成功验收而非agent自己的位置测量或完成自述。无本次视频和状态日志，无法确定达成时刻、途中是否失去或联合静置窗口的起止，intervals保持null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 106、219记录agent脚本先放整蛋再盘内切割的方案；缺少本次画面与接触对，不能确认两个半蛋实际如何被盘面承接，也不能据此虚构分别抓取半蛋。" + } + ] + }, + "knife_in_sink": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 240, + "text_zh": "观察：log step 236的机器人服务调用返回046 done: True reason: success；log step 240再次查询服务，状态为done=True、reason='success'、control_steps=2947、resumes=0。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，指向本次单一live episode的成功验收。" + }, + { + "t": null, + "log_step": 240, + "text_zh": "推断：本次评分器成功及q_score=1.0要求任务全部目标字面量成立，故切肉刀在水槽内部且离手、静止最终成立；依据成功验收而非agent自己的位置测量或完成自述。无本次视频和状态日志，无法确定达成时刻、途中是否失去或联合静置窗口的起止，intervals保持null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 229记录agent脚本驱动底盘到水槽前，log step 235记录机器人右夹爪持刀下降并张开夹爪的命令；无本次画面或接触对，实际握刀和支承接触无法核实。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：本次live评分器success=1、q_score=1.0，log step 236返回成功，log step 240的服务最终状态再次确认done=True、reason=success；据此判定切半、两半分别上盘与刀入水槽4个目标节点最终成立，无失败断点。观察：本次video.kind=none且无状态日志，无法核实开冰箱这一非目标前置事件、各节点达成时刻及实际接触方式，故开冰箱保留未知、所有intervals为null、contact_actual为未知；另有成功参考视频，但不能作为本次运行的证据。", + "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，标注只依据live评分器success=1、q_score=1.0和log step 236/240；四个目标节点final=true、其余时间与接触置未知、无失败断点，均符合证据纪律。fridge_opened保持unknown较保守但可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--rsy2tct/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--rsy2tct/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8de0253c0b8c73d8df6e74f7b4d8381050923c821631b07231f57fbbd6dd4110", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--qvsnjt2.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--qvsnjt2.json new file mode 100644 index 0000000000000000000000000000000000000000..4d810417121099e494252fdc51e86f327d91748c --- /dev/null +++ b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--qvsnjt2.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-privileged--qvsnjt2", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "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": 20, + "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": { + "bathroom_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 200, + "text_zh": "观察：inputs/video.json 标明无视频，且本次无状态日志；inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，log step 200 出现 Gemini 提供方过滤中断。推断：没有可对应到评分交付的“打开浴室门”结果，终态及时间均未知；会话测试不作为此节点完成的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；未交付轨迹，故轨迹级接触不适用，不将会话测试中的接触计入。" + } + ] + }, + "tiles_on_bathroom_floor_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 200, + "text_zh": "观察：inputs/video.json 标明无视频，且本次无状态日志；inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，log step 200 出现 Gemini 提供方过滤中断。推断：没有可对应到评分交付的“第1块砖铺浴室”结果，终态及时间均未知；会话测试不作为此节点完成的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；未交付轨迹，故轨迹级接触不适用，不将会话测试中的接触计入。" + } + ] + }, + "tiles_on_bathroom_floor_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 200, + "text_zh": "观察：inputs/video.json 标明无视频，且本次无状态日志；inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，log step 200 出现 Gemini 提供方过滤中断。推断：没有可对应到评分交付的“第2块砖铺浴室”结果，终态及时间均未知；会话测试不作为此节点完成的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；未交付轨迹，故轨迹级接触不适用，不将会话测试中的接触计入。" + } + ] + }, + "tiles_on_bathroom_floor_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 200, + "text_zh": "观察：inputs/video.json 标明无视频，且本次无状态日志；inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，log step 200 出现 Gemini 提供方过滤中断。推断：没有可对应到评分交付的“第3块砖铺浴室”结果，终态及时间均未知；会话测试不作为此节点完成的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；未交付轨迹，故轨迹级接触不适用，不将会话测试中的接触计入。" + } + ] + }, + "tiles_on_bathroom_floor_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 200, + "text_zh": "观察：inputs/video.json 标明无视频，且本次无状态日志；inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0，log step 200 出现 Gemini 提供方过滤中断。推断：没有可对应到评分交付的“第4块砖铺浴室”结果，终态及时间均未知；会话测试不作为此节点完成的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1、agent_records=0；未交付轨迹，故轨迹级接触不适用，不将会话测试中的接触计入。" + } + ] + } + }, + "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": 200, + "where": "首步前", + "evidence_zh": "观察：log step 200 的最后消息为“This request was blocked by Gemini's filters”；评分记录 missing_trajectory=1、agent_records=0、agent_replays=0。log step 198 从 at_1505_t2_t3 快照恢复后继续会话测试，log step 199 的会话服务状态为 success=True、q_score=1.0，但没有已保存并验证的交付。推断：提供方过滤在交付形成前中断会话，无法定位任何评分轨迹内的物理失败步骤；首步前仅指未形成评分交付。" + }, + "unmet": { + "tiles_on_bathroom_floor_1": null, + "tiles_on_bathroom_floor_2": null, + "tiles_on_bathroom_floor_3": null, + "tiles_on_bathroom_floor_4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有视频或状态日志，评分记录也未提供各节点终态或交付的 q_score。log step 199 虽报告会话测试 success=True、q_score=1.0，但 log step 198 明确恢复测试快照，且评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，不能将测试成功当成交付进度。log step 200 的 Gemini 提供方过滤中断发生于交付形成前，按外因中断处理，不作机器人失败归因；没有评分轨迹支持物理失败现象，现象与根因均留空。" + }, + "summary_zh": "评分记录为 success=0、missing_trajectory=1，没有可评的交付轨迹，五个节点终态均未知。log step 199 的 success=True、q_score=1.0 属于多次重置及快照恢复后的会话测试，不计入交付进度或原生评分指标。log step 200 出现 Gemini 提供方过滤中断，按交付前外因中断处理，断点记 unknown／首步前，现象和根因留空；本次无视频或状态日志。", + "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/状态日志；评分字段 missing_trajectory=1、agent_records=0，log step 198 恢复快照、199 的 success=True 属会话测试，标注未将其计入，节点均 unknown、现象根因留空并有 gap_zh，符合外因中断规则。", + "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": "2026-10-30T21:54:55Z", + "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-laying-tile-floors-i00-privileged--qvsnjt2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-laying-tile-floors-i00-privileged--qvsnjt2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9d6de7d2fcd9a5a6c9fc1a6852aa3960c77ad69522f9456a4f1189044a15cbc2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--zlnptnj.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--zlnptnj.json new file mode 100644 index 0000000000000000000000000000000000000000..d84946f7692aea23e40d375b3c9eb974eed89010 --- /dev/null +++ b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--zlnptnj.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-privileged--zlnptnj", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 6, + "agent_resets": 22, + "agent_sim_steps": 1966, + "agent_records": 15, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bathroom_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 226, + "text_zh": "观察：评分器在 inputs/run.json.reward 中报告 missing_trajectory=1；inputs/video.json.kind=none，亦无状态日志。log step 226 的生成脚本输出含“door open”，但属于尚未交付的会话测试，不是评分回放的节点结果，无法确定评分尝试是否打开浴室门。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的机器人接触不计为本节点的轨迹级实际接触。" + } + ] + }, + "tiles_on_bathroom_floor_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 199, + "text_zh": "观察：inputs/run.json.reward 报告 missing_trajectory=1，未报告 q_score 或逐砖目标状态；本次无视频、无状态日志，无法判定至少1块砖同时满足浴室地面及邻接关系。log step 199 仅写入待执行的生成与保存代码，不能据此确认评分轨迹中的铺砖结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的机器人接触不计为本节点的轨迹级实际接触。" + } + ] + }, + "tiles_on_bathroom_floor_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 199, + "text_zh": "观察：inputs/run.json.reward 报告 missing_trajectory=1，未报告 q_score 或逐砖目标状态；本次无视频、无状态日志，无法判定至少2块砖同时满足浴室地面及邻接关系。log step 199 仅写入待执行的生成与保存代码，不能据此确认评分轨迹中的铺砖结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的机器人接触不计为本节点的轨迹级实际接触。" + } + ] + }, + "tiles_on_bathroom_floor_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 199, + "text_zh": "观察：inputs/run.json.reward 报告 missing_trajectory=1，未报告 q_score 或逐砖目标状态；本次无视频、无状态日志，无法判定至少3块砖同时满足浴室地面及邻接关系。log step 199 仅写入待执行的生成与保存代码，不能据此确认评分轨迹中的铺砖结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的机器人接触不计为本节点的轨迹级实际接触。" + } + ] + }, + "tiles_on_bathroom_floor_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 199, + "text_zh": "观察：inputs/run.json.reward 报告 missing_trajectory=1，未报告 q_score 或逐砖目标状态；本次无视频、无状态日志，无法判定至少4块砖同时满足浴室地面及邻接关系。log step 199 仅写入待执行的生成与保存代码，不能据此确认评分轨迹中的铺砖结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；会话测试中的机器人接触不计为本节点的轨迹级实际接触。" + } + ] + } + }, + "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": 227, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json.reward 为 success=0、missing_trajectory=1、grader_error=0、agent_replays=0。log step 199 的生成脚本须待 mission.run_mission 返回后才保存轨迹；log step 226 最后可读输出仍为开门后推第一块砖，log step 227 继续等待且工具输出为空，未见保存成功确认。推断：没有交付可供评分的轨迹，无法把断点归给某一物理节点；“首步前”指评分轨迹未交付，不表示机器人在会话中没有行动。" + }, + "unmet": { + "tiles_on_bathroom_floor_1": null, + "tiles_on_bathroom_floor_2": null, + "tiles_on_bathroom_floor_3": null, + "tiles_on_bathroom_floor_4": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确无视频，inputs 中无 replay.mp4 或 states.jsonl，也没有可用状态路径；评分器仅确认轨迹缺失，未报告各节点结果或 q_score。log step 85、98、173至185 的抓砖测试、log step 216 的生成脚本异常及 log step 226 的推砖输出均属会话证据；后续 log step 217、223、224 还在修复并重启生成。推断：这些测试不能替代缺失的评分轨迹，不能确认物理断点、实际接触或失败现象；也不能由缺交付本身归因为控制、规划或交付操作出错，故现象与根因均留空。所有视频时间与节点终值均未知，不能把总体失败或 reward=0 当作各节点未完成。" + }, + "summary_zh": "评分器报告轨迹缺失（missing_trajectory=1），本次成功值为0；没有可确认完成的评分节点，五个节点的终值均未知。会话末尾的生成脚本仍在开门后推第一块砖（log step 226至227），没有保存成功确认，故断点记为 unknown／首步前。无视频、无状态日志或逐节点评分结果，无法将会话测试的接触、现象或原因归入评分尝试。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器报告 missing_trajectory=1、agent_replays=0，无视频无状态日志；标注把五个节点记为 unknown，断点 unknown/首步前，现象与根因留空并写 gap_zh，符合 03 规则（无交付的 agent 侧原因：D23，会话证据不作现象）。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": "2026-10-30T21:57:36Z", + "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-laying-tile-floors-i00-privileged--zlnptnj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-laying-tile-floors-i00-privileged--zlnptnj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "42a7274e836477010ae82cb2e28f8688519d6f36b5cb3a8d322ac815fe212eb9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--y7lj9xf.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--y7lj9xf.json new file mode 100644 index 0000000000000000000000000000000000000000..84195b3a04456566800f5b5b1846076d0d230924 --- /dev/null +++ b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--y7lj9xf.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-standard--y7lj9xf", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "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": 36171, + "sim_steps": 36171, + "physics_steps": 144684, + "steps": 35046, + "elapsed_s": 6088.5, + "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": 36142, + "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": { + "bathroom_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 192, + "text_zh": "观察：log step 192、196、199记录agent脚本向机器人右夹爪发送接近门把手、闭合、改变末端位置及移动底盘的命令；log step 197、203中agent自述看见小便池并已打开浴室门。这些命令和自述不提供门板实际转角或通口宽度的服务判定。" + }, + { + "t": null, + "log_step": 203, + "text_zh": "推断：无视频、无状态日志，且评分器成功条件不包含开门节点，无法独立确定该门是否曾形成criterion_zh要求的可用通口；按无视频规则N9保留终值未知，不由agent自述或铺砖成功反推开门事件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 192、196、199有右夹爪操作浴室入口及底盘移动的命令，但没有可检查的画面或接触状态；无法确认右夹爪与门把手或门板实际如何接触。" + } + ] + }, + "tiles_on_bathroom_floor_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 386, + "text_zh": "观察：log step 386中机器人服务返回done=True、reason=success、control_steps=36171、sim_time_s=1205.7（仿真1205.7 s）；log step 387重新读取同一终态服务记录，仍为done=true、reason=success。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、q_score=1.0，且resumes=0、replays=0，本次受评对象为同一在线episode。" + }, + { + "t": null, + "log_step": 387, + "text_zh": "推断：服务成功判定与评分器全目标通过共同支持终态至少1块瓷砖满足浴室地面及相邻关系，因此本计数节点final=true；不是依据agent的搬运自述判定。没有视频或状态日志，不能确定首次达成及途中失去的时刻，intervals与视频时间均为null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 259记录agent脚本尝试用右夹爪搬运瓷砖，log step 384记录最后一块的降低、张开夹爪及撤离命令；这些是动作命令。无视频或接触状态日志，无法核实本计数步骤中夹爪与瓷砖的实际接触方式及配合搬运的接触，不从DAG典型方案复制。" + } + ] + }, + "tiles_on_bathroom_floor_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 386, + "text_zh": "观察：log step 386中机器人服务返回done=True、reason=success、control_steps=36171、sim_time_s=1205.7（仿真1205.7 s）；log step 387重新读取同一终态服务记录，仍为done=true、reason=success。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、q_score=1.0，且resumes=0、replays=0，本次受评对象为同一在线episode。" + }, + { + "t": null, + "log_step": 387, + "text_zh": "推断：服务成功判定与评分器全目标通过共同支持终态至少2块瓷砖满足浴室地面及相邻关系，因此本计数节点final=true；不是依据agent的搬运自述判定。没有视频或状态日志，不能确定首次达成及途中失去的时刻，intervals与视频时间均为null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 296记录agent脚本尝试用右夹爪搬运瓷砖，log step 384记录最后一块的降低、张开夹爪及撤离命令；这些是动作命令。无视频或接触状态日志，无法核实本计数步骤中夹爪与瓷砖的实际接触方式及配合搬运的接触，不从DAG典型方案复制。" + } + ] + }, + "tiles_on_bathroom_floor_3": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 386, + "text_zh": "观察：log step 386中机器人服务返回done=True、reason=success、control_steps=36171、sim_time_s=1205.7（仿真1205.7 s）；log step 387重新读取同一终态服务记录，仍为done=true、reason=success。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、q_score=1.0，且resumes=0、replays=0，本次受评对象为同一在线episode。" + }, + { + "t": null, + "log_step": 387, + "text_zh": "推断：服务成功判定与评分器全目标通过共同支持终态至少3块瓷砖满足浴室地面及相邻关系，因此本计数节点final=true；不是依据agent的搬运自述判定。没有视频或状态日志，不能确定首次达成及途中失去的时刻，intervals与视频时间均为null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 323记录agent脚本尝试用右夹爪搬运瓷砖，log step 384记录最后一块的降低、张开夹爪及撤离命令；这些是动作命令。无视频或接触状态日志，无法核实本计数步骤中夹爪与瓷砖的实际接触方式及配合搬运的接触，不从DAG典型方案复制。" + } + ] + }, + "tiles_on_bathroom_floor_4": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 386, + "text_zh": "观察：log step 386中机器人服务返回done=True、reason=success、control_steps=36171、sim_time_s=1205.7（仿真1205.7 s）；log step 387重新读取同一终态服务记录，仍为done=true、reason=success。inputs/run.json评分器字段success=1、live_success=1、graded_by_live=1、q_score=1.0，且resumes=0、replays=0，本次受评对象为同一在线episode。" + }, + { + "t": null, + "log_step": 387, + "text_zh": "推断：服务成功判定与评分器全目标通过共同支持终态至少4块瓷砖满足浴室地面及相邻关系，因此本计数节点final=true；不是依据agent的搬运自述判定。没有视频或状态日志，不能确定首次达成及途中失去的时刻，intervals与视频时间均为null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 371记录agent脚本尝试用右夹爪搬运瓷砖，log step 384记录最后一块的降低、张开夹爪及撤离命令；这些是动作命令。无视频或接触状态日志，无法核实本计数步骤中夹爪与瓷砖的实际接触方式及配合搬运的接触，不从DAG典型方案复制。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better", + "value": 1.0 + } + ], + "failure": null, + "summary_zh": "观察：log step 386、387的机器人服务终态为done=true、reason=success，评分器亦报告success=1、q_score=1.0，支持四个铺砖计数目标终值均为真，本次无失败断点。打开浴室门仅有log step 192至203的动作命令与agent自述，没有报告门状态的服务结果，因此该非目标节点终值未知。无视频、无状态日志，也无独立参考视频，所有达成区间及视频时间均为null，五个节点的实际接触均未知；无法独立复核各砖邻接几何或DAG提出的自身相邻判据疑问，按本次原生成功判定标注。", + "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；四个计数目标节点final=true由服务done=true/success与评分器success=1、q_score=1.0支持，开门非目标节点按N9保留未知，contact_actual为未知，无失败断点，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": "2026-10-30T21:55:53Z", + "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-laying-tile-floors-i00-standard--y7lj9xf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-laying-tile-floors-i00-standard--y7lj9xf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "388bf78e1c86f75aff65e71c95127901aa61e606a6489957df33868cb9f0016c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--yzqqv4d.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--yzqqv4d.json new file mode 100644 index 0000000000000000000000000000000000000000..6bc2fa2e7a1ad4f187b0c24dd733ef2fb62b22bc --- /dev/null +++ b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--yzqqv4d.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-standard--yzqqv4d", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "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": 2215, + "sim_steps": 2215, + "physics_steps": 8860, + "steps": 739, + "elapsed_s": 1041.0, + "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": { + "bathroom_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 41, + "text_zh": "观察：log step 33 的探索脚本以寻找浴室为目的，log step 41 继续沿走廊支路勘察；log step 44 的服务状态确认该回合因跌倒终止。没有视频、状态日志或服务门状态字段，无法判定浴室门是否曾形成符合判据的通口；q_score不评价此非目标节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 35、42 记录机器人为寻找浴室而移动底盘并转向观察；无可用画面或接触日志，不能确认机器人是否接触浴室门、门把手或导致跌倒的障碍物。" + } + ] + }, + "tiles_on_bathroom_floor_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、success=0；任务初始四块砖在走廊，浴室地面关系属于新增目标，至少1块砖同时满足浴室地面及邻砖关系必需有非零的新增目标进展，故本计数节点终值为false。此结论仅由评分总量约束终值，不据此判断是否尝试过搬砖；无视频，intervals为null。" + } + ] + }, + "tiles_on_bathroom_floor_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、success=0；任务初始四块砖在走廊，浴室地面关系属于新增目标，至少2块砖同时满足浴室地面及邻砖关系必需有非零的新增目标进展，故本计数节点终值为false。此结论仅由评分总量约束终值，不据此判断是否尝试过搬砖；无视频，intervals为null。" + } + ] + }, + "tiles_on_bathroom_floor_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、success=0；任务初始四块砖在走廊，浴室地面关系属于新增目标，至少3块砖同时满足浴室地面及邻砖关系必需有非零的新增目标进展，故本计数节点终值为false。此结论仅由评分总量约束终值，不据此判断是否尝试过搬砖；无视频，intervals为null。" + } + ] + }, + "tiles_on_bathroom_floor_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、success=0；任务初始四块砖在走廊，浴室地面关系属于新增目标，至少4块砖同时满足浴室地面及邻砖关系必需有非零的新增目标进展，故本计数节点终值为false。此结论仅由评分总量约束终值，不据此判断是否尝试过搬砖；无视频，intervals为null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bathroom_door_opened", + "t": null, + "log_step": 42, + "where": "探索", + "evidence_zh": "推断：log step 33 明确让机器人沿走廊寻找浴室，log step 41 的脚本继续勘察负y方向支路；log step 42 在驶向第二个勘察点时误差先增大、后停滞于约0.41米，log step 43 返回服务异常“failure: the robot fell over”，log step 44 服务确认done=True、control_steps=2215、resumes=0。由此将断点归于打开浴室门步骤的入口探索阶段；尚无搬砖操作记录，跌倒后回合已终止。无视频，不能给出视频时刻。" + }, + "unmet": { + "tiles_on_bathroom_floor_1": false, + "tiles_on_bathroom_floor_2": false, + "tiles_on_bathroom_floor_3": false, + "tiles_on_bathroom_floor_4": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 44, + "evidence_zh": "观察：单次实时回合的服务在log step 43 对动作请求返回“failure: the robot fell over”；log step 44 的status明确报告done=True、reason=\"failure: the robot fell over\"、control_steps=2215、resumes=0。这是服务对本次评分回合的跌倒判定，并非仅agent自述。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": null, + "log_step": 42, + "source_zh": "日志", + "evidence_zh": "推断：log step 7 给出的实际drive_to循环仅根据位置/朝向误差继续发送底盘位移指令，检查目标容差和done，没有停滞或倾斜保护；log step 41 的探索脚本调用该循环。log step 42 第二段驱动的位置误差从2.219米增加到2.424米，末段由0.406米变为0.412米仍继续，随后服务因跌倒终止（log step 43—44）；结合agent在log step 45 承认缺少停滞/倾斜保护，支持底盘异常反馈未触发停止的控制归因。无法由此确认具体碰撞对象。" + } + ], + "gap_zh": "无视频（inputs/video.json记载回放获取失败且无本地视频），也无inputs/states.jsonl；日志的图片仅有占位文本，无法独立检查实际接触、跌倒姿态、门的初态和曾经开合情况，所有视频时间及区间均留null。四个铺砖计数终值由q_score总量推断，浴室门终值未知；断点节点依据探索目的推断。agent在log step 45、51 所称“碾到瓷砖”未经画面或接触日志核实，不作为碰撞事实或确定原因；log step 45—48 的修订脚本写于服务终止之后，未在评分回合执行。" + }, + "summary_zh": "评分器q_score=0，四个铺砖计数节点终值均为false；浴室门是否曾打开缺少服务字段，保留未知。机器人在寻找浴室入口的探索过程中跌倒，log step 44 的服务状态确认回合终止；驱动误差停滞仍继续的日志支持反馈控制失效，终止后编写的修订脚本不计入进展。无视频和状态日志，不能确定实际接触、视频时间或具体障碍物。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频和状态日志；标签仅依据评分器 q_score=0 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"work/runs/behavior-laying-tile-floors-i00-standard--yzqqv4d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5e10e758e9b5ccca0da5b4131cf0d526922e691ddce797b0e1d3b08eea6edd3f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--gx9mn5f.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--gx9mn5f.json new file mode 100644 index 0000000000000000000000000000000000000000..db317e71af8914aa6a5537c001c9006c0dba2c42 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--gx9mn5f.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--gx9mn5f", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "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": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "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": { + "glue_in_bag": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告“胶棒入袋”的评分终态；log step 108 为 Gemini 过滤阻断消息。无评分视频或状态日志，会话测试及恢复快照后的结果不能作为交付轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人夹爪和底盘动作不计为本次受评轨迹接触。" + } + ] + }, + "eraser_in_bag": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告“橡皮入袋”的评分终态；log step 108 为 Gemini 过滤阻断消息。无评分视频或状态日志，会话测试及恢复快照后的结果不能作为交付轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人夹爪和底盘动作不计为本次受评轨迹接触。" + } + ] + }, + "brush_in_bag": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告“画笔入袋”的评分终态；log step 108 为 Gemini 过滤阻断消息。无评分视频或状态日志，会话测试及恢复快照后的结果不能作为交付轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人夹爪和底盘动作不计为本次受评轨迹接触。" + } + ] + }, + "marker_in_bag": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告“记号笔入袋”的评分终态；log step 108 为 Gemini 过滤阻断消息。无评分视频或状态日志，会话测试及恢复快照后的结果不能作为交付轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人夹爪和底盘动作不计为本次受评轨迹接触。" + } + ] + }, + "bag_on_desk": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告“手提袋上桌”的评分终态；log step 108 为 Gemini 过滤阻断消息。无评分视频或状态日志，会话测试及恢复快照后的结果不能作为交付轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话测试中的机器人夹爪和底盘动作不计为本次受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1.0, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 108, + "where": "首步前", + "evidence_zh": "观察：log step 108 显示“This request was blocked by Gemini's filters”；inputs/run.json 的 reward 报告 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+ "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 末步 id 108 为 Gemini 过滤阻断，无交付轨迹。节点全 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合外部因素中断的处理规则。", + "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": "2026-10-30T21:55:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": 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b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--34ffnzz.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--34ffnzz", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "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": 28501, + "sim_steps": 28651, + "physics_steps": 114604, + "steps": 11209, + "elapsed_s": 6812.9, + "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": 5, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "glue_in_bag": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 graded_by_live=1、finalized=1、success=0、q_score=0.0；task/task_dag.json 说明五个目标关系初态均为假。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：五个目标关系各对应一个计分文字，均非初态已满足项；评分器 q_score=0 排除了终态“胶棒入袋”成立，因此 final=false。无视频及状态日志，无法判断中途是否短暂成立，intervals=null。" + }, + { + "t": null, + "log_step": 96, + "text_zh": "观察：agent 在 log step 96 仅创建文具抓取装袋脚本；完整日志未记录调用该脚本，之后操作继续针对手提袋。未把脚本计划计为已执行的文具接触或放入。" + } + ] + }, + "eraser_in_bag": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 graded_by_live=1、finalized=1、success=0、q_score=0.0；task/task_dag.json 说明五个目标关系初态均为假。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：五个目标关系各对应一个计分文字，均非初态已满足项；评分器 q_score=0 排除了终态“橡皮入袋”成立，因此 final=false。无视频及状态日志，无法判断中途是否短暂成立，intervals=null。" + }, + { + "t": null, + "log_step": 96, + "text_zh": "观察：agent 在 log step 96 仅创建文具抓取装袋脚本；完整日志未记录调用该脚本，之后操作继续针对手提袋。未把脚本计划计为已执行的文具接触或放入。" + } + ] + }, + "brush_in_bag": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 graded_by_live=1、finalized=1、success=0、q_score=0.0；task/task_dag.json 说明五个目标关系初态均为假。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：五个目标关系各对应一个计分文字，均非初态已满足项；评分器 q_score=0 排除了终态“画笔入袋”成立，因此 final=false。无视频及状态日志，无法判断中途是否短暂成立，intervals=null。" + }, + { + "t": null, + "log_step": 96, + "text_zh": "观察：agent 在 log step 96 仅创建文具抓取装袋脚本；完整日志未记录调用该脚本，之后操作继续针对手提袋。未把脚本计划计为已执行的文具接触或放入。" + } + ] + }, + "marker_in_bag": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 graded_by_live=1、finalized=1、success=0、q_score=0.0；task/task_dag.json 说明五个目标关系初态均为假。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：五个目标关系各对应一个计分文字，均非初态已满足项；评分器 q_score=0 排除了终态“记号笔入袋”成立，因此 final=false。无视频及状态日志，无法判断中途是否短暂成立，intervals=null。" + }, + { + "t": null, + "log_step": 96, + "text_zh": "观察：agent 在 log step 96 仅创建文具抓取装袋脚本；完整日志未记录调用该脚本，之后操作继续针对手提袋。未把脚本计划计为已执行的文具接触或放入。" + } + ] + }, + "bag_on_desk": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 graded_by_live=1、finalized=1、success=0、q_score=0.0；task/task_dag.json 说明五个目标关系初态均为假。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：五个目标关系各对应一个计分文字，均非初态已满足项；评分器 q_score=0 排除了终态“手提袋上桌”成立，因此 final=false。无视频及状态日志，无法判断中途是否短暂成立，intervals=null。" + }, + { + "t": null, + "log_step": 72, + "text_zh": "观察：agent 在 log step 72 调用手提袋双臂抓取及抬升脚本，输出左右夹爪依次闭合、抬升命令结束后开度均为 0.1；此处只能确认控制命令及读数，不能确认袋子是否被夹住或移动。log step 188—203 仍在执行提手及袋边抓取尝试；log step 116—117 的上桌脚本仅创建和编辑，未记录运行。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 72、79、161—175、188—203 记录机器人夹爪向手提袋提手或袋边接近、闭合和抬升的命令；无视频、状态日志或物体接触对，实际是否夹住、哪只夹爪接触了袋子及接触方式均无法核实。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "t": null, + "log_step": 72, + "where": "操作中", + "evidence_zh": "推断：log step 65—72 中 agent 明确开始抓提手并抬袋，随后持续重试该操作；log step 116—117 只编写上桌脚本，直到最后 log step 203 仍在尝试夹袋边。评分器终态 q_score=0，五个目标初态全假，故手提袋上桌是首个开始操作且最终未修复的步骤；无视频，不能定位物理失败瞬间。" + }, + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 175, + "source_zh": "日志", + "note_zh": "候选：控制脚本异常及夹爪命令状态管理错误；证据支持控制代码问题，不能进一步确定实际接触几何或末端跟踪故障。", + "evidence_zh": "观察：log step 65 的 Grasp.move_to 默认给双爪张开命令，Grasp.close 每次先将双爪设为张开、再闭合指定侧；log step 72 抬升结束时双爪开度均为 0.1，log step 107 同样在脚本自判抓取后抬升结束变为双爪张开。移动默认值在 log step 108、113 修补，但 log step 175 闭合左爪时右爪开度由 log step 163 的 0.0222 变为 0.1；log step 176 的修补又在 log step 184 触发 AttributeError，log step 185 才修正方法归属。推断：agent 自编控制脚本没有正确保留夹爪闭合状态，并曾中断闭爪执行，直接妨碍该搬袋步骤；后续修补不代表上桌节点已完成，最终评分器 q_score 仍为 0。" + } + ], + "gap_zh": "没有本次视频或状态日志：inputs/video.json 明确 kind=none（视频地址返回 404，且无本地视频），inputs/ 只有运行日志、元数据和参考运行元数据；run.json 的 pics 是未附带图像的 steps.bin 偏移索引。参考运行也无视频或状态日志，且不能作为本次轨迹证据。故全部视频时间和区间为 null，无法确定历史峰值、袋子真实运动与实际接触，也无法在没建立接触、没保持住和被挡/碰撞之间作出有依据的判断，现象层留空。agent 在 log step 77 自述接近轴错误、log step 85 自述袋子被碰倒，均缺乏独立画面核实；根因仅保留代码及执行反馈证实的控制问题，不断言它解释了所有末期抓取失败。" + }, + "summary_zh": "评分器以实时回合判定失败，q_score=0；结合五个目标初态均为假，四件文具入袋及手提袋上桌终态均未达成（0/5），中途进度未知。日志表明机器人操作持续卡在手提袋上桌所需的抓提与抬升，agent 的夹爪状态管理代码存在可核实错误，后续修补和重试仍未完成该节点。没有视频、状态日志或可打开的日志图片，实际接触及具体物理失败现象无法判定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；各节点 final=false 来自评分器 q_score=0（N9），区间 null，接触未知，断点取首个着手且未修复的“手提袋上桌”，现象层留空并写了 gap_zh，均合规。控制类根因的日志读数（step 108/113 补丁、step 175 右爪开度 0.0222→0.1、step 184 AttributeError）我核对属实，并以推断标注。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:43Z", + "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-organizing-art-supplies-i00-standard--34ffnzz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--34ffnzz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fd863ddddf6184017093e613ee7429d9ba932fccde2296b8c382c13efeb475de", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gsch4ca.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gsch4ca.json new file mode 100644 index 0000000000000000000000000000000000000000..7a34244343c522eb52bae21e5c24d5ef7ce44412 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gsch4ca.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--gsch4ca", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "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": 3612, + "sim_steps": 3612, + "physics_steps": 14448, + "steps": 815, + "elapsed_s": 1501.7, + "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": 3563, + "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": 5, + "nodes": { + "glue_in_bag": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：log step 138 的脚本读取服务返回的末次观测 meta.done 和 meta.reason，输出 True success；inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 replays=0、resumes=0。该结论来自本次实时受评回合的服务与评分器结果。" + }, + { + "t": null, + "log_step": 138, + "text_zh": "推断：本回合的成功条件是四件文具入袋、手提袋上桌五个关系同时成立，所有目标对象离手并静止连续 30 个控制步；结合服务成功与评分器满分，胶棒已在手提袋内的终态为真。无视频或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": 108, + "text_zh": "观察：agent 的脚本在 log step 105 发出右夹爪闭合及抬升指令，在 log step 108 发出搬送、下降和张开夹爪指令，以处理胶棒；这些命令可定位该节点的尝试，但不能证明实际接触方式或中途放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频、无状态日志，无法核实右夹爪与胶棒实际如何接触，亦无法核实此步骤的底盘支撑移动。log step 105、log step 108 只有控制指令，不能据此标为实际抓握。" + } + ] + }, + "eraser_in_bag": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：log step 138 的脚本读取服务返回的末次观测 meta.done 和 meta.reason，输出 True success；inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 replays=0、resumes=0。该结论来自本次实时受评回合的服务与评分器结果。" + }, + { + "t": null, + "log_step": 138, + "text_zh": "推断：本回合的成功条件是四件文具入袋、手提袋上桌五个关系同时成立，所有目标对象离手并静止连续 30 个控制步；结合服务成功与评分器满分，橡皮已在手提袋内的终态为真。无视频或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": 117, + "text_zh": "观察：agent 的脚本在 log step 114 发出右夹爪闭合及抬升指令，在 log step 117 发出搬送、下降和张开夹爪指令，以处理橡皮；这些命令可定位该节点的尝试，但不能证明实际接触方式或中途放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频、无状态日志，无法核实右夹爪与橡皮实际如何接触，亦无法核实此步骤的底盘支撑移动。log step 114、log step 117 只有控制指令，不能据此标为实际抓握。" + } + ] + }, + "brush_in_bag": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：log step 138 的脚本读取服务返回的末次观测 meta.done 和 meta.reason，输出 True success；inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 replays=0、resumes=0。该结论来自本次实时受评回合的服务与评分器结果。" + }, + { + "t": null, + "log_step": 138, + "text_zh": "推断：本回合的成功条件是四件文具入袋、手提袋上桌五个关系同时成立，所有目标对象离手并静止连续 30 个控制步；结合服务成功与评分器满分，画笔已在手提袋内的终态为真。无视频或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": 135, + "text_zh": "观察：agent 的脚本在 log step 132 发出左夹爪闭合及抬升指令，在 log step 135 发出搬送、下降和张开夹爪指令，以处理画笔；这些命令可定位该节点的尝试，但不能证明实际接触方式或中途放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频、无状态日志，无法核实左夹爪与画笔实际如何接触，亦无法核实此步骤的底盘支撑移动。log step 132、log step 135 只有控制指令，不能据此标为实际抓握。" + } + ] + }, + "marker_in_bag": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：log step 138 的脚本读取服务返回的末次观测 meta.done 和 meta.reason，输出 True success；inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 replays=0、resumes=0。该结论来自本次实时受评回合的服务与评分器结果。" + }, + { + "t": null, + "log_step": 138, + "text_zh": "推断：本回合的成功条件是四件文具入袋、手提袋上桌五个关系同时成立，所有目标对象离手并静止连续 30 个控制步；结合服务成功与评分器满分，记号笔已在手提袋内的终态为真。无视频或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": 126, + "text_zh": "观察：agent 的脚本在 log step 123 发出右夹爪闭合及抬升指令，在 log step 126 发出搬送、下降和张开夹爪指令，以处理记号笔；这些命令可定位该节点的尝试，但不能证明实际接触方式或中途放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频、无状态日志，无法核实右夹爪与记号笔实际如何接触，亦无法核实此步骤的底盘支撑移动。log step 123、log step 126 只有控制指令，不能据此标为实际抓握。" + } + ] + }, + "bag_on_desk": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：log step 138 的脚本读取服务返回的末次观测 meta.done 和 meta.reason，输出 True success；inputs/run.json 的 reward 同时报告 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 replays=0、resumes=0。该结论来自本次实时受评回合的服务与评分器结果。" + }, + { + "t": null, + "log_step": 138, + "text_zh": "推断：本回合的成功条件是四件文具入袋、手提袋上桌五个关系同时成立，所有目标对象离手并静止连续 30 个控制步；结合服务成功与评分器满分，手提袋已在书桌上的终态为真。无视频或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": 97, + "text_zh": "观察：agent 的脚本在 log step 57 发出左夹爪闭合及抬升指令，在 log step 97 发出搬送、下降和张开夹爪指令，以处理手提袋；这些命令可定位该节点的尝试，但不能证明实际接触方式或中途放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频、无状态日志，无法核实左夹爪与手提袋实际如何接触，亦无法核实此步骤的底盘支撑移动。log step 57、log step 97 只有控制指令，不能据此标为实际抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1.0, + "direction": "higher_better", + "value": 1.0 + } + ], + "failure": null, + "summary_zh": "评分器报告实时受评回合 success=1、q_score=1.0，结合 log step 138 读取服务末次观测得到 True success，确认胶棒、橡皮、画笔、记号笔入袋及手提袋上桌五个目标节点终态均为真（5/5），联合离手静止验收已通过。该回合成功，没有失败断点。inputs/video.json 为 kind=none，未提供状态日志，日志图片仅有索引而无可用图像；因此所有时间区间为 null，实际接触均为未知，不能由 agent 自述或夹爪指令补出过程事实。", + "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；成功由评分器 success=1、q_score=1.0 及服务 log step 138 的 done=True success 支持，五个节点 final=true 合理，intervals 为 null、contact_actual 为未知均诚实；log step 引用均存在且内容与所述一致，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": "2026-10-30T21:54:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--gsch4ca/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--gsch4ca/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4f8598c815ad00c0464a149cc278e783bae3e3882aaa2ca50b73ae7a3bda04d6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--9dnjefu.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--9dnjefu.json new file mode 100644 index 0000000000000000000000000000000000000000..c59461531116c7cc42a770e5da083cffe114b140 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--9dnjefu.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--9dnjefu", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 19, + "agent_resets": 256, + "agent_sim_steps": 57332, + "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": 9.851, + "peak_memory_gb": 14.176, + "peak_processes": 44, + "peak_disk_gb": 1.38, + "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": { + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘打开工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "drill_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘电钻入工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "pliers_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘钳子入工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘手电筒入工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘内六角入工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘螺丝刀入工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "toolbox_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘工具箱留桌上’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + }, + "toolbox_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 152, + "text_zh": "观察：log step 152 中 agent 列出的交付输出目录仅有会话日志 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 标明 kind=none，且无状态日志、无报告‘关上工具箱’节点结果的受评服务字段，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹；会话中的调试动作不作为受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 235, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；log step 234 仅启动反复 reset 的钳子抓取测试脚本，最后的 log step 235 是 agent 自述已启动该测试、仍在等待。没有已交付的受评轨迹，无法定位某个物理步骤的断点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 中没有视频或状态日志；评分器确认缺少交付轨迹，未提供逐节点终态。log step 224 的螺丝刀抓取成功与钳子抓取失败是会话测试输出，log step 234–235 的后续测试也没有完成结果，不能替代受评轨迹的进度、接触或失败现象证据。推断：日志不足以确认缺交付的具体机制，不能仅由 missing_trajectory 归因交付操作出错，也不能将会话测试中的抓取困难归为受评轨迹的根因；故现象和根因均留空。", + "unmet": { + "drill_in_toolbox": null, + "pliers_in_toolbox": null, + "flashlight_in_toolbox": null, + "allen_wrench_in_toolbox": null, + "screwdriver_in_toolbox": null, + "toolbox_on_table": null, + "toolbox_closed": null + } + }, + "summary_zh": "评分器判定失败且未交付轨迹（missing_trajectory=1，录制与重放次数均为0）；8个节点均无法确认终态。日志结束时 agent 仍在启动并等待钳子抓取测试（log step 234–235），断点记为 unknown／首步前。没有视频和状态日志，会话测试不计为受评进度或接触，现有证据不足以指定失败现象及根因。", + "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、无状态日志，评分器 missing_trajectory=1、agent_records=0；8个节点 unknown、断点 unknown/首步前、现象与根因为空并有 gap_zh，符合 03 规则（未交付且原因在 agent 侧：只留空层加 gap，会话证据不作现象）。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": "2026-10-30T22:05:53Z", + "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-outfit-a-basic-toolbox-i00-privileged--9dnjefu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--9dnjefu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3a43f5038c80f8b6a6761d8a7e081cc63073f51ae4f99c7382ed8a16085deb0b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--e8sfejy.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--e8sfejy.json new file mode 100644 index 0000000000000000000000000000000000000000..82e904a48e3d90bf3e30ecc16f44dbf7ef018759 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--e8sfejy.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--e8sfejy", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 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": 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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 166, + "text_zh": "观察：log step 166，agent自述其脚本将核验开盖并保存交互检查点；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "drill_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 187, + "text_zh": "观察：log step 187，agent的检查脚本在恢复packed_2_tools检查点后输出电钻inside=True；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "pliers_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 197, + "text_zh": "观察：log step 197，agent的检查脚本在交互测试中输出钳子inside=True；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 197, + "text_zh": "观察：log step 197，agent的检查脚本在一次交互测试中输出手电筒inside=False，之后又继续测试装箱；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 286, + "text_zh": "观察：log step 286，agent编写从packed_2_tools检查点恢复后装入内六角扳手等工具的测试脚本；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 187, + "text_zh": "观察：log step 187，agent的检查脚本在恢复packed_2_tools检查点后输出螺丝刀inside=True；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "toolbox_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 166, + "text_zh": "观察：log step 166，agent自述其脚本将核验工具箱OnTop关系并保存交互检查点；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + }, + "toolbox_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 291, + "text_zh": "观察：log step 291，agent的交互测试脚本输出箱盖Open=False、success=True；这是会话测试记录。inputs/run.json评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告已交付评分轨迹中本节点的结果；inputs/video.json为kind=none，且无状态日志，故本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹；会话测试中的机器人接触不计入评分尝试的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 292, + "where": "首步前", + "evidence_zh": "观察：log step 292为Gemini过滤拦截提示，紧接log step 291的交互测试输出；评分器记录success=0、missing_trajectory=1、agent_records=0、agent_replays=0。未交付可供评分的动作轨迹，无法定位物理失败节点，按外部中断且无交付规则记unknown／首步前。" + }, + "unmet": { + "drill_in_toolbox": null, + "pliers_in_toolbox": null, + "flashlight_in_toolbox": null, + "allen_wrench_in_toolbox": null, + "screwdriver_in_toolbox": null, + "toolbox_on_table": null, + "toolbox_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/仅提供run.json、video.json、meta.json与MANIFEST.json；video.kind=none，无视频、状态日志或成功参考视频。评分器missing_trajectory=1、agent_records=0、agent_replays=0，未提供任何已交付评分轨迹的逐节点终态；log step 291的Open=False、success=True来自多次检查点恢复后的交互测试，不能替代交付及新进程重放验收。log step 292记录Gemini提供方过滤中断，发生在交付评分结果固定之前，属于外部因素；依CASES.md FAIL-5不归入机器人失败分析，保留目录success=0但不标没尝试，不从会话操作推定评分轨迹现象或根因。八个节点均保持未知，所有视频时间为空。" + }, + "summary_zh": "观察：评分器记录success=0、missing_trajectory=1且录制和重放次数均为零，没有交付评分轨迹；八个节点终值均未知，无法确认评分尝试完成了哪一步。观察：log step 291的交互测试输出Open=False、success=True，随后log step 292出现Gemini过滤拦截，不能将该测试当作已交付成功。推断：本记录按交付前外部过滤中断处理，断点记unknown／首步前、现象和根因留空；无视频及状态日志，不能还原评分轨迹的进度或接触。", + "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、无交付轨迹（missing_trajectory=1，agent_records=0）；agent在log step 292被Gemini过滤拦截而中断，标签将各节点记为unknown、现象与根因留空并写gap_zh，符合外部因素中断规则；未把会话测试当作评分尝试的事实。", + "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": "2026-10-30T22:07:18Z", + "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-outfit-a-basic-toolbox-i00-privileged--e8sfejy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--e8sfejy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e1bbc2683ac52bff76f26e077adb27054be0798102a60f2ddb1fcd8b8d7af949", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk.json new file mode 100644 index 0000000000000000000000000000000000000000..e4b41bd3226fa5d4f94107055c3398bfdb576bce --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 16, + "agent_resets": 0, + "agent_sim_steps": 4748, + "agent_records": 1, + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“打开工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "drill_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“电钻入工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "pliers_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“钳子入工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“手电筒入工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“内六角入工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“螺丝刀入工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "toolbox_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“工具箱留桌上”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + }, + "toolbox_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 224, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 224 的交付目录列表仅有会话日志，未列出轨迹文件。没有视频或状态日志，也没有受评终态中“关上工具箱”的评分器或服务结果，故该节点终值未知；会话调试结果不能替代受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可供标注实际接触；log step 224 也未列出轨迹文件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 224, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、grader_error=0、agent_replays=0。log step 224 的交付目录只有会话日志；agent 在该步自述将继续等待 run6 保存，log step 225 仍报告工具暂存 placed=False，log step 226 的等待调用没有返回文本。推断：没有已交付的受评轨迹，无法定位任何受评物理步骤上的失败；首步前指受评尝试尚未形成，并非机器人在会话中从未动作。" + }, + "unmet": { + "drill_in_toolbox": null, + "pliers_in_toolbox": null, + "flashlight_in_toolbox": null, + "allen_wrench_in_toolbox": null, + "screwdriver_in_toolbox": null, + "toolbox_on_table": null, + "toolbox_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，当前输入没有视频、状态日志或成功参考运行；评分器只报告缺少交付轨迹，没有逐节点终态。run.json 记载 wall_s=14400、time_limit_s=14400；log step 224 中 agent 自述继续等待脚本保存，log step 225 仍是暂存调试，log step 226 无返回文本，未见最终保存或验收记录。推断：会话在预算边界结束时没有交付；依无交付的 agent 侧失败处理，现象和根因均留空，不把调试中的逆解、抓取或脚本错误当作受评现象，也不从缺交付本身推断根因。没有视频时所有时间区间与视频时间锚点均为 null，8 个节点终值均未知。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，未形成可供评分重放的交付轨迹，因此8个节点的受评终值均未知。log step 224 的目录列表仅有会话日志，log step 225 仍在报告工具暂存调试，最终等待调用（log step 226）没有返回保存结果；断点记为 unknown／首步前。没有视频、状态日志或逐节点评分结果，无法据会话操作确认受评进度、实际接触及物理失败原因，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、评分器 missing_trajectory=1，8个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 03 的“无交付（agent 侧）”规则（D23/OPEN-16），未见需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--h2kfexk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ddc611b7b054f39efc8f94eec9a4ec59910d493ce68d7b3ed05c81f803334e2b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--boksuvr.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--boksuvr.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f511e168d3b068e732f0e7c1a85d7c9c5c7790 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--boksuvr.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-standard--boksuvr", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 18268, + "sim_steps": 18418, + "physics_steps": 73672, + "steps": 4868, + "elapsed_s": 6667.2, + "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": 0.0, + "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": { + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 76, + "text_zh": "观察：机器人服务的单局由agent脚本持续控制；log step 49执行开盖路径，log step 76、83的脚本均打印LID GRASP FAILED。log step 99之后agent对箱盖是否被推开仍表述不确定（log step 101、109）；输入没有视频、状态日志或服务开合判定，无法确认开盖事件是否达到5%阈值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 49、76、83记载右夹爪开盖尝试；无可检查的图像及接触对，不能将闭爪命令判为实际抓握箱盖。" + } + ] + }, + "drill_in_toolbox": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.0，graded_by_live=1；DAG记载五件工具初始均在箱外，因此按BEHAVIOR评分总数规则，该工具若最终在箱内会增加非零目标计数，故最终未达成。此推断不表示从未拿起或从未短暂入箱；没有视频，时间区间为null。" + }, + { + "t": null, + "log_step": 116, + "text_zh": "观察：log step 115、116中agent脚本仅凭夹爪开度0.092判断drill held=True，随后打印placed；log step 117的“Drill is in the box”是agent自述，不是服务inside判定，不能据此记完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 113启动右臂抓钻及搬放脚本，log step 115、116有执行输出；无视频或接触对，不能确认右夹爪是否夹住电钻。" + } + ] + }, + "pliers_in_toolbox": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.0，graded_by_live=1；DAG记载五件工具初始均在箱外，因此按BEHAVIOR评分总数规则，该工具若最终在箱内会增加非零目标计数，故最终未达成。此推断不表示从未拿起或从未短暂入箱；没有视频，时间区间为null。" + }, + { + "t": null, + "log_step": 137, + "text_zh": "观察：log step 129与137的agent脚本打印pliers held=False；这些是脚本自检，不能独立决定最终入箱状态。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 118、129、134、137记载右臂对钳子的多轮抓取尝试；无视频或接触对，实际夹持及擦碰方式未知。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.0，graded_by_live=1；DAG记载五件工具初始均在箱外，因此按BEHAVIOR评分总数规则，该工具若最终在箱内会增加非零目标计数，故最终未达成。此推断不表示从未拿起或从未短暂入箱；没有视频，时间区间为null。" + }, + { + "t": null, + "log_step": 137, + "text_zh": "观察：log step 115、123、126、137的agent脚本打印flashlight held=False；这些是脚本自检，不能独立决定最终入箱状态。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 113、118、134启动手电筒抓取脚本，log step 115、123、137有执行输出；无视频或接触对，右夹爪实际是否接触手电筒未知。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.0，graded_by_live=1；DAG记载五件工具初始均在箱外，因此按BEHAVIOR评分总数规则，该工具若最终在箱内会增加非零目标计数，故最终未达成。此推断不表示从未拿起或从未短暂入箱；没有视频，时间区间为null。" + }, + { + "t": null, + "log_step": 132, + "text_zh": "观察：log step 130启动内六角抓取脚本，log step 132打印wrench held=False；这是脚本自检，不能独立决定最终入箱状态。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 130至132记载右臂向内六角估计位置反复执行抓取路径；无视频或接触对，不能认定夹爪与工具的实际接触。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.0，graded_by_live=1；DAG记载五件工具初始均在箱外，因此按BEHAVIOR评分总数规则，该工具若最终在箱内会增加非零目标计数，故最终未达成。此推断不表示从未拿起或从未短暂入箱；没有视频，时间区间为null。" + }, + { + "t": null, + "log_step": 76, + "text_zh": "观察：log step 76、83的agent脚本均打印screwdriver held=False；log step 132打印screwdriver not localized。日志没有服务报告的螺丝刀inside结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 76、83记载右臂在螺丝刀估计位置下降、闭爪、抬升的尝试；无视频或接触对，实际接触未知。" + } + ] + }, + "toolbox_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 99, + "text_zh": "观察：DAG将工具箱在桌上列为初始已成立的目标；log step 94、99执行沿桌面推箱脚本，但没有服务ontop终值。评分q_score=0不计仍保持的初始目标，不能据此判断工具箱是否离桌；无视频和状态日志，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 93、94、98、99记载机器人右臂推移工具箱的脚本及输出；缺少箱体与夹爪、桌面的实际接触记录，不能确认支承关系或接触方式。" + } + ] + }, + "toolbox_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 138, + "text_zh": "观察：DAG将闭箱列为初始已成立的目标；log step 133的finalG脚本含有条件执行的关盖段，log step 134启动该脚本，但log step 137只记录到工具抓取失败，log step 138无输出，未出现关盖完成或服务closed判定。q_score=0不能决定这个初始目标的终值；无视频和状态日志，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 133、134有右臂关盖计划及脚本启动记录，但日志在log step 137之后未确认是否执行到该段；无视频，是否尝试及如何接触箱盖均未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 76, + "where": "操作中", + "evidence_zh": "观察：log step 49先执行开箱；log step 76、83中开盖与螺丝刀抓取自检均失败，随后log step 94、99又推移工具箱，log step 115至137继续尝试多件工具。推断：评分q_score=0决定五件工具最终未入箱，但不能决定较早的开箱是否曾被后续推箱动作补成，也不能定位工具箱留桌关系是否曾丢失；没有视频或状态记录，无法在开箱、螺丝刀入箱等候选中确定首个未修复步骤，故ref为unknown。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": null, + "toolbox_closed": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 79, + "source_zh": "日志", + "evidence_zh": "观察：log step 77的脚本发送右末端目标[22.16,1.18,1.15]，两行规划均报Success，服务本体反馈末端却为[22.251,1.201,1.230]；log step 79中逆解成功且位置残差约0.0006米，实际重复执行后的末端误差仍为0.089至0.064米，log step 80又测得0.128米。log step 76、83的开盖和螺丝刀抓取脚本均未通过夹爪开度自检。推断：这些日志支持操作过程中存在末端未到目标的控制问题，妨碍早期操作；无视频无法排除碰撞、错误接触几何等因素，也不能证明agent所称“分支翻转”或“滞后”的具体机制，故只标控制大类。" + } + ], + "gap_zh": "观察：inputs/仅有MANIFEST.json、meta.json、run.json、video.json；video.json明确kind=none，视频下载状态404，亦无状态日志或成功oracle。run.json中的图片仅为[picture]占位及未随输入提供的steps.bin索引，无法检查工具旧位置、夹爪、箱盖、箱体桌面关系及终态；日志中的held/placed和点云统计来自agent自写脚本，不能替代服务目标判定。因而所有视频时间与区间均为null，开箱、留桌、闭箱终值未知，实际接触均未知，不能唯一定位首个未修复步骤，失败现象层留空；控制根因只由日志诊断支持。log step 138为空且没有最终say，不能确认finalG是否执行关盖收尾。评分infra_error=0、sim_error=0、sim_breakdown=0，未见把本次失败归为外因中断的证据。" + }, + "summary_zh": "推断：现场评分success=0、q_score=0，五件工具最终入箱节点均为false；开箱事件、工具箱留桌与闭合终值无服务逐项结果，保留未知，未能证实任何完成节点。观察：log step 76、83记录开盖和螺丝刀抓取自检失败，log step 77至80的本体反馈显示末端未到指令目标，支持控制问题，但开箱是否后来补成无法核实，首个未修复断点未知。观察：无视频、状态日志或可读取的运行图片，不能确认实际接触、物体搬放过程或任何视频时刻。", + "conf": 5, + "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：各节点 intervals 为 null；五件工具 final=false 由 q_score=0 逻辑推断，成立；开箱/留桌/闭箱保持 unknown，断点 ref=unknown 并写明缘由，gap_zh 说明无视频。控制根因有 log step 77、79 的服务本体反馈（指令与实际末端偏差）支持，且已标为推断。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:43Z", + "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-outfit-a-basic-toolbox-i00-standard--boksuvr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--boksuvr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ee63dd9e09f31edc68ad5fa068b02d3e4f5cc90b50f62001aa98cdebc0638396", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--8pzypt8.json b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--8pzypt8.json new file mode 100644 index 0000000000000000000000000000000000000000..0d9a3a65b110835acb4f5dc6113cf791bd60f5ac --- /dev/null +++ b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--8pzypt8.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-polishing-shoes-i00-privileged--8pzypt8", + "taskKey": "behavior-1k/polishing_shoes", + "dag_sha256": "6b512c37aee3d60fb338b2a855d48e655510d37df6d7fc9eeaccf7d625b63a91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 40, + "agent_resets": 0, + "agent_sim_steps": 45596, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "shoes_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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认至少一只鞋无尘。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + }, + "shoes_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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认两只鞋无尘。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + }, + "shoes_by_stool_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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认至少一只鞋靠凳。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + }, + "shoes_by_stool_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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认两鞋彼此相邻且靠同一脚凳。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + }, + "brush_on_stand": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认刷子最终在架上。任务 DAG 说明刷子初始在架上，但没有交付轨迹的终态，不能据初态确认最终关系。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + }, + "brush_in_hand": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且无状态日志、无逐节点评分结果，不能确认受评轨迹中拿起刷子。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话实验中的接触不计为该节点的轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 630, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 628 是生成脚本的逆解误差及底盘未到目标的 RuntimeError，log step 630 中 agent 仍自述将拓宽绕凳路线并重跑，log step 631—634 继续查看日志和接口源码。没有交付受评轨迹，不能把会话实验的清洁失败指定为受评断点。" + }, + "unmet": { + "shoes_clean_1": null, + "shoes_clean_2": null, + "shoes_by_stool_1": null, + "shoes_by_stool_2": null, + "brush_on_stand": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无受评视频、无状态日志，也无交付轨迹；评分器没有报告 q_score 或各节点终态。日志中的清洁、摆鞋和抓刷读数均来自会话实验，不能据此赋予受评节点值或物理失败现象；成功参考视频属于另一运行，不能填补本次证据。log step 627 记录进程段错误，log step 628 同时记录生成脚本自身的逆解及导航 RuntimeError，随后 agent 仍在继续调试；现有材料不足以确定缺交付的唯一根因或认定该段错误是最终外因中断，因此两层失败标签均留空。" + }, + "summary_zh": "观察：评分器给出 success=0、missing_trajectory=1，未交付可评分轨迹，五个必需节点及可选拿刷节点的受评终态均未知。日志末尾生成脚本仍在处理刷子逆解误差和绕凳导航失败，agent 自述将修改后重跑（log step 628、630），因此断点记为 unknown、首步前，不将会话实验作为受评进展。无本次视频、状态日志或逐节点评分结果，不能确认实际接触、物理失败现象及根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1，未交付轨迹；各节点 unknown、接触不适用、断点 unknown/首步前、两层失败标签留空并附 gap_zh，均符合 D23/OPEN-16、CONTACT-8、FAIL-5 的做法；超时与 agent 自身调试未被当作现象或根因。validate 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": "2026-10-30T22:06:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-privileged--8pzypt8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-privileged--8pzypt8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f4a7b678680cbfa6715a391dd8fda166c7a976a372ef30a410a6a41c8de2ca9b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--oyt8hsa.json b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--oyt8hsa.json new file mode 100644 index 0000000000000000000000000000000000000000..1e49e35910aa8b128689af5bccca2b63733fd84e --- /dev/null +++ b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--oyt8hsa.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-polishing-shoes-i00-privileged--oyt8hsa", + "taskKey": "behavior-1k/polishing_shoes", + "dag_sha256": "6b512c37aee3d60fb338b2a855d48e655510d37df6d7fc9eeaccf7d625b63a91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 2, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "shoes_clean_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“第1只鞋无尘”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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。" + } + ] + }, + "shoes_clean_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“第2只鞋无尘”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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。" + } + ] + }, + "shoes_by_stool_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“第1只鞋靠凳”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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。" + } + ] + }, + "shoes_by_stool_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“第2只鞋靠凳”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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。" + } + ] + }, + "brush_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“刷子放到架上”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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。" + } + ] + }, + "brush_in_hand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：评分记录reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json为kind=none，且无状态日志。log step 183记录Gemini过滤器中断，未提供可归属于交付评分轨迹的“刷子在手”结果，故终值与时间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分记录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": "比例", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 183, + "where": "首步前", + "evidence_zh": "观察：log step 180启动把刷子放回支架的后台会话测试，log step 181仍在等待，log step 183最终消息为“This request was blocked by Gemini’s filters”；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。推断：过滤器在有效评分交付前中断会话，没有交付轨迹可定位物理失败步骤，按外部中断规则标为unknown／首步前。" + }, + "unmet": { + "shoes_clean_1": null, + "shoes_clean_2": null, + "shoes_by_stool_1": null, + "shoes_by_stool_2": null, + "brush_on_stand": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无本次运行视频、无状态日志、无交付轨迹，也无报告各节点终值的评分器或服务终态结果。log step 178的Covered与NextTo读数属于agent脚本的会话自检，log step 180的FINAL STATUS只是待执行代码，日志未返回该结果，不能据此认定节点达成。log step 183显示模型提供方过滤器中断，按CASES.md FAIL-5作为外部因素处理，不标没尝试或机器人根因；目录success=0原样保留，不据其推断节点为假。成功参考视频属于另一运行，不能补足本次轨迹证据。" + }, + "summary_zh": "评分记录success=0、missing_trajectory=1，五个必需目标节点及可选拿刷节点均无法确定终值，不能把会话清鞋、摆鞋自检计为评分进度。log step 183显示Gemini过滤器在交付前中断，因此断点为unknown／首步前，现象和根因留空，按外部因素处理。无本次视频、状态日志和逐节点评分结果，所有时间区间均为null。", + "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、missing_trajectory=1、agent_records=0；log step 183 为 Gemini 过滤器中断，节点全为 unknown、断点 unknown／首步前、现象与根因为空并有 gap_zh，符合 CASES.md FAIL-5。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": "2026-10-30T22:04:58Z", + "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-polishing-shoes-i00-privileged--oyt8hsa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-privileged--oyt8hsa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c385d78df371e00008d304f8ade4f95c904651a21e4e545f2a7d5a2b66596c64", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--mcrnkcs.json b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--mcrnkcs.json new file mode 100644 index 0000000000000000000000000000000000000000..5fab2a78207ad30211b2d4f75e4859a81834925d --- /dev/null +++ b/phase2/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--mcrnkcs.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-polishing-shoes-i00-standard--mcrnkcs", + "taskKey": "behavior-1k/polishing_shoes", + "dag_sha256": "6b512c37aee3d60fb338b2a855d48e655510d37df6d7fc9eeaccf7d625b63a91", + "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": 2821, + "sim_steps": 2821, + "physics_steps": 11284, + "steps": 941, + "elapsed_s": 962.2, + "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": 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": { + "shoes_clean_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "推断：评分器 reward.q_score=0，且 graded_by_live=1、finalized=1；DAG 中“至少一只鞋无尘”需要至少一个初始不成立的目标谓词成立，因此末态为假。log step 43 的服务状态确认本回合已因机器人摔倒终止；此结论只决定末态，不证明过程中从未达到。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 39、42 的调用标签及命令显示机器人为接近待清洁鞋而导航；缺少本回合视频及状态接触对，不能核实底盘、夹爪、刷子与鞋或家具的实际接触。" + } + ] + }, + "shoes_clean_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "推断：评分器 reward.q_score=0，且 graded_by_live=1、finalized=1；DAG 中“两只鞋均无尘”需要至少一个初始不成立的目标谓词成立，因此末态为假。log step 43 的服务状态确认本回合已因机器人摔倒终止；此结论只决定末态，不证明过程中从未达到。" + } + ] + }, + "shoes_by_stool_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "推断：评分器 reward.q_score=0，且 graded_by_live=1、finalized=1；DAG 中“至少一只鞋靠凳”需要至少一个初始不成立的目标谓词成立，因此末态为假。log step 43 的服务状态确认本回合已因机器人摔倒终止；此结论只决定末态，不证明过程中从未达到。" + } + ] + }, + "shoes_by_stool_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "推断：评分器 reward.q_score=0，且 graded_by_live=1、finalized=1；DAG 中“两鞋成对靠同一脚凳”需要至少一个初始不成立的目标谓词成立，因此末态为假。log step 43 的服务状态确认本回合已因机器人摔倒终止；此结论只决定末态，不证明过程中从未达到。" + } + ] + }, + "brush_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：本次 inputs/video.json 标记 kind=none，未提供状态日志；DAG 指明刷子在架为初始已成立关系，评分器 q_score=0 不计入这种保留初始目标，log step 43 的服务终态也未报告刷子与架面的关系，故无法确定末态。" + } + ] + }, + "brush_in_hand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 42, + "text_zh": "观察：log step 42 记录机器人导航后摔倒，log step 43 的服务状态未报告刷子是否被抓持；本次无视频和状态日志，评分器也不检查此可选持刷事件，不能据 agent 的计划或最终自述判定该节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "shoes_clean_1", + "t": null, + "log_step": 42, + "where": "转场", + "evidence_zh": "推断：log step 39、42 的机器人调用均以接近鞋为目标，尚在空手驶向待清洁鞋的位置，故归入第1只鞋清洁的转场。log step 42 输出 DONE: failure: the robot fell over，log step 43 的服务状态确认 done=True、control_steps=2821、resumes=0；摔倒后该步未能继续或修复。没有视频时钟，t 留空。" + }, + "unmet": { + "shoes_clean_1": false, + "shoes_clean_2": false, + "shoes_by_stool_1": false, + "shoes_by_stool_2": false, + "brush_on_stand": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 43, + "evidence_zh": "观察：log step 43 中机器人服务 status() 返回 done=True、reason=\"failure: the robot fell over\"、control_steps=2821；log step 46 再次读取同一终态且服务拒绝继续提交动作。这是单回合现场服务的摔倒判定，而非只引用 agent 自述。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 42, + "source_zh": "日志", + "evidence_zh": "推断：agent 在 log step 30 编写的导航脚本以 ang=atan2(fy-ty,fx-tx)，再用目标减去 stand*(cos(ang),sin(ang)) 计算停靠点；log step 36 的修改未修正这一公式。log step 42 给鞋位置(1.32,-0.48)、来向点(0.85,0.55)、距离0.75米，实际输出目标(1.631,-1.162)，落在鞋背离来向的一侧，而来向一侧应约为(1.009,0.202)。同一次驶向错误停靠点的调用报告摔倒。脚本只按平面位置及航向误差继续驱动，没有障碍或倾斜的停止反馈；据此支持导航控制实现有误，尚不足以细分失稳机制。", + "note_zh": "停靠点计算符号错误由已执行的脚本与输出交叉核实；未将 agent 所称撞床或脚凳当作已证事实。" + } + ], + "gap_zh": "本次没有可用视频（inputs/video.json：HF 404，且无本地视频）或状态日志；日志中图片仅有占位及索引，不能检查目标物体或接触。四个非初始目标节点仅由 q_score=0 推断末态为假，无法确定过程区间；刷子在架和可选持刷事件均无服务逐节点结果，保持未知。服务明确报告摔倒，但撞到何物、准确翻倒过程及控制错误到翻倒的具体接触链未获独立核实。inputs/oracle/replay.mp4 是另一条成功运行，不能代替本回合证据。 评审I1分歧（DECISIONS.md N9）：已核对 log step 23/30 的动作构造及 log step 24/35/39/42 的执行，扫描与导航将双夹爪目标固定为0.07，未发出闭合抓刷动作；但这些是执行代码而非报告持刷事件的服务结果。log step 43/46 的服务终态只报告摔倒，q_score也不检查可选持刷历史；按N9的Now（无视频时final仅来自报告该节点的评分器或服务结果字段）保留brush_in_hand为unknown/final=null，不以代码推测替代节点结果。" + }, + "summary_zh": "本次现场回合在驶向鞋的位置时摔倒终止（log step 42–43），评分器 q_score=0，四个清洁及摆鞋目标节点末态为假，刷子在架与可选持刷事件未知。断点为第1只鞋清洁的转场，服务确认失衡，导航脚本与输出支持停靠点计算符号错误这一控制根因。没有本回合视频或状态日志，无法给出视频时间区间或确认实际接触，初始成立的刷子在架关系也不能由零分判失。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "整体正确：无视频、末态由 q_score=0 与服务终态判定，断点（第1只鞋清洁·转场）、平衡现象、停靠点符号错误的控制根因均有日志支持。唯一问题：brush_in_hand 标 unknown，但日志可以判定为假。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频回合：末态由 q_score=0 与服务终态判定，断点（第1只鞋清洁·转场）、平衡现象、停靠点符号错误的控制根因均有日志支持；brush_in_hand 保持 unknown 符合 N9 的 Now 文本，第1轮分歧已记录，无新证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:10:49Z", + "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-polishing-shoes-i00-standard--mcrnkcs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-standard--mcrnkcs/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-standard--mcrnkcs/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-standard--mcrnkcs/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "796389059ec6331f2703a497dc7c2e86e0ae6a907c3752a18df3ea891878621b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--hmh2ejh.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--hmh2ejh.json new file mode 100644 index 0000000000000000000000000000000000000000..6776ebdac174df6522f6866c868ec60732266da6 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--hmh2ejh.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--hmh2ejh", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 21, + "agent_resets": 0, + "agent_sim_steps": 29373, + "agent_records": 16, + "agent_replays": 5, + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toys_in_box_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第1个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第2个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第3个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第4个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第5个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第6个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第7个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + }, + "toys_in_box_8": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 594, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1，未报告第8个玩偶入箱的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 594 仅显示 agent 的重试进程仍在运行；log step 576 的 q_score=0.125 属于会话中部分动作序列的重放，不是交付轨迹的评分，不能据此设置本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注本节点的实际接触；会话试验中的接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "ratio", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 594, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、grader_error=0；log step 558 只将部分轨迹另存为恢复前缀，log step 580 启动新一轮恢复重试，最后的 log step 594 仍显示该进程运行，未提供最终轨迹保存及评分回放结果。推断：没有交付的评分尝试，无法指定失败的物理节点，按无交付情形记 unknown／首步前。" + }, + "unmet": { + "toys_in_box_1": null, + "toys_in_box_2": null, + "toys_in_box_3": null, + "toys_in_box_4": null, + "toys_in_box_5": null, + "toys_in_box_6": null, + "toys_in_box_7": null, + "toys_in_box_8": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次运行没有视频（inputs/video.json: kind=none），没有状态日志，评分器明确报告 missing_trajectory=1，且未报告 q_score 或逐节点结果。log step 576 的 q_score=0.125、log step 578 的路径搜索异常以及 agent 在 log step 589 所称的重放进度均是会话试验证据，无法当作已交付评分轨迹的进度或失败现象；最后的 log step 594 仍为运行中进程，run.json 记 wall_s=14401、time_limit_s=14400。推断：记录在预算末尾尚无评分交付，不能从缺交付反推具体控制或交付根因；按 DECISIONS.md D23 留空现象与根因，按 N9 保留八个节点终值及全部时间区间为 null。成功示范是另一运行，不能填补本次的观测缺口。" + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1；没有可评分的交付轨迹，八个玩偶入箱节点的终值均未知，不能把会话中部分重放的 q_score=0.125 计入节点进展。观察：agent 最后在 log step 589 自述仍在重放恢复前缀，log step 594 仍显示重试进程运行；推断：无评分尝试可定位物理失败节点，断点记 unknown／首步前，并按 D23 将现象和根因留空。本次无视频、无状态日志、无逐节点评分，实际入箱数量与接触无法核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1；八个节点 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23(a)/N9；会话中 q_score=0.125 未被当作交付进度。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": "2026-10-30T22:10:17Z", + "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-putting-away-toys-i00-privileged--hmh2ejh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--hmh2ejh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "77ed6eb35b858ab04c124a0022199256da9baa06135f8cbf0db594801d5d84a3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--iarjs64.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--iarjs64.json new file mode 100644 index 0000000000000000000000000000000000000000..268daa871e7e766065d20e4453b1d787943105d3 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--iarjs64.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--iarjs64", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toys_in_box_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少1个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少2个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少3个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少4个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少5个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少6个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少7个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + }, + "toys_in_box_8": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：inputs/video.json标记无本次录像，且无状态日志；评分记录missing_trajectory=1、agent_sim_steps=0、agent_records=0，未报告入箱数量或q_score。log step 55以响应超过32000输出token上限的API错误结束；没有可用于判定至少8个玩偶入箱的评分终态，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录missing_trajectory=1，未交付受评轨迹，实际接触不适用；不沿用任务DAG的典型接触方案。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 55, + "where": "首步前", + "evidence_zh": "观察：log step 55报告“API Error: Claude's response exceeded the 32000 output token maximum”；log step 48、50、52、54均无执行调用，且各记录输出token为32000。评分记录missing_trajectory=1、agent_records=0、agent_replays=0、agent_sim_steps=0，受评轨迹尚未交付，无法定位物理步骤的失败时刻。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，评分记录未报告逐节点结果或q_score；八个节点的intervals和final均保留null，不能以success=0代替节点判定。log step 55的API输出上限错误发生在任何轨迹交付之前；按外部中断规则，现象与根因留空，不标没尝试。log step 44虽有会话测试脚本的max_ang参数TypeError，但未形成交付轨迹，不能当作受评机器人的失败现象；log step 38的IK采样和log step 45、47的agent计划也不是入箱结果。inputs/oracle/replay.mp4属于另一成功运行，不能用于补足本次终态。", + "unmet": { + "toys_in_box_1": null, + "toys_in_box_2": null, + "toys_in_box_3": null, + "toys_in_box_4": null, + "toys_in_box_5": null, + "toys_in_box_6": null, + "toys_in_box_7": null, + "toys_in_box_8": null + } + }, + "summary_zh": "评分记录显示未交付轨迹、仿真动作与录制次数均为0；无本次视频和状态日志，八个入箱计数节点的终值均未知。log step 55以模型响应超过32000输出token上限的API错误结束，按交付前外部中断处理，断点为unknown／首步前，失败现象与根因均留空。评分记录未提供q_score或逐节点结果，成功示范不能补作本次运行证据。", + "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、无交付轨迹（missing_trajectory=1、agent_sim_steps=0）；八个节点 unknown/null、断点 unknown·首步前、现象与根因留空并给出 gap_zh，均符合 03 的外部中断与无视频规则。log step 55 的API输出上限错误发生在交付前，未把会话测试（step 44 TypeError）当作现象。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": 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a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--j9bzcrm.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--j9bzcrm.json new file mode 100644 index 0000000000000000000000000000000000000000..ca82d0428822bfba605922e500f991b25f22644d --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--j9bzcrm.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--j9bzcrm", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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, + 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180 为 Gemini 过滤器阻断提示；没有已交付评分轨迹可用于判断至少3个玩偶入箱，终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 missing_trajectory=1，未交付评分轨迹；会话测试中的夹爪及底盘动作不作为本节点的实际接触。" + } + ] + }, + "toys_in_box_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 180, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告 q_score 或逐节点终态；inputs/video.json 的 kind=none，无状态日志。log step 180 为 Gemini 过滤器阻断提示；没有已交付评分轨迹可用于判断至少4个玩偶入箱，终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 missing_trajectory=1，未交付评分轨迹；会话测试中的夹爪及底盘动作不作为本节点的实际接触。" + } + ] + }, + "toys_in_box_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 180, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告 q_score 或逐节点终态；inputs/video.json 的 kind=none，无状态日志。log step 180 为 Gemini 过滤器阻断提示；没有已交付评分轨迹可用于判断至少5个玩偶入箱，终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 missing_trajectory=1，未交付评分轨迹；会话测试中的夹爪及底盘动作不作为本节点的实际接触。" + } + ] + }, + "toys_in_box_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 180, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告 q_score 或逐节点终态；inputs/video.json 的 kind=none，无状态日志。log step 180 为 Gemini 过滤器阻断提示；没有已交付评分轨迹可用于判断至少6个玩偶入箱，终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 missing_trajectory=1，未交付评分轨迹；会话测试中的夹爪及底盘动作不作为本节点的实际接触。" + } + ] + }, + "toys_in_box_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 180, + "text_zh": "观察：inputs/run.json 的 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告 q_score 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null, + "log_step": 180, + "where": "首步前", + "evidence_zh": "观察：log step 175 只启动了恢复会话快照后向箱中放玩偶的后台测试；log step 178 的 agent 自述仍在等待测试完成，log step 180 随即出现“This request was blocked by Gemini's filters”提示。评分记录 missing_trajectory=1、agent_records=0、agent_replays=0，没有已交付评分轨迹可定位物理失败步骤；按未交付前外部中断规则记 unknown／首步前。" + }, + "unmet": { + "toys_in_box_1": null, + "toys_in_box_2": null, + "toys_in_box_3": null, + "toys_in_box_4": null, + "toys_in_box_5": null, + "toys_in_box_6": null, + "toys_in_box_7": null, + "toys_in_box_8": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 明确无视频，未提供状态日志，评分记录无入箱数量或 q_score，且 missing_trajectory=1；八个节点的 intervals 和 final 均无法确定，接触为不适用。日志包含多次恢复快照的交互测试，log step 178 的抓取成功仅为 agent 自述，不能替代交付轨迹证据。log step 180 为模型提供方过滤器阻断，发生于交付及回放验证之前；按 CASES.md FAIL-5 和 DECISIONS.md D37 作为应重试的外部中断处理，现象与根因留空，不标没尝试，也不将缺交付归因于交付操作出错。成功参考视频属于另一运行，不能补足本次进度。" + }, + "summary_zh": "观察：评分记录 success=0、missing_trajectory=1，未交付评分轨迹；八个入箱节点均未知，不能把会话测试计为节点完成。观察：log step 178 的 agent 自述仍在等待最后一批放置测试，log step 180 出现 Gemini 过滤器阻断提示；按外部中断待重试处理，断点 unknown／首步前，现象和根因留空。观察：本次无视频和状态日志，评分器也未报告 q_score 或逐节点终态，因此无法判定最终入箱数量和接触。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与规则一致：模型提供方过滤器在未交付评分轨迹（missing_trajectory=1、agent_records=0）时中断，节点全部 unknown，断点 unknown／首步前，现象与根因留空且有 gap_zh，符合 03 第5条与 FAIL-5。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": "2026-10-30T22:09:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": 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0000000000000000000000000000000000000000..d5fe076a5c8e0eef625d87727dcebc3a1b09b512 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--r2nxs2z.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--r2nxs2z", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 1420, + "sim_steps": 1420, + "physics_steps": 5680, + "steps": 474, + "elapsed_s": 1233.1, + "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": 8, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "toys_in_box_1": { + "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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少1个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + }, + { + "t": null, + "log_step": 42, + "text_zh": "观察：log step 37–38 的已运行脚本控制机器人移动至多个扫描航点并旋转相机采集场景，未提交抓取或放入动作；log step 41 出现 EpisodeOver: failure: the robot fell over，log step 42 的服务 /status 返回 done=true、control_steps=1420、resumes=0，原因为 failure: the robot fell over。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：log step 17 的服务规格说明机器人为轮式底盘；log step 32 的服务本体读数显示底盘从约(15.30,1.41)移动到(15.00,1.20)，log step 38 的扫描脚本继续驱动底盘。第一入箱步骤的场景探索包含底盘移动与支承，未有持物运输证据。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：本次视频缺失且无状态日志；log step 37–41 只记录扫描和移动，没有可核实的夹爪与玩偶或箱体接触读数，不能确定是否有偶然接触，也不能把后写策略中的抓握当成实际接触。" + } + ] + }, + "toys_in_box_2": { + "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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少2个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少3个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少4个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少5个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少6个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_7": { + "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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少7个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + }, + "toys_in_box_8": { + "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=0.0；任务初态说明八个玩偶均在地面，未有初始入箱目标可被 q_score 排除计分。因此终态没有玩偶满足入箱关系，至少8个入箱的本节点为 false。此总分只决定终态，不证明过程中从未入箱；本次没有视频或状态日志，区间不可确定。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_1", + "t": null, + "log_step": 41, + "where": "探索", + "evidence_zh": "观察：log step 37–38 的 sweep.py 在单个实时回合中驱动机器人至航点并拍摄全景，以寻找地面玩偶；log step 41 的执行日志仍停在 drive_to，随后服务以 failure: the robot fell over 拒绝继续执行，log step 42 的服务终态确认跌倒并结束。推断：机器人在第一个入箱步骤提交抓取前的场景探索中失败，后续没有修复；log step 43–44 写出的修订策略仅作记录、只通过语法检查，未在已结束回合中执行。" + }, + "unmet": { + "toys_in_box_1": false, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 42, + "evidence_zh": "观察：log step 41 的执行反馈为 EpisodeOver: failure: the robot fell over；log step 42 直接查询实时服务，返回 done=true、reason=\"failure: the robot fell over\"、control_steps=1420、resumes=0。跌倒由服务终态报告，而非仅由 agent 自述认定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 30, + "source_zh": "日志", + "evidence_zh": "观察：log step 17 的服务规格说明 joint_position 的底盘位移在30赫兹的每个控制步重复施加；log step 30 的已用 drive_to 把移动时长 clip(d/0.9,0.5,3.0)，drive_step_chunk 却把整段位移除以30×时长，仅限幅到服务允许的0.15米/步。log step 41 的运行记录出现 xf=-8.78、secs=3.0，随后服务报告跌倒。推断：该段前向命令约为-8.78/90=-0.0976米/控制步，即约2.93米/仿真秒；时长上限使长距离运动突破原定0.9米/仿真秒的速度，缺少相应速度约束导致底盘运动失稳。日志没有跌倒过程的跟踪或接触数据，故根因保留在控制大类。" + } + ], + "gap_zh": "观察：inputs/video.json 标记 kind=none，原因是本次回放请求404且无本地视频；输入中也没有本次状态日志。成功示范 inputs/oracle/replay.mp4 属于另一回合，不能证明本次动作。推断：只能由评分器总分确定八个计数节点的终态，无法确定历史入箱区间、跌倒发生的视频时刻或玩偶接触细节；碰撞家具及具体倾斜过程仅见 agent 自述（log step 43、47），未据此另加碰撞现象。" + }, + "summary_zh": "推断：评分器 q_score=0.0，结合八个玩偶初始均在地面，八个入箱计数节点终态均为 false（0/8），历史进度无法确定。观察：log step 37–42 显示机器人在寻找首个玩偶的巡航扫描期间被服务判定跌倒并结束回合；推断：已执行控制代码限制时长却未限制长距离移动速度，是有日志支持的控制根因。本次无视频、无状态日志，不能确定发生区间及具体接触，回合结束后保存的修订代码不算完成动作。", + "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；q_score=0.0 决定八个计数节点终态均为 false，断点在首个入箱步骤前的探索（B→C 航点驱动中被服务判定跌倒），现象“平衡”由服务 /status 终态支持，根因“控制”有 log step 30/41 的代码与 xf=-8.78、secs=3.0 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": "2026-10-30T22:10:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--r2nxs2z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--r2nxs2z/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "14c1a6d2291d7dda94f135cf1a7664e05799d0d4a9fa734e3643ff73cb079760", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--yduwijs.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--yduwijs.json new file mode 100644 index 0000000000000000000000000000000000000000..969a3d22dd1844b7e808e4f26e0e5a1065ed83b4 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--yduwijs.json @@ -0,0 +1,373 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--yduwijs", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 8911, + "sim_steps": 8911, + "physics_steps": 35644, + "steps": 7228, + "elapsed_s": 1556.4, + "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": 0.209, + "peak_processes": 10, + "peak_disk_gb": 0.505, + "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": 2, + "nodes": { + "toys_in_box_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少1个入箱为真。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + }, + { + "t": null, + "log_step": 64, + "text_zh": "观察：log step 31–35 中 agent 的脚本尝试右夹爪拾取、运输并修改夹爪保持逻辑；log step 62–64 又执行拾取及投放循环，脚本打印 drop eef 与循环结束状态。以上只证明动作尝试，第一计数节点的终态真来自评分总量，不将脚本 held 或夹爪开度当作抓取、入箱成功证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "第1个累计入箱相关尝试的接触不可核实：日志记有右臂拾取或定位、底盘移动指令，但本次没有可检查的相机帧或状态接触对，不能确认右夹爪是否夹住玩偶、碰到其他物体或空夹。计数节点不绑定具体玩偶或脚本循环。" + } + ] + }, + "toys_in_box_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少2个入箱为真。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + }, + { + "t": null, + "log_step": 70, + "text_zh": "观察：log step 66–70 中 agent 的脚本对另一地面候选执行右臂拾取、搬运、投放循环，log step 70 打印 drop eef=[16.8,3.5,0.65]；这是脚本的末端位置检查，不是物体入箱判定。本节点终态真由评分总量确定，不据此给投放时刻。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "第2个累计入箱相关尝试的接触不可核实：日志记有右臂拾取或定位、底盘移动指令，但本次没有可检查的相机帧或状态接触对，不能确认右夹爪是否夹住玩偶、碰到其他物体或空夹。计数节点不绑定具体玩偶或脚本循环。" + } + ] + }, + "toys_in_box_3": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少3个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + }, + { + "t": null, + "log_step": 75, + "text_zh": "观察：log step 72–76 中 agent 的脚本再次对地面玩偶候选执行拾取与投放，log step 73 的 pick failed 及 log step 75 的 drop eef 均为 agent 脚本输出。log step 77、89 的 agent 自述累计三个入箱，且 log step 89 承认后两次未再次目视确认；评分器终态只计两个，故不采纳该累计数量。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "第3个累计入箱相关尝试的接触不可核实：日志记有右臂拾取或定位、底盘移动指令，但本次没有可检查的相机帧或状态接触对，不能确认右夹爪是否夹住玩偶、碰到其他物体或空夹。计数节点不绑定具体玩偶或脚本循环。" + } + ] + }, + "toys_in_box_4": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少4个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + }, + { + "t": null, + "log_step": 80, + "text_zh": "观察：log step 76–80 中 agent 在自称已投放三个后，把靠近壁炉的候选作为下一件执行定位和右臂 IK，随后中止并命令右夹爪打开、手臂归位；log step 89 将该候选自述为误检的落地灯底座。没有视频可核实候选身份、实际接触或当时入箱数，因此只记录这次增加下一计数的尝试，不认定第3个已成功。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "第4个累计入箱相关尝试的接触不可核实：日志记有右臂拾取或定位、底盘移动指令，但本次没有可检查的相机帧或状态接触对，不能确认右夹爪是否夹住玩偶、碰到其他物体或空夹。计数节点不绑定具体玩偶或脚本循环。" + } + ] + }, + "toys_in_box_5": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少5个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + } + ] + }, + "toys_in_box_6": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少6个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + } + ] + }, + "toys_in_box_7": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少7个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + } + ] + }, + "toys_in_box_8": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 graded_by_live=1、finalized=1、resumes=0、q_score=0.25、success=0；本次只评单个实时回合，未提交回放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG v1.2 为八个玩偶的累计入箱计数，任务初态八个均在地面，无初始已满足入箱关系；评分总量 0.25×8=2，因此终态至少8个入箱为假。此结论仅确定终态数量；本次无视频、无状态日志，不能确定任何到达或失去的时间区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_3", + "t": null, + "log_step": 84, + "where": "转场", + "evidence_zh": "推断：评分器 q_score=0.25 对八个累计入箱节点确定终态仅两个成立，第3个入箱是首个未补足的计数步骤；log step 72–80 记录 agent 继续拾取、投放及寻找候选的尝试。log step 80 已命令右夹爪打开并收臂，log step 83–84 随后尝试控制底盘前往 (12.5,1.6)，因此把继续收玩偶时的空手转场翻倒锚定到尚未补足的第3个入箱。观察：log step 83 的首次 goto 因指令段超过10秒被服务以400拒绝；log step 84 的 traceback 显示，异常来自 goto 的最后一次 goto0 调用（所记录源码 line 101），并在 goto0 的纯转向分支（line 113，base_rows(p,0,0,dyaw)，对应 log step 19 源码中的 abs(dyaw)>0.3）提交时收到 EpisodeOver: failure: the robot fell over；log step 86 的服务终态再次确认 done=true、同一翻倒原因。推断：这定位的是服务报告翻倒终止的转向提交处，不能证明翻倒起始姿态、碰撞对象或此前各航点的平移实际完成。无视频及逐物体目标读数，不能确定该计数此前从未达到还是达到后失去，也不能把 agent 自述的三个投放当成三个已完成节点。" + }, + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": true, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 84, + "evidence_zh": "观察：log step 84 在 agent 调用底盘 goto(12.5,1.6,np.pi) 的过程中，机器人服务返回 EpisodeOver: failure: the robot fell over；log step 86 查询同一实时服务得到 done=true、reason=\"failure: the robot fell over\"、control_steps=8911、resumes=0。此为服务确认的翻倒终止，非仅依据 agent 的解释；无本次视频，不给翻倒的视频时刻或姿态细节。" + } + ], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地视频），也没有 inputs/states.jsonl 或 state/state_progress.json；日志中的 [picture] 仅保留占位，不能检查 agent 当时看到的图像。已查看的 inputs/oracle/replay.mp4 属另一次成功，仅用于理解视图，不能补成本次入箱或接触证据。评分总量可确定终态2/8，不能识别具体哪次投放未计入、是否曾有三个入箱再失去，亦不能精确定位最早未修复事件；第3个计数断点和转场位置为结合终态总量及最后动作的推断。服务可确认翻倒，log step 84 的 traceback 将终止报告定位到 goto0 的纯转向提交（所记录源码 line 113），此前航点调用已返回，但不能据此认定平移实际完成或定位失衡起点。家具碰撞、躯干下沉及速度或保持指令问题的终止归因仅有 log step 88–89 的 agent 自述；log step 52 已修改为梯形速度剖面，不能用早期速度问题解释此次终止。缺少本次视频、状态与接触记录，无法区分规划或控制根因，故 root_causes 留空；所有视频时刻与节点区间留 null，已尝试节点的接触留未知，未从 agent 脚本检查补成功值。log step 85 的 DNS 错误发生在 log step 84 已判翻倒之后，且 log step 86 可取回终态，因此不视为中断评分的外因。" + }, + "summary_zh": "评分器对本次实时回合给出 q_score=0.25，按 DAG v1.2 的八个累计入箱节点，终态为2/8；agent 自述投放三个不能覆盖评分结果。将首个未补足的第3个玩偶入箱作为推断断点：机器人继续收玩偶时空手转场，log step 84 的 traceback 显示服务在 goto0 的纯转向提交（所记录源码 line 113）处报告翻倒终止，log step 86 再次确认。无本次视频或状态日志，不能定位每次入箱、失去、接触或失衡起始时刻，也不能核实家具碰撞、躯干下沉等具体原因，故根因留空，置信度保持6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "无视频，终态 2/8、翻倒由评分器与服务读数确定，节点值、断点（第3个入箱、转场）与平衡现象可接受。但根因“推理/规划（直线路径穿过沙发区未避障）”没有可接受证据：该碰撞只来自 agent 自述，而 log step 84 的 traceback 显示翻倒发生在原地转向的提交上，与“长直线穿过家具”相矛盾。应删除该根因并写入 gap_zh。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；终态2/8由 q_score=0.25 确定，翻倒由 log step 84/86 的服务读数确认，第二轮后根因已清空并写入 gap_zh，断点（第3个入箱、转场）与平衡现象均为受证据约束的推断且已标注。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": "2026-10-30T22:11:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--yduwijs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--yduwijs/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--yduwijs/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--yduwijs/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7d42c35b472981aa242270932c1ea43b3e768e1de5a814ebeb5ea7fffdc9352e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif.json new file mode 100644 index 0000000000000000000000000000000000000000..4a043828a56c7a6c614b9e27423afb9af6b59b8b --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 14, + "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": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bowls_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且未报告各餐具的 inside 终态或 q_score；agent 在 log step 67 自述没有保存最终轨迹。输入无本次评分视频和状态日志，无法判定“至少1只碗入槽”；会话测试不作为评分节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，因此不标记会话测试中的夹爪或底盘接触。" + } + ] + }, + "bowls_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且未报告各餐具的 inside 终态或 q_score；agent 在 log step 67 自述没有保存最终轨迹。输入无本次评分视频和状态日志，无法判定“至少2只碗入槽”；会话测试不作为评分节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，因此不标记会话测试中的夹爪或底盘接触。" + } + ] + }, + "plates_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且未报告各餐具的 inside 终态或 q_score；agent 在 log step 67 自述没有保存最终轨迹。输入无本次评分视频和状态日志，无法判定“至少1只盘入槽”；会话测试不作为评分节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，因此不标记会话测试中的夹爪或底盘接触。" + } + ] + }, + "plates_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且未报告各餐具的 inside 终态或 q_score；agent 在 log step 67 自述没有保存最终轨迹。输入无本次评分视频和状态日志，无法判定“至少2只盘入槽”；会话测试不作为评分节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，因此不标记会话测试中的夹爪或底盘接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 67, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0；agent 在 log step 67 明确自述最终轨迹文件不存在。log step 61 的生成脚本只在 plan.main 返回后调用 record_stop 和 save_trajectory，log step 63 主动终止前一生成进程，log step 65 又启动新进程；日志没有最终保存成功记录。未交付可评分轨迹，无法将断点归于某个物理节点。" + }, + "unmet": { + "bowls_in_sink_1": null, + "bowls_in_sink_2": null, + "plates_in_sink_1": null, + "plates_in_sink_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind 为 none，本次运行没有视频或状态日志；评分器报告 missing_trajectory=1，未提供节点终态或 q_score。log step 55、62、66 的抓取和搬运输出属于生成或探索会话，未保存成评分轨迹，不能据此认定节点完成、抓取失败现象或实际接触。推断：按未交付轨迹的处理规则，现象与根因均留空，节点终态全部未知；仅凭未交付及会话测试不追加控制或交付根因。参考成功录像属于另一运行，不能填补本次证据缺口。agent 自述“时间用完”（log step 67），但 run.wall_s=2462、time_limit_s=7200，不能将该自述当作已证实的预算耗尽或外部中断。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），四个入槽节点均无可判定的评分终态，不能将会话测试的搬碗进展计入。log step 61 的脚本将保存放在两趟操作之后，log step 63 终止首轮生成，log step 65 重启，agent 在 log step 67 确认最终文件不存在；断点记为 unknown／首步前。没有本次视频、状态日志或节点评分字段，按未交付规则将接触记为不适用，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": 7, + "summary_zh": "未交付轨迹（missing_trajectory=1，无视频/状态日志）；四个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a) 与 FAIL-22；未把会话测试或 agent 自述的“时间用完”当作事实。校验器通过。", + "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": "2026-10-30T22:05:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--akbxkif/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b2cc1ae97bf053d6fe65ed82f8feb98b18edbbf44ead98c10639a9eb7e398b00", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--f3abyue.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--f3abyue.json new file mode 100644 index 0000000000000000000000000000000000000000..deb388c29aa3341b962f2ba9db07b089084b4f00 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--f3abyue.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--f3abyue", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 8, + "agent_resets": 1, + "agent_sim_steps": 8522, + "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": { + "bowls_in_sink_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 missing_trajectory=1、agent_records=0、agent_replays=0、success=0，未报告本次评分轨迹的“至少1只碗入槽”关系或 q_score；inputs/video.json 的 kind=none，且没有本次状态日志。整体失败和交付缺失不能判定该节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话实验中的夹爪或底盘动作不作为本节点的实际接触。" + } + ] + }, + "bowls_in_sink_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 missing_trajectory=1、agent_records=0、agent_replays=0、success=0，未报告本次评分轨迹的“至少2只碗入槽”关系或 q_score；inputs/video.json 的 kind=none，且没有本次状态日志。整体失败和交付缺失不能判定该节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话实验中的夹爪或底盘动作不作为本节点的实际接触。" + } + ] + }, + "plates_in_sink_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 missing_trajectory=1、agent_records=0、agent_replays=0、success=0，未报告本次评分轨迹的“至少1只盘入槽”关系或 q_score；inputs/video.json 的 kind=none，且没有本次状态日志。整体失败和交付缺失不能判定该节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话实验中的夹爪或底盘动作不作为本节点的实际接触。" + } + ] + }, + "plates_in_sink_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 missing_trajectory=1、agent_records=0、agent_replays=0、success=0，未报告本次评分轨迹的“至少2只盘入槽”关系或 q_score；inputs/video.json 的 kind=none，且没有本次状态日志。整体失败和交付缺失不能判定该节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话实验中的夹爪或底盘动作不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 911, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 909 编写新的抓取与导航测试脚本，log step 910 启动该脚本，log step 911 的最后陈述仍是 agent 自述等待测试完成。没有交付的评分轨迹，不能从这些会话测试选定某个入槽步骤作为物理断点；首步前指评分轨迹尚未交付。" + }, + "unmet": { + "bowls_in_sink_1": null, + "bowls_in_sink_2": null, + "plates_in_sink_1": null, + "plates_in_sink_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频（inputs/video.json: kind=none），无状态日志，评分器明确报告交付缺失，且没有节点级最终状态或 q_score。inputs/oracle/replay.mp4 是另一成功运行的参考录像，不能补作本次轨迹证据；log step 911 仅记录 agent 等待会话测试，并无其后测试结果或交付记录。运行 wall_s=7203，time_limit_s=7200，评分器 infra_error=0、grader_error=0。推断：运行耗时与预算结束相符，但这不解释具体物理失败或未交付的技术原因；依无交付规则，现象与根因均留空，四个节点终值未知，不把会话测试结果或总体 success=0 换成节点值，也不从交付缺失反推交付操作出错。" + }, + "summary_zh": "评分器报告本次未交付轨迹（missing_trajectory=1，录制和重放均为0），四个入槽节点的终值均未知，没有可确认完成的节点。评分轨迹尚未交付，断点记为 unknown／首步前；日志最后仍在启动并等待抓取与路线测试（log step 909–911），无法据此指定物理失败现象或根因。本次无视频或状态日志，也没有评分节点结果，参考成功录像不能替代本次证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次评分器报告 missing_trajectory=1、无视频、无状态日志；标注按“无交付”规则：断点 unknown/首步前，现象与根因为空并带 gap_zh，四个节点 unknown，符合 03 与 CASES OPEN-16/CONTACT-8。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": "2026-10-30T22:02:55Z", + "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-putting-dirty-dishes-in-sink-i00-privileged--f3abyue/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--f3abyue/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a60d0ef574e7656faa989dc00a773c1c85eef5b27dbbd2b8348fb036e42c1e91", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w.json new file mode 100644 index 0000000000000000000000000000000000000000..a4df314601f25ead2d11c28f84ca3a7a3634be1f --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 4, + "agent_resets": 17, + "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": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bowls_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：inputs/video.json为kind=none，未提供本次运行的状态日志；inputs/run.json评分字段为missing_trajectory=1，未报告“至少1只碗入槽”的评分终值。agent在log step 437自述尚未写出轨迹，log step 441–442仅报告会话内录制缓存与空手状态；这些调试结果不是已交付回放，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段missing_trajectory=1，本次没有交付可供评分的机器人轨迹；会话调试中的夹爪与底盘动作不计为评分轨迹接触。" + } + ] + }, + "bowls_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：inputs/video.json为kind=none，未提供本次运行的状态日志；inputs/run.json评分字段为missing_trajectory=1，未报告“至少2只碗入槽”的评分终值。agent在log step 437自述尚未写出轨迹，log step 441–442仅报告会话内录制缓存与空手状态；这些调试结果不是已交付回放，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段missing_trajectory=1，本次没有交付可供评分的机器人轨迹；会话调试中的夹爪与底盘动作不计为评分轨迹接触。" + } + ] + }, + "plates_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：inputs/video.json为kind=none，未提供本次运行的状态日志；inputs/run.json评分字段为missing_trajectory=1，未报告“至少1只盘入槽”的评分终值。agent在log step 437自述尚未写出轨迹，log step 441–442仅报告会话内录制缓存与空手状态；这些调试结果不是已交付回放，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段missing_trajectory=1，本次没有交付可供评分的机器人轨迹；会话调试中的夹爪与底盘动作不计为评分轨迹接触。" + } + ] + }, + "plates_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：inputs/video.json为kind=none，未提供本次运行的状态日志；inputs/run.json评分字段为missing_trajectory=1，未报告“至少2只盘入槽”的评分终值。agent在log step 437自述尚未写出轨迹，log step 441–442仅报告会话内录制缓存与空手状态；这些调试结果不是已交付回放，无法确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段missing_trajectory=1，本次没有交付可供评分的机器人轨迹；会话调试中的夹爪与底盘动作不计为评分轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 437, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json评分字段success=0、missing_trajectory=1、grader_error=0，未产生可评分交付轨迹；log step 431的输出目录列表只有生成脚本和会话日志，log step 437中agent自述尚未写出轨迹。log step 438–442重试生成后仍无返回结果，log step 461–464继续抓取调试及修改脚本，未见保存成功记录。推断：评分轨迹未开始，不能把某次会话内碗抓取失败指定为评分断点，故记unknown／首步前。" + }, + "unmet": { + "bowls_in_sink_1": null, + "bowls_in_sink_2": null, + "plates_in_sink_1": null, + "plates_in_sink_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频（inputs/video.json为kind=none）、无状态日志且评分字段missing_trajectory=1；现有inputs/oracle/replay.mp4属于另一成功运行，不能证明本次节点或接触。log step 436、441的q_score=0仅是生成尝试期间的会话状态，不是已交付回放的原生评分值；正式reward未报告q_score，因此该指标和四个节点终值均为null。log step 461中agent自述偏置抓取把碗推向一侧，log step 463又报告居中低位抓取附着成功，这些均属未交付的调试过程；无法据此标注评分轨迹的物理现象或根因，按DECISIONS.md D23两层留空。运行wall_s=14400达到task_text给定的14400秒预算，但预算结束本身不是现象或根因；此前log step 202、211的进程退出后已重新启动并持续调试至log step 464，不能据这些早期退出认定最终被外因截断。" + }, + "summary_zh": "观察：评分结果为success=0、missing_trajectory=1，agent未交付可重放轨迹，四个入槽节点均无可确认的评分终值。推断：断点记unknown／首步前，接触均不适用；会话末段仍在调试第一只碗的抓取，按DECISIONS.md D23不将调试接触失败标成评分轨迹的现象或根因。观察：本次无视频和状态日志，正式评分也没有逐节点状态或q_score，四个节点及原生进度指标均保留未知。", + "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、missing_trajectory=1，未交付任何轨迹；四节点unknown、断点unknown/首步前、现象与根因留空并写gap_zh，符合D23(a)，未把会话内调试或预算耗尽当作现象/根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:19Z", + "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-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--rf6gp4w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2e111d969b8a7ab589ff8fd75578d63a5276f255d3dc99a088c8742a6291866a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo.json new file mode 100644 index 0000000000000000000000000000000000000000..0eacbd0c77892164dd824161988252b8cb8088a4 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 2, + "agent_resets": 18, + "agent_sim_steps": 0, + "agent_records": 1, + "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": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bowls_in_sink_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 missing_trajectory=1、success=0、agent_replays=0，未报告“第1只碗入槽”的节点结果；inputs/video.json 为 kind=none，亦无状态日志，故无法判定该节点。调试会话的工具输出不能代替交付轨迹的节点值。" + } + ], + "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；调试会话的机器人接触不计入评分轨迹。" + } + ] + }, + "bowls_in_sink_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 missing_trajectory=1、success=0、agent_replays=0，未报告“第2只碗入槽”的节点结果；inputs/video.json 为 kind=none，亦无状态日志，故无法判定该节点。调试会话的工具输出不能代替交付轨迹的节点值。" + } + ], + "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；调试会话的机器人接触不计入评分轨迹。" + } + ] + }, + "plates_in_sink_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 missing_trajectory=1、success=0、agent_replays=0，未报告“第1只盘入槽”的节点结果；inputs/video.json 为 kind=none，亦无状态日志，故无法判定该节点。调试会话的工具输出不能代替交付轨迹的节点值。" + } + ], + "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；调试会话的机器人接触不计入评分轨迹。" + } + ] + }, + "plates_in_sink_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 missing_trajectory=1、success=0、agent_replays=0，未报告“第2只盘入槽”的节点结果；inputs/video.json 为 kind=none，亦无状态日志，故无法判定该节点。调试会话的工具输出不能代替交付轨迹的节点值。" + } + ], + "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；调试会话的机器人接触不计入评分轨迹。" + } + ] + } + }, + "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": 152, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_replays=0、grader_error=0。agent 在 log step 146 写出含保存调用的生成脚本，但该步输出只有 written 和第一只碗的调试抓取结果；log step 147—151 仍在调试搬运，最后的 log step 152 提交继续搬运的命令且无返回文本。未见保存成功或重放结果，无法定位交付轨迹中的物理失败步骤。" + }, + "unmet": { + "bowls_in_sink_1": null, + "bowls_in_sink_2": null, + "plates_in_sink_1": null, + "plates_in_sink_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无交付轨迹（评分器 missing_trajectory=1），无本次录像、无状态日志，评分字段也未报告各餐具的入槽结果或 q_score；提供的 oracle 视频属于另一成功运行，不能作为本次进度证据。日志有多次重置和调试，log step 144 明确丢弃此前录制，log step 146—152 的抓取与导航反馈未形成可核实的交付轨迹；最后命令无返回，未见最终总结。run.json 记录 wall_s=14400、time_limit_s=14400，但预算耗尽本身不能作为失败现象或根因，也不能由交付缺失反推交付操作出错。依无交付规则，断点未知／首步前，现象与根因留空，四节点终值均未知。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次未交付可评分轨迹，四个入槽节点均无法判定。agent 在 log step 146 写出生成脚本，随后 log step 147—152 仍在调试第一只碗的搬运，未见保存成功或重放结果；断点记 unknown／首步前，现象和根因留空。本次无录像或状态日志，调试输出与另一成功运行的 oracle 视频均不能补作本次节点证据，q_score 也未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无录像、无状态日志，评分器 missing_trajectory=1、agent_replays=0；四节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合“agent 侧无交付”规则（D23），预算耗尽未被当作原因，也未把会话调试当作评分轨迹事实。", + "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": "2026-10-30T22:07:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--yea8nxo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4919b784c324334aebd07af27515f8005dc6e6371895966063d764543246512e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7461855ab81c99a9899948fd36c679ab4f6eea --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 610, + "sim_steps": 610, + "physics_steps": 2440, + "steps": 278, + "elapsed_s": 1590.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + 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"text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、success=0、graded_by_live=1；DAG 说明四个 inside 目标字面量初始均为假，故最终满足数为0，排除“至少1只碗入槽”。这是评分总数对终态的逻辑约束，不据此断言途中从未达到或从未尝试；本次无视频及状态日志，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、43 的执行记录是机器人底盘向共用餐桌接近，log step 49 服务报告跌倒终止；本次无视频或接触状态日志。推断：不能将共用接近动作分配给某一只碗或盘，也不能确认夹爪与该节点餐具的实际接触，故填未知，不照搬典型抓握方案。" + } + ] + }, + "bowls_in_sink_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、success=0、graded_by_live=1；DAG 说明四个 inside 目标字面量初始均为假，故最终满足数为0，排除“至少2只碗入槽”。这是评分总数对终态的逻辑约束，不据此断言途中从未达到或从未尝试；本次无视频及状态日志，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、43 的执行记录是机器人底盘向共用餐桌接近，log step 49 服务报告跌倒终止；本次无视频或接触状态日志。推断：不能将共用接近动作分配给某一只碗或盘，也不能确认夹爪与该节点餐具的实际接触，故填未知，不照搬典型抓握方案。" + } + ] + }, + "plates_in_sink_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、success=0、graded_by_live=1；DAG 说明四个 inside 目标字面量初始均为假，故最终满足数为0，排除“至少1只盘入槽”。这是评分总数对终态的逻辑约束，不据此断言途中从未达到或从未尝试；本次无视频及状态日志，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、43 的执行记录是机器人底盘向共用餐桌接近，log step 49 服务报告跌倒终止；本次无视频或接触状态日志。推断：不能将共用接近动作分配给某一只碗或盘，也不能确认夹爪与该节点餐具的实际接触，故填未知，不照搬典型抓握方案。" + } + ] + }, + "plates_in_sink_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、success=0、graded_by_live=1；DAG 说明四个 inside 目标字面量初始均为假，故最终满足数为0，排除“至少2只盘入槽”。这是评分总数对终态的逻辑约束，不据此断言途中从未达到或从未尝试；本次无视频及状态日志，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、43 的执行记录是机器人底盘向共用餐桌接近，log step 49 服务报告跌倒终止；本次无视频或接触状态日志。推断：不能将共用接近动作分配给某一只碗或盘，也不能确认夹爪与该节点餐具的实际接触，故填未知，不照搬典型抓握方案。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 28, + "where": "转场", + "evidence_zh": "观察：log step 28 中 agent 的脚本令机器人空手转向卡座并前行1米，服务本体读数随后显示基座升高；log step 31 的上轴竖直分量为0.7588，log step 37 恢复到1.0，但没有完成任何餐具入槽步骤。log step 43 再向餐桌平移并转向后，log step 45 的服务本体读数上轴竖直分量为-0.1749；log step 47 恢复未扶正，log step 49 服务在 control_steps=610、resumes=0 时返回 done=True、reason=\"failure: the robot fell over\"。推断：取首件餐具前的接近过程失败并最终因跌倒终止；日志没有选定先取碗还是盘，无本次画面可定位具体节点，因此 ref 为 unknown，位置为转场。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 45, + "evidence_zh": "观察：单次实时评分局中，log step 43 的第二段底盘行驶后基座高度约0.411米；log step 45 服务返回的机器人姿态经日志脚本计算，上轴竖直分量为-0.1749；log step 47 连续躯干恢复动作后仍为约-0.227。log step 49 服务自身的最终判决为 \"failure: the robot fell over\"，log step 50 拒绝继续执行。推断：机器人接近餐桌时失去平衡且未恢复；跌倒由服务判决确认，不以 agent 的长椅碰撞叙述充当接触证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 43, + "source_zh": "日志", + "evidence_zh": "观察：log step 25—28 的底盘脚本以固定每步位移执行前行，log step 31 记录倾斜；log step 37 用躯干前倾恢复直立。log step 41—43 改为加减速后的底盘平移与转向，但仍只在整段动作后检查状态；log step 45 显示机器人已侧翻。log step 46—47 的恢复脚本多次改变躯干侧转和俯仰目标，服务返回的本体姿态持续倒置，log step 49 因跌倒判负。推断：在朝餐具所在餐桌接近的目标下，底盘运动和躯干恢复控制未能维持、恢复稳定支撑，支持控制层归因；缺少本次画面和接触数据，不能进一步确认具体碰撞、承载几何或错误参数。" + } + ], + "gap_zh": "本次 inputs/video.json.kind=none（HF 404 且无本地视频），也无状态日志；inputs/run.json 中的图片只有引用信息，本目录没有这些图片文件。故所有视频时间及节点区间均为 null，仅由评分器 q_score=0 确定四个节点终态为 false；不能恢复中途进度或按节点确认实际接触。日志记录的是 standard 单次实时评分局（graded_by_live=1、replays=0、resumes=0），服务跌倒判决可用，但接近动作未指定先取碗或盘，断点只能为 unknown；agent 在 log step 48、59 所称长椅阻挡缺乏可核实的本次图像或接触证据，不标被挡/碰撞，控制根因不细分。已抽查成功参考视频及其视频275.1 s末帧，它只能说明参考场景，不能补作本次轨迹证据。" + }, + "summary_zh": "评分器 q_score=0，结合四个目标初始均为假，确定两碗两盘入槽四个节点终态均为 false；无本次视频及状态日志，不能确定中途峰值或达成时刻。机器人在空手接近餐桌时失衡，虽一次恢复直立，后续再次翻倒且恢复无效，最终由服务判负，根因保留为控制。日志未选定先取碗还是盘，因此断点节点为 unknown、位置为转场，实际接触均未知。", + "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；四个节点 final=false 由 q_score=0 与初始字面量为假决定，断点 unknown/转场、现象 平衡、根因 控制均有 log 与服务读数（step 31/45/49，fell over）支持，log step 编号与 id 对应无误。未发现需改内容的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--a9r6axl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca016c461263233c624c15dce79c9c01f7563a31ac7554c7a703dcf887f20756", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--xamkfpw.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--xamkfpw.json new file mode 100644 index 0000000000000000000000000000000000000000..a8c347314aea71065db74748e92a739aa8fd0b50 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--xamkfpw.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--xamkfpw", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 2040, + "sim_steps": 2040, + "physics_steps": 8160, + "steps": 318, + "elapsed_s": 5029.6, + "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": 4, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "bowls_in_sink_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、live_success=0、graded_by_live=1；DAG说明两碗两盘的四个入槽字面量初始均为假。总量为零排除终态有任何一只目标餐具入槽，因此“第1只碗入槽”终值为false；这不能确定过程中是否曾短暂达到，且无本次视频或状态日志，intervals保留null。" + }, + { + "t": null, + "log_step": 78, + "text_zh": "观察：log step 78记录agent编写并启动抓取脚本，脚本命令机器人左夹爪对近处碗的碗沿执行下降、闭合和抬升指令；随后log step 86、90、100、195启动向厨房方向的导航。这里只据日志识别所尝试的步骤，不把指令、夹爪开度或agent的持物自述视为实际抓取、搬运或入槽成功。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 78记录针对该餐具的夹爪操作尝试，后续有底盘导航指令；本次无可用视频和接触状态日志，无法核实作用端与餐具的实际接触、夹持及持物搬运。" + } + ] + }, + "bowls_in_sink_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、live_success=0、graded_by_live=1；DAG说明两碗两盘的四个入槽字面量初始均为假。总量为零排除终态有任何一只目标餐具入槽，因此“第2只碗入槽”终值为false；这不能确定过程中是否曾短暂达到，且无本次视频或状态日志，intervals保留null。" + } + ] + }, + "plates_in_sink_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、live_success=0、graded_by_live=1；DAG说明两碗两盘的四个入槽字面量初始均为假。总量为零排除终态有任何一只目标餐具入槽，因此“第1只盘入槽”终值为false；这不能确定过程中是否曾短暂达到，且无本次视频或状态日志，intervals保留null。" + }, + { + "t": null, + "log_step": 82, + "text_zh": "观察：log step 82记录agent编写并启动抓取脚本，脚本命令机器人右夹爪对西侧盘的盘沿执行下降、闭合和抬升指令，并命令左夹爪保持闭合；随后log step 86、90、100、195启动向厨房方向的导航。这里只据日志识别所尝试的步骤，不把指令、夹爪开度或agent的持物自述视为实际抓取、搬运或入槽成功。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 82记录针对该餐具的夹爪操作尝试，后续有底盘导航指令；本次无可用视频和接触状态日志，无法核实作用端与餐具的实际接触、夹持及持物搬运。" + } + ] + }, + "plates_in_sink_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、live_success=0、graded_by_live=1；DAG说明两碗两盘的四个入槽字面量初始均为假。总量为零排除终态有任何一只目标餐具入槽，因此“第2只盘入槽”终值为false；这不能确定过程中是否曾短暂达到，且无本次视频或状态日志，intervals保留null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "bowls_in_sink_1", + "t": null, + "log_step": 195, + "where": "操作中", + "evidence_zh": "推断：log step 78先启动近处碗的抓取，log step 82再启动一只盘的抓取，log step 86、90、100、195的脚本继续朝水槽/厨房方向导航；将先启动且未完成的第1只碗入槽作为断点，同次还在尝试第1只盘入槽。log step 194-195提交从吧台去北侧厨房门的转向和平移，log step 203打印该段基座姿态由直立变为严重倾斜，log step 207的实时服务结果为done=True、reason=\"failure: the robot fell over\"；评分器q_score=0.0。按已有动作与任务目标推断这是入槽搬运过程中的失败，真实持物状态和更早的抓取成败不能核实；没有视频时钟，t为null。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 207, + "evidence_zh": "观察：log step 207中agent调用Robot.submit执行恢复动作后，打印实时机器人服务返回的meta.done=True及meta.reason=\"failure: the robot fell over\"；reward同时记录task_failure=1、sim_error=0、infra_error=0。该运行只有一次仿真启动且无reset/resume，是受评实时episode的跌倒终止结果；不是从agent最终报告推定翻倒。" + } + ], + "root_causes": [], + "gap_zh": "本次inputs/video.json.kind=none，inputs/中没有本次replay.mp4或states.jsonl，故所有视频时刻与节点intervals均为null；无法核实抓取后餐具是否离桌、是否全程持稳、接触方式及途中入槽历史。inputs/oracle/replay.mp4属于另一条成功运行，不能补足本次事实。观察：log step 194的导航脚本先提交9行原地转向，再提交平移；log step 203读取服务返回的base_pose，F00-F02基座高度为0.004米、up_z=1.000，F03-F09水平位置几乎不变而高度升至0.362米、up_z降至0.114，F10的up_z为0.000，表明失衡已在初始转向段发生。log step 212中agent自述底盘卡住吧台凳脚踏后翻倒，但本次没有可检查的接触对或画面，触发接触及初始失衡机制均不可核实，故不标被挡/碰撞。推断：log step 190的路径净空检查代码及log step 191的检查自述不能证明转向净空充分，log step 206-207在严重倾倒后的恢复尝试也不能证明及时闭环可避免跌倒；现有证据无法区分路径净空规划与反馈控制等候选根因，根因层留空。" + }, + "summary_zh": "评分器q_score=0.0，结合DAG中四个入槽目标初始均为假，终态为0/4；日志记录机器人先后尝试一只碗和一只盘的抓取并向厨房导航，但实际持物状态未获视觉核实。断点归于先启动的第1只碗入槽，log step 203的基座姿态读数显示初始转向段内已升高并倾倒，实时服务在log step 207以机器人翻倒判负。无本次视频或状态日志，实际接触、途中进度和视频时间均无法确定，也不足以区分规划与反馈控制根因，故根因层留空，置信度维持6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "本次无视频/状态日志，WHERE标签（全部false、断点bowls_in_sink_1、平衡现象、无t）有评分器q_score=0与log step 207支撑，基本合理。问题在根因：反馈控制没有解释失衡的开始，证据反而指向转向段内基座被抬离地面（疑似与障碍接触），该归因属推测。", + "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/状态日志；四个节点终值false由q_score=0与DAG初值推出，断点、平衡现象、空根因层并附gap_zh均与log step 203/207及证据规则一致，第1轮意见已落实，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--xamkfpw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6dc057811bd2694aa7d3c2abec078d40ad05d3ca245989a132e19d0091f754e9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--3hrazfz.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--3hrazfz.json new file mode 100644 index 0000000000000000000000000000000000000000..8af655cad89358a8eece0a6a887b4c875c147b52 --- /dev/null +++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--3hrazfz.json @@ -0,0 +1,431 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--3hrazfz", + "taskKey": "behavior-1k/putting_dishes_away_after_cleaning", + "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 38, + "agent_resets": 0, + "agent_sim_steps": 655, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.864, + "peak_memory_gb": 8.046, + "peak_processes": 28, + "peak_disk_gb": 23.049, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_disk_gb": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 15, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且未提供状态日志。评分器未报告开柜节点，log step 451 仅为 agent 宣布启动会话测试，无法判定受评尝试是否打开过橱柜。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 的再次启动测试属于会话证据，不能据此判断“第1个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 的再次启动测试属于会话证据，不能据此判断“第2个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 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的再次启动测试属于会话证据，不能据此判断“第5个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 的再次启动测试属于会话证据，不能据此判断“第6个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 的再次启动测试属于会话证据，不能据此判断“第7个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "plates_in_same_cabinet_8": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告同柜且离手静止的盘子数量，也未报告 q_score；本次无视频或状态日志。log step 447 的单盘抓取测试输出及 log step 451 的再次启动测试属于会话证据，不能据此判断“第8个盘入柜”的受评终值；success=0 不单独证明本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "kitchen_cabinets_closed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：任务 DAG 记载六柜初始关闭，但评分器 reward.missing_trajectory=1，未报告终态关闭柜数；本次无视频或状态日志。log step 451 仍为会话测试启动声明，不能确认受评终态是否至少有1个柜关闭，故不从初态推定终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "kitchen_cabinets_closed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：任务 DAG 记载六柜初始关闭，但评分器 reward.missing_trajectory=1，未报告终态关闭柜数；本次无视频或状态日志。log step 451 仍为会话测试启动声明，不能确认受评终态是否至少有2个柜关闭，故不从初态推定终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：任务 DAG 记载六柜初始关闭，但评分器 reward.missing_trajectory=1，未报告终态关闭柜数；本次无视频或状态日志。log step 451 仍为会话测试启动声明，不能确认受评终态是否至少有3个柜关闭，故不从初态推定终值。" + } + ], + "contact_actual": [ + { + "who": 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missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + }, + "kitchen_cabinets_closed_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 451, + "text_zh": "观察：任务 DAG 记载六柜初始关闭，但评分器 reward.missing_trajectory=1，未报告终态关闭柜数；本次无视频或状态日志。log step 451 仍为会话测试启动声明，不能确认受评终态是否至少有6个柜关闭，故不从初态推定终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；无交付轨迹可标注实际接触，会话测试不作为受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 451, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0。log step 447 是 agent 单盘测试中 object_in_hand=None 后触发断言的输出；agent 随后修改测试（log step 448），再次启动它（log step 450），最后仅表示等待（log step 451）。推断：没有交付的受评轨迹，无法指定其中某个物理步骤为断点，按无交付记 unknown／首步前。" + }, + "unmet": { + "plates_in_same_cabinet_1": null, + "plates_in_same_cabinet_2": null, + "plates_in_same_cabinet_3": null, + "plates_in_same_cabinet_4": null, + "plates_in_same_cabinet_5": null, + "plates_in_same_cabinet_6": null, + "plates_in_same_cabinet_7": null, + "plates_in_same_cabinet_8": null, + "kitchen_cabinets_closed_1": null, + "kitchen_cabinets_closed_2": null, + "kitchen_cabinets_closed_3": null, + "kitchen_cabinets_closed_4": null, + "kitchen_cabinets_closed_5": null, + "kitchen_cabinets_closed_6": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；无视频、状态日志或可核验的受评轨迹。评分器 missing_trajectory=1，未提供逐节点终值及 q_score；log step 451 后没有最后一次测试的结果或明确的会话结束原因。推断：会话中的抓取失败与脚本断言（log step 447）不能作为受评物理现象；记录不足以确定未交付的具体原因，不能仅由缺交付推定交付操作出错，也不能由等待声明推定规划错误或外部中断，故依 D23 保留现象、根因两层为空。所有视频时间及节点终值均为未知。" + }, + "summary_zh": 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383, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未报告“第3个盘入柜”的受评终值；log step 383 显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评动作轨迹；会话内的调试接触不作为本节点的实际接触。" + } + ] + }, + "plates_in_same_cabinet_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 383, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未报告“第4个盘入柜”的受评终值；log step 383 显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评动作轨迹；会话内的调试接触不作为本节点的实际接触。" + } + ] + }, + "plates_in_same_cabinet_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 383, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未报告“第5个盘入柜”的受评终值；log step 383 显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": 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显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评动作轨迹；会话内的调试接触不作为本节点的实际接触。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 383, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未报告“第3个柜关闭”的受评终值；log step 383 显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评动作轨迹；会话内的调试接触不作为本节点的实际接触。" + } + ] + }, + "kitchen_cabinets_closed_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 383, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，未报告“第4个柜关闭”的受评终值；log step 383 显示模型供应方过滤器中断会话。无视频和状态日志，调试会话不能确定本节点的受评进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评动作轨迹；会话内的调试接触不作为本节点的实际接触。" + } + ] + }, + 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q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第3个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "plates_in_same_cabinet_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 241, + "text_zh": "观察：评分器报告 missing_trajectory=1，没有报告同一柜内已离手静止的盘子数量，也未报告 q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第4个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "plates_in_same_cabinet_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 241, + "text_zh": "观察：评分器报告 missing_trajectory=1，没有报告同一柜内已离手静止的盘子数量，也未报告 q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第5个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "plates_in_same_cabinet_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 241, + "text_zh": "观察：评分器报告 missing_trajectory=1，没有报告同一柜内已离手静止的盘子数量，也未报告 q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第6个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "plates_in_same_cabinet_7": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 241, + "text_zh": "观察：评分器报告 missing_trajectory=1，没有报告同一柜内已离手静止的盘子数量，也未报告 q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第7个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "plates_in_same_cabinet_8": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 241, + "text_zh": "观察：评分器报告 missing_trajectory=1，没有报告同一柜内已离手静止的盘子数量，也未报告 q_score；本作业无视频或状态日志。log step 241 的放盘异常来自会话试跑，不能决定第8个盘入柜的评分终值；总失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "kitchen_cabinets_closed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器报告 missing_trajectory=1，未提供最终关闭橱柜数量；本作业无视频或状态日志。DAG 描述六柜初始关闭，但不存在可核实的交付终态，故至少1个柜关闭的终值未知；会话内的门状态读数不能替代评分终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "kitchen_cabinets_closed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器报告 missing_trajectory=1，未提供最终关闭橱柜数量；本作业无视频或状态日志。DAG 描述六柜初始关闭，但不存在可核实的交付终态，故至少2个柜关闭的终值未知；会话内的门状态读数不能替代评分终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器报告 missing_trajectory=1，未提供最终关闭橱柜数量；本作业无视频或状态日志。DAG 描述六柜初始关闭，但不存在可核实的交付终态，故至少3个柜关闭的终值未知；会话内的门状态读数不能替代评分终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1；没有交付轨迹，实际接触标注不适用。" + } + ] + }, + "kitchen_cabinets_closed_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器报告 missing_trajectory=1，未提供最终关闭橱柜数量；本作业无视频或状态日志。DAG 描述六柜初始关闭，但不存在可核实的交付终态，故至少4个柜关闭的终值未知；会话内的门状态读数不能替代评分终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": 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"unit": "比例", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 478, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、grader_error=0、agent_records=2、agent_replays=0；log step 185 的交付目录清单没有轨迹文件，log step 241 的脚本试跑在首盘放置检查中报错；日志末尾 log step 478 仍在请求柜门接触姿态的逆解，没有成功保存交付轨迹的结果。推断：缺少可评分轨迹，无法定位交付尝试的物理失败步骤，断点为 unknown，位置为首步前。" + }, + "unmet": { + "plates_in_same_cabinet_1": null, + "plates_in_same_cabinet_2": null, + "plates_in_same_cabinet_3": null, + "plates_in_same_cabinet_4": null, + "plates_in_same_cabinet_5": null, + "plates_in_same_cabinet_6": null, + "plates_in_same_cabinet_7": null, + "plates_in_same_cabinet_8": null, + "kitchen_cabinets_closed_1": null, + "kitchen_cabinets_closed_2": null, + "kitchen_cabinets_closed_3": null, + "kitchen_cabinets_closed_4": null, + "kitchen_cabinets_closed_5": null, + "kitchen_cabinets_closed_6": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 kind=none，inputs/ 仅有运行记录和元数据，无视频及状态日志；评分器明确 missing_trajectory=1，且没有节点结果或 q_score。log step 179 的脚本只在完成全部盘子后保存正式轨迹，log step 185 仅见失败动作记录，log step 241 的放置检查异常后会话继续调试，直到 log step 478 仍未报告交付；run.json 的 wall_s 与 time_limit_s 均为14400。推断：本次缺交付不能提供任何节点的评分终值或视频时间；15个节点全部未知，接触不适用。按缺交付的处理规则，现象和根因留空；会话中的抓盘、放盘、柜门接触及逆解问题不能转作评分尝试的现象，也不能仅凭缺交付推定根因。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1、agent_replays=0），因此无法确认任何评分节点完成，15个节点的终值均为未知。agent 的脚本试跑在首盘抓取或放置阶段报错后继续调试柜门，日志末尾 log step 478 仍在求逆解，未见正式轨迹保存成功；断点记为 unknown／首步前，现象和根因留空。无视频、无状态日志且无节点级评分或 q_score，不能把会话试验进度作为交付轨迹进度。", + "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，评分器 missing_trajectory=1、agent_replays=0；15 个节点全部 unknown、接触不适用、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合缺交付的处理规则（03 文档与 DECISIONS 关于未交付的规定），未发现错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:01Z", + "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-putting-dishes-away-after-cleaning-i00-privileged--rqnfvqf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--rqnfvqf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + 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resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少3个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "plates_in_same_cabinet_4": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、graded_by_live=1，log step 45 服务确认同一在线场景已经结束且 resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少4个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "plates_in_same_cabinet_5": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、graded_by_live=1，log step 45 服务确认同一在线场景已经结束且 resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少5个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "plates_in_same_cabinet_6": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、graded_by_live=1，log step 45 服务确认同一在线场景已经结束且 resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少6个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "plates_in_same_cabinet_7": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、graded_by_live=1，log step 45 服务确认同一在线场景已经结束且 resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少7个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "plates_in_same_cabinet_8": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、graded_by_live=1，log step 45 服务确认同一在线场景已经结束且 resumes=0。DAG记载八盘初始均未入柜，故终态若有任意一个盘子满足入柜关系便需贡献新增目标字面量；零分排除同柜至少8个盘子已离手静止的终态。本判断仅限终态，不推断过程中是否曾抓起或放入盘子；无视频，intervals为null。" + } + ] + }, + "kitchen_cabinets_closed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少1柜关闭；无视频或状态日志，保留未知。" + } + ] + }, + "kitchen_cabinets_closed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少2柜关闭；无视频或状态日志，保留未知。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少3柜关闭；无视频或状态日志，保留未知。" + } + ] + }, + "kitchen_cabinets_closed_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少4柜关闭；无视频或状态日志，保留未知。" + } + ] + }, + "kitchen_cabinets_closed_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少5柜关闭；无视频或状态日志，保留未知。" + } + ] + }, + "kitchen_cabinets_closed_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的服务终止状态只报告跌倒、done=True及control_steps=1594，未报告关闭柜数；评分器也未给出逐柜终态。DAG记载六柜初始关闭，BEHAVIOR的q_score不计仍成立的初始目标，因此reward.q_score=0.0不能判定终态是否至少6柜关闭；无视频或状态日志，保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": 1, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 44, + "where": "探索", + "evidence_zh": "推断：log step 41 的机器人脚本明确要观察柜门面与把手，第一站为墙边柜前；log step 43 执行，log step 44 连续打印倾斜保护警告后在拍摄第一站前返回 DONE early（服务control_steps=1594、仿真53.133 s），log step 45 的服务status确认done=True、reason=\"failure: the robot fell over\"。因此将尚未完成的开柜前场景探索作为断点；log step 46之后才编写的收盘与开关柜策略未在该场景执行。无视频，t保留null。" + }, + "unmet": { + "plates_in_same_cabinet_1": false, + "plates_in_same_cabinet_2": false, + "plates_in_same_cabinet_3": false, + "plates_in_same_cabinet_4": false, + "plates_in_same_cabinet_5": false, + "plates_in_same_cabinet_6": false, + "plates_in_same_cabinet_7": false, + "plates_in_same_cabinet_8": false, + "kitchen_cabinets_closed_1": null, + "kitchen_cabinets_closed_2": null, + "kitchen_cabinets_closed_3": null, + "kitchen_cabinets_closed_4": null, + "kitchen_cabinets_closed_5": null, + "kitchen_cabinets_closed_6": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 45, + "evidence_zh": "观察：log step 45 中基准机器人服务的status返回done=True、reason=\"failure: the robot fell over\"、control_steps=1594、resumes=0，直接确认该在线评分场景因机器人跌倒而终止；log step 44 同时记录机器人脚本的up_z=0.71倾斜警告。服务的step=334是另一计数，不能当作control_steps。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 33 的drive_to在检测到base_up_z<0.85时，仅调用get_obs(seconds=1.0)后继续循环，该保护分支没有提交零底盘命令或恢复姿态动作；log step 41、43 的柜前观察脚本实际使用此控制器，log step 44 连续出现up_z=0.71保护警告并放弃导航，log step 45 服务确认跌倒终止。这支持底盘倾斜反馈保护未能制止或恢复失稳，导致开柜探索中断。" + } + ], + "gap_zh": "观察：inputs/仅有run.json、video.json、meta.json和MANIFEST.json；video.kind=none，无回放视频、状态日志或成功参照视频，日志中的图片仅有引用，未提供图像载荷。所有视频时间及intervals均为null；开柜事件、六个关柜计数和实际接触无法核实，八个入柜节点仅由评分器总分约束终态。log step 45、68 的agent自述将跌倒归因于观察等待持续施加上一底盘命令并顶住柜台，具体命令保持机制及柜台碰撞没有独立观测支持；根因仅依据实际使用的倾斜保护代码与服务跌倒结果判断。" + }, + "summary_zh": "评分器确认本次单一在线场景失败且q_score=0，由此排除八个入柜节点的终态成立；开柜事件与六个关柜计数终态未知。机器人在驶近墙边柜门、准备观察把手的探索阶段失衡，服务于log step 45确认跌倒终止，已执行控制器的倾斜反馈分支没有制动或恢复动作。无视频或状态日志，无法给出节点区间及实际接触，终止后编写的策略不计入本次执行。", + "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；标签只用评分器 q_score=0 与服务 status（done=True，reason=跌倒，control_steps=1594）判定入柜节点终态，开柜与关柜计数保持未知，这些都有依据。断点 cabinet_opened·探索、现象 全身·平衡、根因 控制·反馈控制 与 log step 33、41–45 一致，没有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": "2026-10-30T21:56:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--bjvcbvw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--bjvcbvw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "658bc549cbbd7e961ec25fbddc8e1bc51c5f1a32925506cab00dd3be71f25d0d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--fxegvxy.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--fxegvxy.json new file mode 100644 index 0000000000000000000000000000000000000000..ae96c8875cd990feeaa22c87e06bf73ef61f9e1b --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--fxegvxy.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--fxegvxy", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 51, + "text_zh": "观察：log step 51，会话调试输出记有机器人拉开柜门后的关节读数；inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的受评结果。无视频及状态日志，无法确认“打开橱柜”在受评轨迹中是否成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记 missing_trajectory=1，没有交付的受评轨迹；会话调试接触不计入轨迹接触。" + } + ] + }, + "toaster_in_cabinet": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 135, + "text_zh": "观察：log step 135，会话调试输出记有机器人搬放面包机时的包围盒读数；inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的受评结果。无视频及状态日志，无法确认“面包机入柜”在受评轨迹中是否成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记 missing_trajectory=1，没有交付的受评轨迹；会话调试接触不计入轨迹接触。" + } + ] + }, + "processor_in_cabinet": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：log step 345，日志末尾仍在会话中调试机器人持料理机时的腕部姿态与包围盒偏移；inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的受评结果。无视频及状态日志，无法确认“料理机入柜”在受评轨迹中是否成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记 missing_trajectory=1，没有交付的受评轨迹；会话调试接触不计入轨迹接触。" + } + ] + }, + "press_in_cabinet": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 186, + "text_zh": "观察：log step 186，会话调试输出记有法压壶搬放测试的状态与部分分数；inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的受评结果。无视频及状态日志，无法确认“法压壶入柜”在受评轨迹中是否成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记 missing_trajectory=1，没有交付的受评轨迹；会话调试接触不计入轨迹接触。" + } + ] + }, + "cabinet_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 266, + "text_zh": "观察：log step 266，会话调试输出记有机器人推柜门后的关节读数；inputs/run.json 的评分字段为 missing_trajectory=1，未报告本节点的受评结果。无视频及状态日志，无法确认“关上橱柜”在受评轨迹中是否成立。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记 missing_trajectory=1，没有交付的受评轨迹；会话调试接触不计入轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "ratio", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 345, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0；log step 345 的最后工具调用仍在扫描料理机腕部姿态并打印包围盒偏移，没有最终交付确认。推断：缺少受评轨迹，断点位置记为首步前，无法指定一个物理失败节点。" + }, + "unmet": { + "toaster_in_cabinet": null, + "processor_in_cabinet": null, + "press_in_cabinet": null, + "cabinet_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标记 kind=none，inputs/ 只有运行记录及元数据，无视频、状态日志或成功参考；评分器标记 missing_trajectory=1，没有逐节点判定，也未报告 q_score。log step 130 显示 agent 在会话中恢复自存检查点，log step 273 查询检查点 recording 长度时因值为 None 报错，log step 345 仍在调试；会话数据不能充当受评轨迹。运行 wall_s=7203，预算 time_limit_s=7200，但没有明确的最终停止说明。按无交付规则，五个节点终值及全部时间区间保留未知，接触记不适用，现象与根因留空；不能从交付缺失或预算耗尽反推具体能力原因。" + }, + "summary_zh": "评分器判定失败并标记 missing_trajectory=1，未交付可受评轨迹，五个节点的终值均无法确认。日志末尾 log step 345 仍在调试料理机入柜姿态，不能将会话中的开柜、搬放或关柜测试记为受评进度；断点为 unknown／首步前。没有视频、状态日志及逐节点评分，现象与根因均留空，原生 q_score 未报告。", + "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，评分器标记 missing_trajectory=1、agent_records=0，无受评轨迹；标注为五节点 unknown、接触不适用、断点 unknown/首步前、现象与根因为空并以 gap_zh 说明，符合 03 文档与 CONTACT-8、FAIL-5 的无交付规则，未把会话测试当作受评事实，也未把超时当作现象或根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:01Z", + "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-rearranging-kitchen-furniture-i00-privileged--fxegvxy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--fxegvxy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fbd867c0df1e7a0b4d5e5a918ee24789a860826bee19b1186351afe6377068ca", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--xsu6yvv.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--xsu6yvv.json new file mode 100644 index 0000000000000000000000000000000000000000..9bedaf01788c42ff40817aed99d9e65705d2aabd --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--xsu6yvv.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--xsu6yvv", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 556, + "sim_steps": 556, + "physics_steps": 2224, + "steps": 186, + "elapsed_s": 466.6, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 28, + "text_zh": "观察：log step 25–27 中 agent 的脚本执行首次驶向台面／橱柜操作位置的底盘运动，log step 28 的实时机器人服务报告 control_steps=556、done=true、reason=\"failure: the robot fell over\"；没有报告候选柜 open 状态的服务字段，无视频和状态日志，无法判断开柜事件是否发生。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 27 记录驶向橱柜操作位置的底盘运动；无视频或接触状态日志，无法核实轮地支承及机器人与柜门的实际接触，不据任务典型方案填写抓握。" + } + ] + }, + "toaster_in_cabinet": { + "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、q_score=0.0；DAG 中烤面包机初始位于台面，其进入任一候选柜都是新增目标 literal。若该入柜关系终态成立，最佳候选柜选项至少有一个新增 literal 得分，与零分不符，因此终态为假；此总分不证明过程中从未入柜，无视频，intervals 保持 null。" + } + ] + }, + "processor_in_cabinet": { + "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、q_score=0.0；DAG 中食物料理机初始位于台面，其进入任一候选柜都是新增目标 literal。若该入柜关系终态成立，最佳候选柜选项至少有一个新增 literal 得分，与零分不符，因此终态为假；此总分不证明过程中从未入柜，无视频，intervals 保持 null。" + } + ] + }, + "press_in_cabinet": { + "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、q_score=0.0；DAG 中法压壶初始位于台面，其进入任一候选柜都是新增目标 literal。若该入柜关系终态成立，最佳候选柜选项至少有一个新增 literal 得分，与零分不符，因此终态为假；此总分不证明过程中从未入柜，无视频，intervals 保持 null。" + } + ] + }, + "cabinet_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段没有逐柜 open／closed 终态，inputs/video.json 为 kind=\"none\"，也没有状态日志。DAG 记载两柜初态关闭；保持初始成立的关闭条件不计入 BEHAVIOR 新增目标 q_score，因此 q_score=0.0 不能决定此节点终态，且不能以闲置柜关闭替代所选收纳柜关闭。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "ratio", + "threshold": 1, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 28, + "where": "转场", + "evidence_zh": "推断：log step 25 的 agent 脚本计划先驶近台面，log step 27 实际执行驶向 (6.85, 0.45) 的底盘控制；尚无开柜或搬放操作调用，实时服务随后在 log step 28 报告倒地终止，log step 29 再次提交被 EpisodeOver 拒绝。因此断点归首次开柜所需的接近转场，未能在后续修复；无视频，无法定位翻倒的视频时刻。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 28, + "evidence_zh": "观察：log step 27 的动作提交由机器人服务以 EpisodeOver: failure: the robot fell over 结束；log step 28 的服务 status() 返回 control_steps=556、done=true、reason=\"failure: the robot fell over\"、resumes=0。该单次实时 episode 的服务终止判据直接确认机器人倒地；并非只采用 agent 对倒地的自述。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": null, + "log_step": 27, + "source_zh": "日志", + "evidence_zh": "推断：log step 16 的服务规格说明底盘量为每个控制步应用的位移，频率30 Hz；log step 25–26 的实际运行脚本使用每步平移上限0.04米、偏航上限0.03弧度，批量执行后才重新读取位姿，没有倾斜反馈保护。log step 27 中该脚本读取的目标距离由1.03米降至0.43米、0.18米后又增至0.62米，后续仍提交控制，最终服务判倒地（log step 28）；这些执行记录支持底盘闭环跟踪失稳导致此次失败。缺少逐步姿态和接触记录，不能进一步确认各命令幅值、碰撞或其他动力学因素的具体贡献。" + } + ], + "gap_zh": "观察：inputs/ 只有 MANIFEST.json、meta.json、run.json、video.json；video.kind=\"none\"，无可检查的视频、状态日志或成功参考。全部视频时间及节点区间均为 null，三件电器终态仅由实时评分总分作逻辑约束，柜门开合历史及终态、实际接触和翻倒起点均不可核实；倒地由服务终止字段确认，控制归因依据脚本和会话反馈推断，未验证 agent 后写的较小命令方案。log step 28 的直接 HTTP 查询出现域名解析错误，但此前服务已明确报告倒地终止，不能将此后发生的查询错误当作本次失败的外因。" + }, + "summary_zh": "实时评分 q_score=0.0 约束三件电器入柜节点终态均为假，开柜事件和所选柜关闭状态未知，5个节点中没有可确认终态为真的节点。机器人在首次接近橱柜的转场中倒地，服务于 log step 28 确认 episode 已结束；执行脚本及其反馈支持底盘闭环跟踪失稳的控制归因。无视频和状态日志，无法给出节点时间区间、实际接触或翻倒起点。", + "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；三件电器入柜终态为假由 q_score=0 约束，开柜/关柜 unknown 合理，断点（转场中倒地、归首次开柜）与平衡 + 反馈控制归因均有服务终止字段和脚本执行记录支持，推断与观察标注正确。", + "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": "2026-10-30T21:58:46Z", + "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-rearranging-kitchen-furniture-i00-standard--xsu6yvv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--xsu6yvv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df81ea8eb774577952aefc9deda962e9e2aebaeed358c11df11807affa572a7e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--25qvdvo.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--25qvdvo.json new file mode 100644 index 0000000000000000000000000000000000000000..06afef286d8b1f2f62304ff4ec7b4cdccd46bd86 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--25qvdvo.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-privileged--25qvdvo", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "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": 49, + "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": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘报纸入壁炉’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试的机器人接触不作为评分轨迹的实际接触。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘第1块柴就位’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试的机器人接触不作为评分轨迹的实际接触。" + } + ] + }, + "firewood_positioned_2": { + 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"t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘第1块柴点燃’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试的机器人接触不作为评分轨迹的实际接触。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘第2块柴点燃’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试的机器人接触不作为评分轨迹的实际接触。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘关闭打火机’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试的机器人接触不作为评分轨迹的实际接触。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 314, + "text_zh": "观察：inputs/video.json标明无视频，且无状态日志；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 314记录模型提供商过滤器中断；没有交付评分轨迹或报告‘开启打火机’的交付终态字段，故本节点无法判定。" + } + ], + "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；会话测试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": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 314, + "where": "首步前", + "evidence_zh": "观察：log step 314的最后消息为“This request was blocked by Gemini's filters”；评分记录missing_trajectory=1、agent_records=0、agent_replays=0。log step 307虽输出会话测试success=True，但log step 300的测试脚本从快照恢复，未形成交付评分轨迹；无法指定发生物理失败的DAG步骤。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：输入无视频、无状态日志，也无交付轨迹；评分字段仅报告缺交付，没有各节点终态或q_score。log step 69定义的load_ckpt会先reset再恢复快照，log step 300反复恢复快照测试柴的放置，log step 307的success=True、q_score=1.0属于该会话测试；评分agent_records=0、agent_replays=0，不能把会话成功当作特权模式交付结果。log step 314记录模型提供商过滤器中断，符合CASES.md FAIL-5的外部因素处理：保留目录success=0，不据此归为机器人失败，不标“没尝试”，现象与根因均留空；所有节点终态及视频时间未知。" + }, + "summary_zh": "观察：目录评分success=0且missing_trajectory=1，没有可标注的交付轨迹，7个必需节点的终态均未知。log step 307的会话测试在多次快照恢复后返回success=True，但未录制或重放交付；log step 314随后记录Gemini过滤器中断，按外部因素处理，不指定物理失败步骤或机器人现象、根因。输入无视频和状态日志，无法建立节点时间及实际接触。", + "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、无交付轨迹（missing_trajectory=1，agent_records=0）；log step 307 的会话成功未交付，step 314 为Gemini过滤器中断，符合FAIL-5：节点unknown、断点unknown/首步前、现象与根因为空并有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": "2026-10-30T22:05:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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/dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--b7jenbt.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-privileged--b7jenbt", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 47, + "agent_resets": 13, + "agent_sim_steps": 41766, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.86, + "peak_memory_gb": 9.209, + "peak_processes": 26, + "peak_disk_gb": 26.82, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_disk_gb": 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": { + "newspaper_in_fireplace": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“报纸入壁炉”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "firewood_positioned_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1块柴就位”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "firewood_positioned_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2块柴就位”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "newspaper_on_fire": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“报纸点燃”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "firewood_on_fire_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1块柴点燃”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "firewood_on_fire_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2块柴点燃”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "lighter_off": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“关闭打火机”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + }, + "lighter_on": { + "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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“开启打火机”的节点终值；inputs/video.json 为 kind=none，且无状态日志，无法判定已交付评分尝试中的该节点。" + } + ], + "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，故不把会话测试中的夹爪、底盘或热源交互计作本节点实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 754, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未形成可定位物理步骤的已交付评分轨迹。log step 754–755 中，agent 的完整流程测试因报纸未在壁炉内的断言中止；最后一条自述（log step 876）仍在等待运动学诊断，log step 898 仍在查阅末端朝向定义。这些均属会话证据，不能将测试中的报纸放置失败指定为已交付轨迹断点。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅提供运行日志及元数据，inputs/video.json 为 kind=none，无评分视频、状态日志或成功参考视频；评分器明确报告轨迹缺失，没有逐节点终态或 q_score。log step 692、754–755、792、814 等记录的是 agent 的独立流程及放置测试，未证明任何一次成为已交付评分回合；会话中报纸放置断言失败不能替代评分回合的物理现象。日志结尾没有完成保存、重放或任务完成报告，也未明确记录会话最终停止原因；按无交付规则将现象和根因留空，不从轨迹缺失推定控制、规划或交付操作错误。" + }, + "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1、agent_records=0、agent_replays=0；7个必需节点及1个可选节点均无可确认的评分终态，未能确认任何节点完成。观察：agent 的完整流程测试在报纸入壁炉检查处断言失败（log step 754–755），此后继续诊断，最后自述仍是等待运动学检查（log step 876）。推断：因没有交付轨迹，断点只能记为 unknown／首步前；缺少评分视频、状态日志和逐节点结果，现象与根因留空，会话测试进度不计入评分进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "未交付轨迹（missing_trajectory=1，无视频/状态日志）：所有节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 03 规则与 D23；未发现把会话测试当作评分回合事实的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:27Z", + "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-setting-the-fire-i00-privileged--b7jenbt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-privileged--b7jenbt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f4bb72757b5f51b3a7cf51f619f684399c71b0730d9745314dbecaa36bdf7f02", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--uiqyxj5.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--uiqyxj5.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a6979450647113f573ef5745fa87691c007cc6 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--uiqyxj5.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-privileged--uiqyxj5", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "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": 30, + "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": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 58, + "text_zh": "观察：log step 58 中 agent 重置会话后，工具仅输出报纸恢复桌上初始位置；这不是交付回放的入炉结果。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 118, + "text_zh": "观察：log step 118 的会话测试输出左夹爪持柴并抬升，但没有交付回放的炉内报纸上放置结果。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "firewood_positioned_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 119, + "text_zh": "观察：log step 119 仍是 agent 脚本对候选底盘位置及放柴目标的逆解测试，没有受评两块柴就位的结果字段。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "newspaper_on_fire": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 119, + "text_zh": "观察：日志末尾 log step 119 仍在测试操作可达性，评分记录未报告报纸着火状态。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "firewood_on_fire_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 118, + "text_zh": "观察：log step 118 是 agent 脚本抓取一块柴的会话测试，评分记录未报告任一块柴的着火状态。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 119, + "text_zh": "观察：日志末尾 log step 119 没有受评两块柴着火的服务或评分结果字段。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 36, + "text_zh": "观察：log step 36 的 agent 查询脚本输出打火机初始 toggle value=False；这是会话初态，不能当作未交付回放的最终开关状态。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 119, + "text_zh": "观察：日志末尾 log step 119 的打火机目标逆解测试不报告实际开关切换，评分记录也未报告曾开启。评分器 reward.missing_trajectory=1，且无视频、无状态日志，无法判定本节点的受评状态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；未交付轨迹，机器人会话测试中的作用端与对象接触不计入受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 119, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 118 是重置后的单块柴抓取测试，log step 119 是候选位姿逆解测试，未出现轨迹保存结果。没有交付的受评回合，无法定位物理失败节点，位置记为首步前。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，没有视频或状态日志，评分器明确报告缺少交付轨迹，亦未报告逐节点终值及 q_score。log step 118 的抓取输出和 log step 119 的逆解测试仅属会话证据，不能认定受评进度或接触；打火机会话初始关闭也不能替代受评终态。观察：run.wall_s=7224、time_limit_s=7200，最后 log step 119 的 agent 时钟为6964.7秒且仍在测试，没有最终完成报告。推断：会话在预算末段结束且没有留下交付物；缺少明确终止消息及可供分析的受评动作，不把预算耗尽当作现象或根因，也不从缺交付反推控制、规划或保存操作出错，故两层留空。" + }, + "summary_zh": "观察：评分器因缺少交付轨迹记录 success=0，录制与重放次数均为0；7个必需节点和1个可选节点的受评终值均未知，不能将会话抓柴测试计入进度。观察：最后 log step 119 仍为 agent 的逆解测试，断点记 unknown／首步前；没有视频、状态日志或逐节点评分结果，无法确定受评物理失败现象及根因。", + "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、无状态日志；评分器 missing_trajectory=1、agent_records=0、agent_replays=0，未交付任何轨迹。文件把所有节点记为 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 03 的“未交付（agent 侧原因）”规则（D23），预算耗尽未被当作现象或根因，会话测试未被当作受评事实。", + "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": "2026-10-30T22:04:15Z", + "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-setting-the-fire-i00-privileged--uiqyxj5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-privileged--uiqyxj5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37d5c969acef49c5591b5fabf0cc748eb417ac3839e93f737ca28e5610e34719", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--mx3mwim.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--mx3mwim.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3dd84ba14609baab5d90d3bc27eb17d7089090 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--mx3mwim.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-standard--mx3mwim", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "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": 1229, + "sim_steps": 1229, + "physics_steps": 4916, + "steps": 410, + "elapsed_s": 747.9, + "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": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：log step 29说明机器人将靠近壁炉查看，log step 31的脚本先驱动底盘至壁炉观察位；log step 32在该驱动过程中收到服务的翻倒终止结果，未运行后续观察流程。无视频、状态日志或服务的报纸入炉判定，不能确认此非评分目标事件的完成值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 31-32记录了为查看壁炉而执行的底盘驱动；没有视频或接触状态日志，无法核实轮子支撑及夹爪与报纸的实际接触，不以计划补填。" + } + ] + }, + "firewood_positioned_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "推断：inputs/run.json的最终评分字段q_score=0.0、graded_by_live=1；task/task_dag.json记载初始仅打火机关闭目标成立，至少1块柴同时在壁炉内且在报纸上包含初始未满足的评分字面量。按BEHAVIOR总分对新增目标字面量的约束，该节点末态为假；这不证明其历史上从未成立或从未尝试。log step 33的服务状态确认同一现场回合已因翻倒终止，无视频可定位区间。" + } + ] + }, + "firewood_positioned_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "推断：inputs/run.json的最终评分字段q_score=0.0、graded_by_live=1；task/task_dag.json记载初始仅打火机关闭目标成立，至少2块柴同时在壁炉内且在报纸上包含初始未满足的评分字面量。按BEHAVIOR总分对新增目标字面量的约束，该节点末态为假；这不证明其历史上从未成立或从未尝试。log step 33的服务状态确认同一现场回合已因翻倒终止，无视频可定位区间。" + } + ] + }, + "newspaper_on_fire": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "推断：inputs/run.json的最终评分字段q_score=0.0、graded_by_live=1；task/task_dag.json记载初始仅打火机关闭目标成立，报纸着火包含初始未满足的评分字面量。按BEHAVIOR总分对新增目标字面量的约束，该节点末态为假；这不证明其历史上从未成立或从未尝试。log step 33的服务状态确认同一现场回合已因翻倒终止，无视频可定位区间。" + } + ] + }, + "firewood_on_fire_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "推断：inputs/run.json的最终评分字段q_score=0.0、graded_by_live=1；task/task_dag.json记载初始仅打火机关闭目标成立，至少1块柴着火包含初始未满足的评分字面量。按BEHAVIOR总分对新增目标字面量的约束，该节点末态为假；这不证明其历史上从未成立或从未尝试。log step 33的服务状态确认同一现场回合已因翻倒终止，无视频可定位区间。" + } + ] + }, + "firewood_on_fire_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "推断：inputs/run.json的最终评分字段q_score=0.0、graded_by_live=1；task/task_dag.json记载初始仅打火机关闭目标成立，至少2块柴着火包含初始未满足的评分字面量。按BEHAVIOR总分对新增目标字面量的约束，该节点末态为假；这不证明其历史上从未成立或从未尝试。log step 33的服务状态确认同一现场回合已因翻倒终止，无视频可定位区间。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "观察：评分记录只有聚合q_score=0.0及整体失败，log step 33的服务末态没有报告打火机开关。DAG记载打火机初始关闭，该初始成立字面量不计入新增进度总分；因此总分不能判定其末态仍关闭，无视频或状态日志可补证，末态未知。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 34在服务已结束后才写入包含开启打火机的方案脚本，log step 35只做语法检查；未提供此可选事件的服务判定、视频或状态日志，不能据未执行脚本确认开启事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "newspaper_in_fireplace", + "t": null, + "log_step": 32, + "where": "探索", + "evidence_zh": "推断：log step 29声明靠近壁炉近看，log step 31-32的机器人脚本在执行壁炉观察位接近时即终止，尚未搬运报纸；将此生火准备阶段的探索失败归于首个文本步骤“报纸入壁炉”。观察：log step 32的服务返回“failure: the robot fell over”，log step 33再次报告done=True、control_steps=1229、resumes=0；该现场回合就是评分对象。没有视频，断点视频时刻为null。" + }, + "unmet": { + "firewood_positioned_1": false, + "firewood_positioned_2": false, + "newspaper_on_fire": false, + "firewood_on_fire_1": false, + "firewood_on_fire_2": false, + "lighter_off": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 32, + "evidence_zh": "观察：log step 32在机器人执行底盘驱动时，由机器人服务返回EpisodeOver: failure: the robot fell over；log step 33通过服务状态接口复核done=True、reason为同一翻倒原因、control_steps=1229。这是现场回合的服务判定，不是agent自行宣称的翻倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 29的已执行驱动器仅按平面位置和偏航反馈控制底盘，用头部深度图固定区域d[110:210,70:155]的百分位数作接近门限，缺深度时放行；循环没有倾斜监测或倾斜后停止分支，每批持续提交30行、dt=0.1的驱动命令。log step 30启用深度回传却没有补充姿态保护，log step 32的平面距离从0.11增至0.28再至0.73且偏航误差增大，脚本继续驱动直至服务以翻倒终止，支持反馈保护不足导致失稳未被中止；具体碰撞对象未获独立证实。" + } + ], + "gap_zh": "无视频（inputs/video.json.kind=none），inputs/亦无状态日志或可解码的日志图片文件；run.json中的pics只有字节索引。所有视频时刻和区间均留null；报纸入炉、打火机关闭末态及可选开启事件缺少服务逐节点结果，均未知，五个新增评分节点仅由q_score总分约束判末态为假。探索归于报纸入炉是结合文本首步与壁炉接近脚本的推断；缺乏画面无法独立核实实际接触、翻倒起点及碰撞对象。agent在log step 34、36自述撞上壁炉凸缘，该具体解释待核实，故不增加被挡/碰撞现象。log step 34-35的事后脚本仅保存并编译，不属于已执行的评分回合。" + }, + "summary_zh": "本次按单个现场回合评分，q_score=0.0；七个必需节点中五个新增评分节点末态可推断为假，报纸入壁炉与打火机关闭末态未知，无法重建历史进度。机器人靠近壁炉观察时翻倒，服务在log step 32-33确认终止，断点推断归于报纸入壁炉的探索阶段，驱动代码支持反馈保护不足这一根因。无视频或状态日志，接触及精确时刻不可核实，回合结束后保存的方案脚本不计进展。", + "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；标签仅依据log与q_score：五个评分节点由q_score=0推断为假、报纸入炉与打火机关闭末态为unknown、断点归于报纸入壁炉（探索）、现象为平衡（服务判定翻倒）、根因反馈控制（驱动脚本无倾斜保护）。均有log支持且标为推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:10:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--mx3mwim/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--mx3mwim/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5600a365ebb5c64802dd6d16078ac599f885cb2b44b0cbeb35f6c0536320052d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--nqsyjxd.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--nqsyjxd.json new file mode 100644 index 0000000000000000000000000000000000000000..ca42992df20de23968ad6a20c372a8a7aade7624 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--nqsyjxd.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-standard--nqsyjxd", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.375, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 18277, + "sim_steps": 18427, + "physics_steps": 73708, + "steps": 10116, + "elapsed_s": 6704.3, + "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": 0.375, + "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": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 208, + "text_zh": "观察：agent脚本在log step 193闭合左夹爪并执行抬升，在log step 196、200执行向壁炉搬运的底盘及机械臂命令，在log step 208张开左夹爪；agent自述“报纸已放入壁炉”（log step 211）。没有视频或状态日志，也没有服务对报纸Inside关系的判定，无法确认报纸实际随手移动及入炉释放。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 137、153、165记录双手配合尝试夹纸，log step 193、196记录左夹爪闭合及搬运命令；缺少影像和接触状态，不能据命令确认夹爪与报纸的实际接触。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 268, + "text_zh": "观察：agent脚本在log step 221尝试夹起一块柴，log step 224执行搬运，log step 268执行release_log1；agent自述第一块柴已放好（log step 271）。评分器只报告q_score=0.375，未逐项报告inside或ontop，且无视频、状态日志；不能确认至少一块柴已释放静止并同时在炉内、报纸上。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 221、224、268记录左夹爪取柴、底盘搬运及释放命令；没有影像或接触对，实际握持及接触方式未知。" + } + ] + }, + "firewood_positioned_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json的reward.q_score=0.375；按本轮BEHAVIOR总分规则及DAG的8个目标字面量，终态至多有3个计分字面量成立。两块柴同时就位至少需要各自inside和ontop共4个字面量，故本节点终态为false；初始已成立的打火机关闭不计入新增得分，也不能补足这4项。无视频，不能判定曾否短暂达成、何时失去或具体哪块柴的哪条关系失败。" + }, + { + "t": null, + "log_step": 287, + "text_zh": "观察：agent脚本在log step 277尝试抓第二块柴，log step 280、284执行搬运及炉内目标运动，log step 287执行release_log2；agent自述“两块柴都在炉内报纸上”（log step 291）没有逐物体服务判定支持，不能覆盖总分给出的终态上界。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 277、280、284、287记录左夹爪取第二块柴、搬运和释放命令；无影像及接触日志，不能确认夹爪实际夹住柴或柴接触报纸。" + } + ] + }, + "newspaper_on_fire": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 433, + "text_zh": "观察：log step 430中agent声称要按打火机并将火焰靠近报纸和柴；log step 432的脚本尝试移近热源后等待，log step 433输出fixed failed 0.12232040907968722，随后服务仍为done=false。log step 437又提交靠近燃料并等待的代码，但未见燃烧状态回报；没有报纸on_fire的服务字段或影像，终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 432、437是agent脚本以左手持热源姿态靠近燃料的尝试；无视频及接触、热状态日志，实际热源与报纸的交互未知。" + } + ] + }, + "firewood_on_fire_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：agent在log step 430把两块柴列为引燃目标，log step 432、437的脚本尝试移近热源并等待；服务和评分器未报告任一块柴的on_fire字段。总分0.375不能确定其中是否包含柴的燃烧字面量，无视频或状态日志可核对，至少一块柴着火的终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 430、432、437记录agent试图靠近燃料加热；没有影像、热状态或接触对，不能确认热源是否实际作用于柴。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 437, + "text_zh": "观察：agent在log step 430声称要引燃两块柴，log step 437提交移近热源并等待的脚本；没有两块柴各自的燃烧状态回报。总分0.375允许但不证明两个on_fire字面量成立，且无视频或状态日志，不能确认两块柴同时燃烧。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 430、432、437记录针对报纸和两块柴的加热尝试；缺少影像、热状态和接触对，第二块柴实际受到的交互未知。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 435, + "text_zh": "观察：DAG指出打火机初始为关闭；本次日志末段的log step 429、434是开启按钮尝试，log step 435中agent自述首次按压被另一只手挡住，未见随后明确执行关闭的记录。服务没有报告最终toggled_on，且没有视频或状态日志；初始关闭不能推出终态仍关闭，总分也不能单独决定这一字面量。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 434, + "text_zh": "观察：agent脚本在log step 429命令右手靠近其估计的打火机按钮，log step 434翻转左手姿态并再次命令右手按压；log step 435中agent自述首次按压被另一只手挡住。没有toggled_on服务回报或可见火焰证据，不能确认开启动作完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 429、434的代码旨在左手持打火机、右手触压按钮；缺少影像和接触日志，不能把这一意图标成已发生的双臂抓握或压擦。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.375, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 287, + "where": "未知", + "evidence_zh": "推断：评分器reward.q_score=0.375排除了两块柴终态同时就位；log step 268、287分别记录两次释放命令，此后agent转向找打火机、按按钮和加热（log step 291至437），没有继续修正摆柴的命令。由于缺少视频和逐项状态，无法区分报纸入炉、第一块柴就位或第二块柴就位中哪一步最早失败且未修复，也不能把末段按钮尝试当作最早断点，故ref与where保留未知；log step 287仅为第二次摆柴尝试的日志入口。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": false, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "已核对inputs/仅含MANIFEST.json、meta.json、run.json和video.json；video.kind=none，无回放视频、成功参考视频或状态日志。所有视频时刻及intervals均为null；除总分能排除两块柴同时就位外，日志中的深度计算、夹爪开度、搬运完成和点火叙述不能代替节点判定。缺少逐物体inside、ontop、on_fire、toggled_on及实际接触记录，不能定位最早未修复步骤，也不能区分摆放偏差、漏抓、掉落或按钮未触发等物理现象；现象层留空。log step 433的逆解拒绝、log step 435的agent自述及log step 440的末端坐标只能提示末段操作困难，不能证明它们导致更早的摆柴失败，根因层也留空。评分器记录graded_by_live=1、resumes=0、infra_error=0、sim_error=0，存在已执行的现场回合；不将启动等待或预算用尽标为失败原因。" + }, + "summary_zh": "评分器判本次现场回合失败，q_score=0.375；按8个目标字面量的总分上界，两块柴终态同时就位不成立，其他6个必需节点及可选开机节点的终态无法确定。日志记录了agent尝试搬报纸、摆两块柴，随后找打火机并按压、加热，但这些命令和agent自述不能证明物理结果。没有视频、状态日志或逐目标服务判定，无法确定最早未修复断点及其现象、根因；未知节点不表示从未尝试或进度为零。", + "conf": 4, + "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，仅有评分器q_score=0.375。标注只在总分能排除时给 firewood_positioned_2 final=false（需4个新字面量，3个上界不够），其余节点保持 unknown 并写明原因，断点 unknown、现象/根因层留空并带 gap_zh，均符合 N9 和无证据不下结论的规则；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-setting-the-fire-i00-standard--nqsyjxd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--nqsyjxd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ab9159b70f2f3ed9172ddf9327800e76eb15f992c2c7da55d4bff31741d05704", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--qy2s9uk.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--qy2s9uk.json new file mode 100644 index 0000000000000000000000000000000000000000..ecbaa0c1d001851ba5f39787e8aa89ae2baf3630 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--qy2s9uk.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-standard--qy2s9uk", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 5766, + "sim_steps": 5916, + "physics_steps": 23664, + "steps": 1437, + "elapsed_s": 6686.9, + "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": 0.5, + "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": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：log step 123、194、247 记录 agent 脚本启动报纸入炉动作，log step 254–256 又尝试推平报纸；log step 250 的位置范围来自 agent 自己筛选深度点，并非服务的 Inside 判定。没有视频、状态日志或节点验收字段，不能确认报纸实际入炉并放下。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 123、247、255 的脚本针对左夹爪与报纸执行搬运、放开及推平；无画面或接触对记录，实际作用端接触方式未知。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 299, + "text_zh": "观察：log step 270、274 记录 agent 脚本启动对其称为 Firewood #2 的柴的抓取和搬运，log step 284、288、295 又启动推移、翻滚和重放置；log step 299 只有 agent 自行处理的夹爪轨迹与深度点。没有服务的 inside、ontop、释放及静止验收结果，不能确认至少1块柴就位。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 270–299 的脚本围绕左夹爪搬运及调整一块柴；缺少实际接触记录，不能确认抓握、推移等接触是否成立。" + } + ] + }, + "firewood_positioned_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 315, + "text_zh": "观察：log step 315 启动针对另一块柴（agent 称 Firewood #1）的抓取脚本，log step 316 自述计划提起；log step 319–327 是摆放路径的 IK/FK 检查，未记录该摆放动作的执行和验收。节点按合格数量计而非脚本实例编号；无视频或服务的最终逐柴关系字段，最终数量未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 315 的脚本命令左夹爪下降、闭合及抬升另一块柴；没有画面或接触状态确认夹爪是否实际夹住该柴，实际接触未知。" + } + ] + }, + "newspaper_on_fire": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 87, + "text_zh": "观察：log step 86 启动点报纸脚本，log step 87 agent 自述将报纸放在已开启的打火机上方加热；log step 104 等后续自述称报纸在燃烧。日志未返回报纸自身的 on_fire 字段，且没有可检查的图像，不能据自述确认报纸已燃烧或末态仍燃烧。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 86–87 的脚本拟用左夹爪将报纸移到打火机热源附近；无视频或接触日志，机器人实际接触及热源作用情况未知。" + } + ] + }, + "firewood_on_fire_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 296, + "text_zh": "观察：log step 275、296 agent 自述将一块柴放到其称为燃烧的报纸上；未记录任何柴的原生 on_fire 或服务燃烧数量结果。放置意图不能证明引燃，无视频与状态日志，至少1块柴燃烧的终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 274、295 的脚本尝试将一块柴放到报纸上以便传热；无画面或接触状态，不能确认机器人、柴与热源之间实际发生的交互。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 315, + "text_zh": "观察：log step 315–327 记录另一块柴的抓取脚本及后续摆放 IK 检查，未返回两块柴的燃烧状态。评分记录只有聚合 q_score=0.5，不能唯一分配给燃烧与空间关系字面量，不能据此判定两块柴是否都燃烧。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 315–327 只有另一块柴的抓取安排与摆放计算；没有画面、接触对或热源状态，不能确认第二块柴引燃阶段是否实际发生交互。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 104, + "text_zh": "观察：log step 103 启动关闭打火机脚本，log step 104 agent 自述将右夹爪末端触及按钮以关闭；后续未记录服务的 toggled_on 或最终开关验收。DAG 说明初始关闭，但不能把初态或关机命令当成末态；无视频和状态日志，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 103–104 的脚本拟由右夹爪手指触压打火机按钮；无画面或按钮接触状态，实际接触方式未知。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的 agent 脚本输出“Done toggle_lighter_on!”；这是脚本结束提示，并非服务返回的 toggled_on=true。无视频、状态日志或开关结果字段，不能确认开启事件发生。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 46 启动左夹爪触发打火机的脚本；没有画面或接触对记录，实际触压是否成立未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 315, + "where": "未知", + "evidence_zh": "观察：评分记录 success=0、live_success=0、q_score=0.5、graded_by_live=1，且 sim_startups=1、resumes=0，所评为单次现场回合。log step 315 是日志最后一次启动的实体动作脚本（抓取另一块柴），log step 319–327 只有摆放路径计算；此前报纸入炉及第一块柴就位亦无逐节点验收。推断：无法区分更早未修复的步骤与末段未完成的步骤，不能唯一指定首个未修复断点或其物理阶段；log step 315 仅作末段动作的日志导航。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json；video.json 标记 kind=none（远端视频404且无本地视频），没有状态日志，run.json 的所有 out.pics 均为空。日志中的看图调用仅保留文字占位，无法检查图像；夹爪开度、深度点统计及 IK 检查均为 agent 自行处理的会话证据，不是节点验收字段。评分只给聚合 q_score=0.5，没有逐目标字面量、接触、燃烧、释放静止状态，因此所有节点终值及视频时间区间保留未知；该总分也未唯一决定任何单节点真值。推断：报纸操作和柴的调整中出现的会话调试问题，不能证明它们是最终首个未修复故障；缺少断点上的可见结果及其因果证据，现象与根因均留空。run.json 的 wall_s=7203、time_limit_s=7200 只说明预算背景，不作为失败现象或根因。" + }, + "summary_zh": "观察：本次单次现场回合评分失败，q_score=0.5；日志记录了打火机开关操作、报纸加热及多次入炉尝试、一块柴的搬运调整，末段启动另一块柴的抓取后继续计算摆放路径（log step 46–327）。推断：缺少视频、状态日志及服务逐节点结果，无法确认7个必需节点中任何节点的终值，也无法唯一定位首个未修复断点；物理现象与根因均留空，不能将聚合分数或 agent 的燃烧、放置自述换算为已完成节点。", + "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，仅有聚合 q_score=0.5，标注者把所有节点、断点、现象、根因保留为未知并给出 gap_zh，符合 N9 与证据规则；未发现可由评分字段唯一决定的节点值被遗漏。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:53Z", + "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-setting-the-fire-i00-standard--qy2s9uk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--qy2s9uk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "08b0b5a5ca5ca529403bae538ca5ea57844cc4fa98dab676bc457fbc7cff4350", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--xfqfr6w.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--xfqfr6w.json new file mode 100644 index 0000000000000000000000000000000000000000..2740a5b51c693b296b1aa0d6bab02fcfe38615f6 --- /dev/null +++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--xfqfr6w.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-standard--xfqfr6w", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.625, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 29616, + "sim_steps": 29766, + "physics_steps": 119064, + "steps": 10872, + "elapsed_s": 6498.2, + "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": 0.625, + "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": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 172, + "text_zh": "观察：log step 170、172 记录机器人左臂伸向炉口后张开夹爪；agent 在 log step 176 自述“报纸已在炉内但倾斜”。本目录没有视频或状态日志，服务端未报告报纸的 Inside 关系；这些指令与自述不能确认报纸确已入炉，终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 116–172 包含双臂夹挤、左爪闭合、底盘搬运及炉口松爪的指令；缺少画面和接触对，无法确认夹爪与报纸的实际接触方式。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 185, + "text_zh": "观察：log step 181–185 记录机器人闭合夹爪、驶向壁炉及打开左爪的操作；log step 292 中 agent 自述两块柴在报纸上，并承认没有核查原生 ontop 判据。没有视频、状态日志或逐物体 inside/ontop 服务结果，不能确认至少1块柴就位。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 181–185 有夹爪闭合及搬运、释放指令；缺少柴的可见运动和接触对，实际夹爪与柴接触未知。" + } + ] + }, + "firewood_positioned_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 188, + "text_zh": "观察：log step 187–188 记录机器人驶向炉口并打开右爪；agent 在 log step 292 仅以自己的画面判断声称两块柴在报纸上。评分器只给 q_score=0.625，未分解到 inside/ontop 字面量；没有视频或状态日志，不能确认2块柴均就位。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 182、184、187–188 有双臂及底盘搬运、依次松爪指令；无视频或接触对，不能判定实际抓握或协作接触。" + } + ] + }, + "newspaper_on_fire": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 266, + "text_zh": "观察：log step 264、266 记录机器人将右臂末端移向炉内并等待；agent 在 log step 266 自述腕部画面发黄，在 log step 292 又明确表示未确认报纸何时着火。没有视频、温度或原生 on_fire 服务结果，报纸燃烧终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 264、266 的指令意图是持打火机靠近炉内燃料；没有画面或接触对，不能确认打火机与报纸是否接触，也不能按典型热源方案补记实际接触。" + } + ] + }, + "firewood_on_fire_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 266, + "text_zh": "观察：agent 在 log step 292 自述炉内燃烧明显，但承认不能从图像确定两块柴是否被判为 on_fire；log step 264、266 只有末端位姿与等待操作记录。没有视频或逐块柴的原生燃烧结果，至少1块柴着火的终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 264、266 的操作意图包括用打火机加热炉内燃料；缺少画面及接触对，实际作用链与接触方式未知。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 266, + "text_zh": "观察：log step 292 中 agent 明确称不能确定两块柴是否都算着火；评分器 reward.q_score=0.625 仅是聚合值，未给逐块柴的 on_fire 状态。无视频或状态日志，不能判定2块柴均着火。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 264、266 有靠近炉内燃料和等待指令；没有画面或接触对，不能确认对第2块柴的实际作用方式。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 290, + "text_zh": "观察：log step 271、276、278、284、288、290 记录机器人尝试从侧面接近打火机按钮并开合夹爪；agent 在 log step 292 自述打火机仍亮着。服务端没有返回 toggled_on 终态，agent 的颜色统计与自述不能替代节点结果；无视频或状态日志，关闭状态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 271–290 包含右爪及左爪的侧向接近、开合和底盘换位指令；无画面或按钮接触记录，不能区分压到按钮、碰到外壳或未接触，实际接触未知。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 254, + "text_zh": "观察：log step 254 记录机器人左爪侧向接近及闭合，agent 自己的图像脚本输出 red 0、green-bright 221；agent 在 log step 292 自述此后打火机开启。没有视频或服务端 toggled_on 结果，颜色统计及自述不足以确认开启事件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 197–254 多次发送双臂接近、夹爪开合及侧向接近指令以尝试开启打火机；没有画面与接触对，按钮与手指是否实际触压未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": 0.625 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "未知", + "evidence_zh": "推断：inputs/run.json 的 reward.q_score=0.625=5/8；task/task_dag.json 列出8个目标字面量，lighter_off 的初始条件已成立。按 docs/03_trajectory.md:182–189 与 CASES.md PROG-10，初始已成立的关闭条件即使保持或恢复也不增加分数，故其余7个目标字面量中至多5个成立、至少2个不成立。firewood_positioned_2 需要两块柴各自的 inside 与 ontop 共4个字面量，firewood_on_fire_2 另需2个 on_fire 字面量，二者同时为真需6个，大于5，故至少一个终态未满足；lighter_off 之外必有未满足节点。观察：这是单次现场评分（reward.graded_by_live=1、resumes=0、sim_total.reset=0），log step 268 记录放下打火机的指令，log step 271–290 记录关机尝试，agent 在 log step 292 自述关机失败，但没有逐项服务终态、视频或状态日志。推断：最早未修复步骤未定，不能排除 firewood_positioned_2 或 firewood_on_fire_2 更早；依 docs/03_trajectory.md Step 3.1 将 ref 改为 unknown，不再把末段关机尝试定为最早断点，时刻、日志锚点和失败位置均留未知。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，没有可检查的视频、逐帧状态日志或成功参考视频，日志中的 [picture] 仅为图片占位及字节索引，本目录没有对应图片数据。评分器给出 success=0、q_score=0.625，未给逐项 inside、ontop、on_fire、toggled_on。推断：按 docs/03_trajectory.md:182–189、CASES.md PROG-10 及 DAG 中 lighter_off 初始已成立的判据，q_score=5/8 且 lighter_off 不增加分数，故其余7个字面量至少2个不成立。firewood_positioned_2 与 firewood_on_fire_2 同时成立需4+2=6个计分字面量，超过5，二者不可能同时为真，lighter_off 之外必有未满足节点。这是终态的联合约束，不能据此判定二者中具体哪个为假，也不能换算成已完成节点数；各单节点 final 仍为 null，failure.unmet 按规则留给 runner。观察：没有可用视频、状态日志或逐项服务结果，各节点区间和实际接触无法核验。推断：最早未修复步骤未定，不能排除摆柴或点燃步骤早于关机失败；断点 ref 改为 unknown。观察：没有足够直接证据区分按钮未接触、接触未触发、位姿误差或其他原因，现象和根因留空。agent 在 log step 292 自述“时间用完”，但 run.wall_s=6991 小于 time_limit_s=7200，且 log step 290 服务端仍报告 time_left_s=743.0；不能据其自述认定停止原因为预算耗尽。" + }, + "summary_zh": "观察：单次现场评分失败（success=0、q_score=0.625），日志记录了报纸搬运、摆柴、点火及关机尝试，但没有视频、状态日志或逐节点服务终态。推断：q_score=5/8，且初始已成立的 lighter_off 不计分，其余7个目标字面量至少2个不成立；firewood_positioned_2 与 firewood_on_fire_2 同时成立需6个计分字面量，因此至少一个未满足，不能只以关机失败定位断点。最早未修复步骤无法确定，breakpoint.ref 改为 unknown；总分未决定任何单节点的具体真假，8个节点（7个计入进度）的终态仍留未知，现象和根因因证据不足留空。置信度由4降至3：联合约束可靠，但缺少证据区分更早的摆柴、点燃失败与末段关机问题。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频，各节点 unknown/null 与 N9 一致，未发现把 agent 自述当节点值的做法。但文件漏用了评分总额的逻辑约束：q_score=0.625=5/8，lighter_off 即使为真也不计分，故 7 个其余目标字面量中至多 5 个成立、至少 2 个不成立；这使断点 lighter_off 无法成立为“最早未修复步骤”，且 firewood_positioned_2 与 firewood_on_fire_2 不可能同时为真。", + "n_issues": 1, + "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；q_score=5/8 的联合约束推断正确（柴就位2与柴点燃2不可能同时为真），断点 unknown、各节点 null、现象与根因留空且有 gap_zh，均符合 N9/PROG-10。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": "2026-10-30T22:11:54Z", + "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-setting-the-fire-i00-standard--xfqfr6w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--xfqfr6w/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--xfqfr6w/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--xfqfr6w/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "908fdd1cb3e86efff93b1b0d44355a7468b0598b49f308a9098656c9e67fb48e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--cegsso4.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--cegsso4.json new file mode 100644 index 0000000000000000000000000000000000000000..d370342685781e44d6b3c7678f2f6f89da54cff1 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--cegsso4.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--cegsso4", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 24, + "agent_resets": 0, + "agent_sim_steps": 10729, + "agent_records": 14, + "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": 10, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“打开橱柜”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，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": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“打开冰箱”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "plates_on_table_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第1个盘上桌”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "plates_on_table_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第2个盘上桌”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第1个蛋糕上盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第2个蛋糕上盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第1把叉邻盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第2把叉邻盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第1把刀邻盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“第2把刀邻盘”的节点结果；log step 505 显示指定交付文件不存在，只有候选文件。inputs/video.json 标为 none，且无状态日志；会话测试不用于判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无已交付的评分轨迹，故本节点的轨迹级接触不适用。" + } + ] + } + }, + "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": 505, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0。log step 505 显示 agent 的脚本只保存候选文件 candidate.npz，指定交付文件 trajectory.npz 不存在；log step 533 的后续测试仍只保存候选文件，log step 577 以等待运行程序输出结束。没有已交付的评分轨迹，无法定位其中失败的物理步骤。" + }, + "unmet": { + "plates_on_table_1": null, + "plates_on_table_2": null, + "cupcakes_on_plates_1": null, + "cupcakes_on_plates_2": null, + "forks_next_to_plates_1": null, + "forks_next_to_plates_2": null, + "knives_next_to_plates_1": null, + "knives_next_to_plates_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 与 MANIFEST.json，无视频、状态日志或成功参考视频；评分器报告缺少交付轨迹，未提供节点终值或 q_score。log step 378、379 的开柜与抓盘反馈、log step 498、533 的逆解失败均来自会话测试，不能当作评分轨迹的进度、接触或失败现象。log step 535 中 agent 脚本仅在 status.success 为真时写指定交付文件，否则写候选文件；最后一次重试到 log step 577 未见保存或最终状态输出。推断：run.wall_s=14402 与 time_limit_s=14400 表明会话到达墙钟预算附近，但这不构成物理失败原因；按 DECISIONS.md D23 无交付规则，现象与根因均留空，不从会话抓取或逆解测试外推评分尝试。" + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1，没有已交付的评分轨迹，10个节点终值均未知，不能认定完成0步或某次开柜已达成。观察：log step 505、533 显示 agent 多次测试仅保存候选文件，日志最终在 log step 577 等待重试输出时结束；断点标为 unknown／首步前，按无交付规则不赋失败现象或根因。观察：无视频、状态日志及评分节点结果，无法重建评分轨迹中的物理进度和接触。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付轨迹（missing_trajectory=1）、无视频与状态日志；节点全部 unknown、现象与根因留空并写明 gap_zh，符合 D23(a)；会话测试未被当作评分轨迹事实，日志步号均存在。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:00Z", + "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-setting-the-table-i00-privileged--cegsso4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--cegsso4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "33a7ce9f23cad1523dae2c425c01d20c33bdec7425a8bf93406e276e2bcf46cb", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--pmjx2zt.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--pmjx2zt.json new file mode 100644 index 0000000000000000000000000000000000000000..ca205711b48361bf5781ab90e3ec4e9468c82120 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--pmjx2zt.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--pmjx2zt", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 10, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“打开橱柜”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“打开冰箱”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "plates_on_table_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个盘上桌”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "plates_on_table_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个盘上桌”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个蛋糕上盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个蛋糕上盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1把叉邻盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2把叉邻盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1把刀邻盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 325, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2把刀邻盘”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。log step 325 中 agent 自编检查点检查输出的录制长度全部为 None；会话内动作和自行检查不能确定此节点的受评终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；无受评轨迹可标注此步骤的实际作用端和对象接触，不将会话内测试接触计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 325, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 的 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 324 保存检查点时输出 recording len=None，log step 325 列出的全部检查点均为 rec_len=None。log step 353 仍在启动会话内第二组餐具搬运测试，log step 358 最后执行的是冰箱关节与障碍查询，没有交付或回放验证结果；无法定位受评物理步骤的失败断点，按未交付轨迹记为 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json 和 video.json；无视频、状态日志或受评回放轨迹，reward 未提供 q_score 或任何节点终值。log step 6 的 agent 自编 save_ckpt/load_ckpt 保存和恢复会话快照，log step 325 检查显示全部已有检查点的 recording 为 None；这些是会话证据，不能将其间开柜、抓盘或摆餐具的测试计作受评进度，也不能仅凭 success=0 将十个节点判假。运行 wall_s=7246、time_limit_s=7200，最后一条操作为 log step 358 的冰箱查询，未出现最终完成报告；记录未显示提供商过滤或终止会话的 API／网络／框架错误，评分器 infra_error=0。推断：缺交付发生于会话预算结束附近，但没有可标注的受评物理尝试；遵循 DECISIONS.md D23，现象及根因均留空，不把预算耗尽当作原因，也不从录制缺失直接推定能力根因。", + "unmet": { + "plates_on_table_1": null, + "plates_on_table_2": null, + "cupcakes_on_plates_1": null, + "cupcakes_on_plates_2": null, + "forks_next_to_plates_1": null, + "forks_next_to_plates_2": null, + "knives_next_to_plates_1": null, + "knives_next_to_plates_2": null + } + }, + "summary_zh": "评分器判失败并报告未交付轨迹（missing_trajectory=1）；十个 DAG 节点均无可确认的受评终值，实际接触均为不适用。日志含开柜、盘子和餐具的会话测试，log step 325 显示全部已有检查点录制长度为 None，log step 358 结束于冰箱查询；无受评物理断点可定位，记 unknown／首步前，现象与根因依无交付规则留空。未提供视频或状态日志，评分器也未给出节点结果或 q_score，无法确认受评进度及物理失败机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付轨迹、无视频、无状态日志；十个节点均为 unknown，断点 unknown/首步前，现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)，未把预算耗尽当作原因。校验通过。", + "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": "2026-10-30T22:08:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--pmjx2zt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--pmjx2zt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ae5699b3d8f6e831ece2128f62e58514c77e371c130533d2c2196ab7b2a09136", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--u5ngp6f.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--u5ngp6f.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf8d78dd280eed02c06fea77bc5f14a5e138da4 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--u5ngp6f.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--u5ngp6f", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 31, + "agent_resets": 0, + "agent_sim_steps": 9750, + "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": 10, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“打开橱柜”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“打开冰箱”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "plates_on_table_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第1个盘上桌”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "plates_on_table_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第2个盘上桌”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第1个蛋糕上盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第2个蛋糕上盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第1把叉邻盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第2把叉邻盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第1把刀邻盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0，未报告“第2把刀邻盘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。log step 619 的 agent 最后自述仍在等待餐具搬运测试结果，会话测试不能确定交付尝试中本节点的达成情况。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器标记未交付轨迹；本节点无交付尝试可标注接触，会话测试不计入实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 619, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 618 仅启动餐具搬运测试，log step 619 的 agent 自述仍在等待测试结果。没有交付轨迹，无法定位到某个物理操作节点。" + }, + "unmet": { + "plates_on_table_1": null, + "plates_on_table_2": null, + "cupcakes_on_plates_1": null, + "cupcakes_on_plates_2": null, + "forks_next_to_plates_1": null, + "forks_next_to_plates_2": null, + "knives_next_to_plates_1": null, + "knives_next_to_plates_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 run.json、video.json、meta.json 和 MANIFEST.json；无视频、无状态日志、无成功参考视频。评分器标记缺失轨迹且未提供逐节点结果或 q_score，因此全部10个节点的 final 与 intervals 均未知，不能从 success=0 推断具体节点为假。日志中的开门、抓取和搬运均为会话测试，最后在 log step 619 等待测试结果；未记录足以确定最终会话结束原因的判决，不能把测试中的物理问题或警告当作交付尝试的失败现象，也不能仅凭缺交付推断控制、规划或交付操作根因。按无交付规则，两层均留空。" + }, + "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1，录制与回放次数均为0；没有可供评估的交付轨迹，10个节点均无法确认终值。观察：agent 在会话中反复测试开门、抓取及搬运，最后于 log step 619 自述仍在等待餐具测试结果；这些会话测试不计为节点进度。推断：断点只能记为 unknown／首步前；无视频、状态日志和逐节点评分，且缺少确定结束原因的证据，失败现象及根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；全部节点 unknown、断点 unknown/首步前、两层留空并写 gap_zh，符合 03 Step 3 无交付规则（D23）。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": "2026-10-30T22:15:01Z", + "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_rerun1/runs/behavior-setting-the-table-i00-privileged--u5ngp6f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/behavior-setting-the-table-i00-privileged--u5ngp6f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8a6903b90b0b819ca86ffe468839fdbec90990710f6dcfa4d4da8a998cabd7f4", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--fmt8myq.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--fmt8myq.json new file mode 100644 index 0000000000000000000000000000000000000000..378ab9570158db4cc34b1a00e194e78259aff936 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--fmt8myq.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--fmt8myq", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 3784, + "sim_steps": 3784, + "physics_steps": 15136, + "steps": 1187, + "elapsed_s": 2241.9, + "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": 10, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 61 的服务终态仅报告 done=True、reason=\"failure: the robot fell over\"，没有橱柜门开度或可取物状态；评分器 q_score 也不评此非目标开门事件。inputs/video.json 标明无视频，且未提供状态日志，无法判定橱柜是否达到本节点的取物开口判据。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 61 的服务终态仅报告 done=True、reason=\"failure: the robot fell over\"，没有冰箱门开度或可取物状态；评分器 q_score 也不评此非目标开门事件。inputs/video.json 标明无视频，且未提供状态日志，无法判定冰箱是否达到本节点的取物开口判据。" + } + ] + }, + "plates_on_table_1": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第1个盘上桌至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + }, + "plates_on_table_2": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第2个盘上桌至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + }, + "cupcakes_on_plates_1": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第1个蛋糕上盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + }, + "cupcakes_on_plates_2": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第2个蛋糕上盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + }, + "forks_next_to_plates_1": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第1把叉邻盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + }, + { + "t": null, + "log_step": 59, + "text_zh": "观察：log steps 56–58 中 agent 定位了叉子；log step 59 的脚本包含先取刀再取叉的指令，但在共同驶近水槽的 goto 调用中因服务摔倒判决退出，取叉代码未执行。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log steps 56–58 中 agent 对水槽处刀叉作定位，log step 59 的脚本先驶向取物站位，再计划右夹爪取刀、左夹爪取叉，但在驶近调用中收到摔倒终止。无视频或状态接触对，无法确认准备第一把叉子期间末端与物体的实际接触，不将计划抓握记为实际抓握。" + } + ] + }, + "forks_next_to_plates_2": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第2把叉邻盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + }, + "knives_next_to_plates_1": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第1把刀邻盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + }, + { + "t": null, + "log_step": 59, + "text_zh": "观察：log step 59 脚本顺序为 goto 水槽站位、右臂 grasp_knife、左臂 grasp_fork；服务在 goto 的 joint_position 提交中返回 EpisodeOver: failure: the robot fell over，尚未执行取刀的 ee_pose 提交。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log steps 56–58 中 agent 对水槽处刀叉作定位，log step 59 的脚本先驶向取物站位，再计划右夹爪取刀、左夹爪取叉，但在驶近调用中收到摔倒终止。无视频或状态接触对，无法确认准备第一把餐刀期间末端与物体的实际接触，不将计划抓握记为实际抓握。" + } + ] + }, + "knives_next_to_plates_2": { + "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 q_score=0.0、graded_by_live=1；task/task_dag.json 的 conf_reason_zh 明确目标字面量初值均为假，故零分并非忽略初始已成立目标所致。第2把刀邻盘至少需要一个成立的目标字面量，因此该节点终值为假；这是由评分器总分作出的逻辑推断，不据此断言从未尝试。无视频或状态日志，无法给出成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knives_next_to_plates_1", + "t": null, + "log_step": 59, + "where": "转场", + "evidence_zh": "推断：log step 59 的实际执行在驶向水槽站位的 goto 内收到服务 EpisodeOver: failure: the robot fell over；log step 61 的服务 status 再次确认 done=True、control_steps=3784、reason=\"failure: the robot fell over\"、resumes=0。该脚本在驶近后首先安排右夹爪取第一把餐刀，随后才取叉，故将未能完成的取刀并摆盘步骤作为断点；这是空手驶向取物点的转场，非已执行的抓取失败。无视频，t 留空。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 61, + "evidence_zh": "观察：单次在线评分局中，log step 59 的机器人服务在底盘驶近调用内返回 failure: the robot fell over；log step 61 的服务终态为 done=True、reason=\"failure: the robot fell over\"、control_steps=3784、resumes=0。此为服务的摔倒判决，不只来自 agent 的最后总结。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 59, + "source_zh": "日志", + "evidence_zh": "推断：log step 38 打印的同局本体感知记录显示首次驶近水槽时 torso_joint1 从约1.024漂移到-0.620；log steps 39–41 的重发姿态目标未跟踪到位，torso_joint1 仍约0.798且输出力矩为100。log step 49 的分段恢复随后使躯干重新达到[1.02,-1.45,-0.47,0]，但 log step 59 再次驶近即被服务判为摔倒（log step 61 复核）。这些记录支持移动时全身稳定控制不足这一宽泛归因；没有末次驶近的连续姿态、力和接触记录，不能进一步认定速度参数、碰撞或某个控制子类。" + } + ], + "gap_zh": "inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；video.kind=none，无视频、状态日志或成功参考视频，所有视频时刻和节点区间均留空。八个摆放节点的终值由评分器 q_score=0 和 DAG 所述目标初值均假推断，两个开门事件未被服务单独报告，终值未知。刀叉仅有定位和驶近记录，不能确认末端实际接触；末次失稳过程缺少连续遥测，故不采纳 agent 在 log step 63 中关于柜台碰撞位置、速度及具体倾倒过程的解释为已证事实。log step 62 编写的 gen.py 在服务终止后才生成，不能当作已执行轨迹。" + }, + "summary_zh": "本次为单个在线评分局，评分器 q_score=0，结合 DAG 所述八个摆放目标初值均假，可推断八项目标终态均未成立；橱柜和冰箱是否曾达到取物开口仍未知。脚本在取第一把餐刀前驶向水槽时被服务判定摔倒（log steps 59、61），断点归第1把刀邻盘的转场，现象为全身平衡失败，日志仅支持宽泛的控制根因。无视频及状态日志，无法恢复节点时间区间、末端接触或最后失稳的具体机制。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频的在线评分局：八个摆放节点由 q_score=0 加 DAG 初值均假推断为假，两个开门事件为 unknown，均有依据。断点（第1把刀邻盘、转场）、现象（全身·平衡，来自服务摔倒判决）和根因（控制·控制，已标明为推断）都与 run.json 日志 steps 31–61 相符，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--fmt8myq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--fmt8myq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f4ec0024e6fd11ca9aa853cae1632cd1ef17ef3a094528261441e4920bf4f538", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--pvpajnp.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--pvpajnp.json new file mode 100644 index 0000000000000000000000000000000000000000..1331578c435325e67a361ab008c6407cfc8444d3 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--pvpajnp.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--pvpajnp", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 39, + "agent_resets": 0, + "agent_sim_steps": 17233, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.018, + "peak_memory_gb": 9.162, + "peak_processes": 20, + "peak_disk_gb": 23.934, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_disk_gb": 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": { + "refrigerator_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“打开冰箱”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个甜椒切丁”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个甜椒切丁”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "beets_diced_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个甜菜切丁”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "beets_diced_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个甜菜切丁”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "zucchini_diced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“西葫芦切丁”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + }, + "refrigerator_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 619, + "text_zh": "观察：评分器字段missing_trajectory=1、agent_records=0、agent_replays=0，未报告“关上冰箱”的受评节点结果；inputs/video.json为kind=none，且无状态日志。agent最后在log step 619自述已启动切菜测试并将等待结果，该会话叙述不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，未交付受评轨迹；会话测试中的机器人接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 619, + "where": "首步前", + "evidence_zh": "观察：评分器报告success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 618启动test_cut_at_128.py，log step 619中agent自述将等待测试结果，日志随后结束，未见交付。推断：没有可定位物理失败步骤的受评轨迹，断点记为unknown，位置为首步前。" + }, + "unmet": { + "bell_peppers_diced_1": null, + "bell_peppers_diced_2": null, + "beets_diced_1": null, + "beets_diced_2": null, + "zucchini_diced": null, + "refrigerator_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志、无成功oracle；评分器仅报告缺少交付轨迹，没有逐节点结果，也未报告q_score，七个节点的终值及全部视频时间均无法确定。日志中的持刀、开门和切割属于独立会话测试，不能充当受评轨迹的进度、接触或失败现象。log step 618–619仅记录新测试已启动，未给出其结果或最终停止原因；更早测试中的报错后agent仍继续工作，不能据此认定最终被外因中断。依照D23，未交付时现象和根因均留空；仅凭缺交付不推定交付操作出错、控制或规划根因。" + }, + "summary_zh": "评分器判定失败并报告未交付轨迹（missing_trajectory=1），录制与回放次数均为0，七个DAG节点的受评终值均未知。agent在log step 618–619仍在启动并等待新的切菜测试，没有可确认的交付或物理断点，故标为unknown／首步前，现象和根因留空。无视频、无状态日志且无逐节点评分字段，无法把会话测试中的开门、持刀或切割结果计入受评进度。", + "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 且 agent_records/replays=0，七个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23 与无交付规则；会话测试未被当作受评事实。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": "2026-10-30T22:03:37Z", + "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-slicing-vegetables-i00-privileged--pvpajnp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--pvpajnp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d4d436839c44e4cca78780f4e95518d02703d47abb106977d568fed17fb990a9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--q35iduz.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--q35iduz.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf964337e0eea18f79b1bd52e8ec91448df550e --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--q35iduz.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--q35iduz", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 5, + "agent_resets": 4, + "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": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "refrigerator_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“打开冰箱”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "bell_peppers_diced_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个甜椒切丁”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "bell_peppers_diced_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个甜椒切丁”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "beets_diced_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第1个甜菜切丁”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "beets_diced_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 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“第2个甜菜切丁”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "zucchini_diced": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“西葫芦切丁”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + }, + "refrigerator_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告“关上冰箱”的受评结果；inputs/video.json 为 kind=none，且未提供状态日志。无法确定本节点最终值；会话调试中的读数不作为交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分字段 missing_trajectory=1：没有交付轨迹，不将调试会话中的接触作为受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 375, + "where": "首步前", + "evidence_zh": "观察：评分字段 missing_trajectory=1、agent_records=0、agent_replays=0。agent 在 log step 305 调用 record_start 后继续调试，log step 373 仍在调用双臂运动函数，log step 374–375 仅等待输出；完整日志未见执行保存或回放交付轨迹的调用。没有可定位到具体任务节点的受评轨迹，断点记 unknown，位置记首步前。" + }, + "unmet": { + "bell_peppers_diced_1": null, + "bell_peppers_diced_2": null, + "beets_diced_1": null, + "beets_diced_2": null, + "zucchini_diced": null, + "refrigerator_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有交付轨迹，inputs/video.json 为 kind=none；inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json，没有视频、状态日志或成功参考录像。运行 wall_s=14400 与 time_limit_s=14400 相等，日志最终停在 log step 375 等待调试输出；早先进程退出后 agent 已重新启动并继续操作（log step 296–375），末尾未见新的外部错误记录。log step 369 的门关节与持物读数属于调试会话，不能证明受评节点或接触。依 DECISIONS.md D23/N9，全部节点 intervals 与 final 保留 null；无受评物理事件可标现象，也没有足够证据把未交付归因到具体控制、认知或保存错误，故两层留空。" + }, + "summary_zh": "评分记录 success=0、missing_trajectory=1，没有交付轨迹；7个节点的受评最终值均无法确定。agent 在调试会话中尝试开冰箱并协调双臂，最后一段自述仍在修正绕门动作（log step 364），日志至 log step 375 仍在等待输出，运行时长达到14400秒的墙钟预算。无视频、状态日志或节点级评分结果，断点记 unknown／首步前，现象与根因不从会话动作或缺交付反推。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付轨迹（missing_trajectory=1，无视频/状态日志），全部节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合 D23(a)/N9；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": "2026-10-30T22:03:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--q35iduz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--q35iduz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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unknown/首步前、两层为空并有 gap_zh，符合 03 文档对外因中断的规定，未把会话测试当作评分进度。", + "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": "2026-10-30T22:04:16Z", + "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-slicing-vegetables-i00-privileged--rq52rdq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--rq52rdq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "40f405c132f88360ac931a9218d4bd2103ae51bcbc746ed6e6e044fb5c002bb7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--dxqhtp2.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--dxqhtp2.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5af387f62d14140223c22e274f398fd7be8995 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--dxqhtp2.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--dxqhtp2", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", 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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": { + "refrigerator_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 18, + "text_zh": "观察：log step 17–20 的 agent 脚本先将朝向目标设为冰箱候选位置的5.60弧度，再校准底盘旋转和前进；log step 35 的实时服务终态只报告机器人跌倒，未报告冰箱开合。无视频、无状态日志，不能将 agent 在 log step 37 自述“冰箱从未打开”当作节点结果，打开事件是否达到判据保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 18–20 有为接近冰箱而执行的底盘动作，但输入没有视频或接触状态日志，无法核实底盘支承及夹爪与冰箱门的实际接触。" + } + ] + }, + "bell_peppers_diced_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、q_score=0.0、live_success=0；DAG说明丁状产物及整蔬菜消失在初始均不成立。本节点要求至少1个原始甜椒消失且该类丁状产物存在，若终态为真必然贡献新增目标字面量，与总分为零不符，因此 final=false。这仅确定终态，不证明此前是否尝试或短暂达到；无视频，intervals=null。" + } + ] + }, + "bell_peppers_diced_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、q_score=0.0、live_success=0；DAG说明丁状产物及整蔬菜消失在初始均不成立。本节点要求至少2个原始甜椒消失且该类丁状产物存在，若终态为真必然贡献新增目标字面量，与总分为零不符，因此 final=false。这仅确定终态，不证明此前是否尝试或短暂达到；无视频，intervals=null。" + } + ] + }, + "beets_diced_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、q_score=0.0、live_success=0；DAG说明丁状产物及整蔬菜消失在初始均不成立。本节点要求至少1个原始甜菜消失且该类丁状产物存在，若终态为真必然贡献新增目标字面量，与总分为零不符，因此 final=false。这仅确定终态，不证明此前是否尝试或短暂达到；无视频，intervals=null。" + } + ] + }, + "beets_diced_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、q_score=0.0、live_success=0；DAG说明丁状产物及整蔬菜消失在初始均不成立。本节点要求至少2个原始甜菜消失且该类丁状产物存在，若终态为真必然贡献新增目标字面量，与总分为零不符，因此 final=false。这仅确定终态，不证明此前是否尝试或短暂达到；无视频，intervals=null。" + } + ] + }, + "zucchini_diced": { + "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、q_score=0.0、live_success=0；DAG说明丁状产物及整蔬菜消失在初始均不成立。本节点要求至少1个原始西葫芦消失且该类丁状产物存在，若终态为真必然贡献新增目标字面量，与总分为零不符，因此 final=false。这仅确定终态，不证明此前是否尝试或短暂达到；无视频，intervals=null。" + } + ] + }, + "refrigerator_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：log step 35 的实时服务终态为 done=True、reason=\"failure: the robot fell over\"，没有冰箱门状态字段；DAG记载冰箱初始关闭，但评分 q_score 不计仍保持的初始真字面量，故 q_score=0.0不能决定末态关门真假。输入无视频或状态日志，final保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": null, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "t": null, + "log_step": 20, + "where": "转场", + "evidence_zh": "推断：log step 17–18 的 agent 脚本明确以冰箱候选位置为朝向目标；log step 20 仍在空手导航准备中校准底盘，连续前进后读到基座高度由约0.005米升至0.599米。log step 26、32–33 的扶正操作没有恢复直立，log step 35 的实时机器人服务在控制步1480报告 done=True、reason=\"failure: the robot fell over\"。据此断点归入首个开冰箱步骤的接近转场；不是以跌倒约束作断点。无视频，不能给视频时刻。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 35, + "evidence_zh": "观察：本次为唯一实时回合（评分字段 graded_by_live=1、sim_startups=1、resumes=0、replays=0）。log step 34 的服务响应为 EpisodeOver: failure: the robot fell over；log step 35 再次从 Robot.status() 读取 done=True、reason=\"failure: the robot fell over\"、control_steps=1480。这是基准服务确认的机器人跌倒，不是 agent 对失败原因的转述。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 20, + "t": null, + "source_zh": "日志", + "evidence_zh": "推断：log step 10 的服务规格说明底盘指令是在30 Hz每个控制步重复施加的位移；log step 20 的 agent 脚本将前进0.05米的指令连续提交20行、dt=0.1，即连续仿真2 s指令运动，整块执行后才检查结果，没有块内障碍或姿态中止。该次调用后基座高度由约0.005米变为0.599米，log step 21 打印的倾斜相关量为-0.106；log step 26、32–33 扶正后仍为负，最终 log step 35 服务确认跌倒。指令及前后反馈支持底盘运动控制未维持稳定，具体是碰撞、轨迹选择还是反馈策略所致缺乏独立观测，根因停在“控制”。" + } + ], + "gap_zh": "无视频：inputs/video.json 的 kind=none，来源记录为远端404且无本地视频；inputs/仅有run.json、video.json、meta.json及MANIFEST.json，没有状态日志或成功oracle。所有intervals及视频时间均为null；开门事件和最终关门状态无独立评分/服务字段，保留未知。日志中的图片只有引用位置，实际图像字节未提供，无法核实碰撞对象、夹爪或支承接触，故开门准备的contact_actual为未知；未给后续切丁、关门步骤虚构接触。跌倒由实时服务判定，控制根因依据脚本和反馈推断，不能进一步确认失衡机制。" + }, + "summary_zh": "实时评分 q_score=0.0，可确定五个切丁节点终态均不成立；开冰箱事件与最终关冰箱状态缺少独立结果字段，保留未知。机器人在开冰箱准备的导航校准中失衡，扶正未成功，实时服务在 log step 35 确认因跌倒结束；底盘控制指令与前后反馈支持控制层面的根因。没有视频、状态日志或可读取的日志图片，无法给出视频时间及实际接触细节。", + "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，标注严格依据 q_score=0、log step 20/21/35 的服务读数：五个切丁节点终态 false、开/关冰箱 unknown、断点 refrigerator_opened（转场）、现象 全身·平衡、根因停在“控制”，均有 run.json 读数支持，未发现过度断言；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": "2026-10-30T22:02:49Z", + "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-slicing-vegetables-i00-standard--dxqhtp2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--dxqhtp2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "166430e76cdfdc8ac9306b51f7bd279a643a2107689b515db5b60ff7de84397b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk.json new file mode 100644 index 0000000000000000000000000000000000000000..70f140c65aa74465a03ad35b7e24883800602c52 --- /dev/null +++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 2, + "agent_resets": 13, + "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": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "wine_bottles_in_bucket_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 missing_trajectory=1、success=0，未报告“第1个酒瓶入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + }, + "wine_bottles_in_bucket_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 missing_trajectory=1、success=0，未报告“第2个酒瓶入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + }, + "soda_cans_in_bucket_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 missing_trajectory=1、success=0，未报告“第1个汽水罐入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + }, + "soda_cans_in_bucket_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 missing_trajectory=1、success=0，未报告“第2个汽水罐入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + }, + "newspaper_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、success=0，未报告“报纸入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + }, + "magazine_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、success=0，未报告“杂志入桶”的逐节点结果；inputs/video.json 标为 none，且 inputs/ 中没有状态日志。无法据此判定该节点终值，会话调试不能代替评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1，没有交付轨迹；会话中的夹爪与底盘调试不作为评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 399, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1，agent_records=0、agent_replays=0；log step 399 仍是 agent 在交互会话查询第二个酒瓶及桶的位姿，日志随后结束，未见保存交付轨迹的调用。没有评分轨迹可定位物理失败步骤，按未交付记首步前。" + }, + "unmet": { + "wine_bottles_in_bucket_1": null, + "wine_bottles_in_bucket_2": null, + "soda_cans_in_bucket_1": null, + "soda_cans_in_bucket_2": null, + "newspaper_in_bucket": null, + "magazine_in_bucket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json；没有视频、状态日志或逐节点评分，q_score 也未报告。agent 在 log step 394 自述第一个酒瓶已入桶，log step 395–399 继续测试另一个酒瓶，但这些是未交付的会话动作，不能确认为节点进度或评分尝试的接触现象。运行记录 wall_s=14401，达到 task_text 规定的 wall-clock 预算14400秒；这只说明会话结束时的预算情况，不构成现象或根因。log step 22 的初始进程退出码为139，但 log step 23 已重启并继续到 log step 399，不能据此认定最终遭外因中断。未交付且无法定位评分中的物理失败，也没有证据确定缺交付的具体根因，依 D23 将两层留空。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），六个入桶节点均无法判定终值，没有节点可确认为完成。agent 在 log step 394 自述一个酒瓶已入桶，随后继续调试第二个酒瓶至 log step 399，但未见保存与回放交付，故物理断点未知，按缺交付记首步前。没有视频、状态日志或逐节点评分，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、无状态日志、评分器报告 missing_trajectory=1，标注者将六个节点置 unknown、断点 unknown/首步前、现象与根因留空并写明 gap_zh，符合 D23 与外因/未交付规则；log 步号和引用事实核对无误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--hb7vkjk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de8ebf5ffa74990e33f3c5aaaa5cd4e7e5e0983f33988dc0bb6c43ddd7d02b33", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt.json new file mode 100644 index 0000000000000000000000000000000000000000..36b9273bfc80d838ea561562c2baf6bb677274d0 --- /dev/null +++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 1, + "agent_resets": 7, + "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": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "wine_bottles_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“第1个酒瓶入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + }, + "wine_bottles_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“第2个酒瓶入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + }, + "soda_cans_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“第1个汽水罐入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + }, + "soda_cans_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“第2个汽水罐入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + }, + "newspaper_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“报纸入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + }, + "magazine_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分记录 reward.missing_trajectory=1，未报告“杂志入桶”的节点终值；log step 211 的输出目录仅列出生成脚本与会话日志，没有轨迹文件。本作业没有视频或状态日志，后续 log step 212–216 也没有保存成功或终态验收结果，无法判断该节点评分终值。" + } + ], + "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，故无可标注的评分轨迹接触。会话测试中的接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 215, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、grader_error=0、agent_records=0、agent_replays=0。agent 在 log step 209 派发重置后的完整生成脚本；log step 211 尚无轨迹文件，log step 215 仍有待处理或正在执行的命令文件，log step 216 没有返回结果。推断：本次评分没有收到交付轨迹，无法定位到六个物理步骤中的某一步；首步前指评分轨迹未交付，不表示会话中机器人未运动。" + }, + "unmet": { + "wine_bottles_in_bucket_1": null, + "wine_bottles_in_bucket_2": null, + "soda_cans_in_bucket_1": null, + "soda_cans_in_bucket_2": null, + "newspaper_in_bucket": null, + "magazine_in_bucket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有运行记录、元数据、清单和 video.json；video.kind=none，无视频、状态日志或节点级最终评分，q_score 也未在 reward 中报告。运行记录 wall_s=14400 与 time_limit_s=14400 相等，末尾 log step 216 仍在等待脚本且无输出，未见证据证明外部服务中断。log step 12 显示保存接口需要 actions、path 两个参数，而 log step 208 的脚本仅传路径；但没有脚本执行至保存处的返回，不能断言这一错误实际导致了本次缺交付。推断：未交付时，会话中的抓取失败、可达性测试和 agent 自述均不能充当评分轨迹的现象或节点进度；按未交付规则，两层失败原因留空，六个终值及全部视频时间保留未知。" + }, + "summary_zh": "评分记录 success=0、missing_trajectory=1；没有交付评分轨迹，六个分类入桶节点的终值均未知，不能以会话测试代替节点进度。agent 在 log step 209 启动完整生成脚本，log step 215 仍在等待，日志结束前未见保存或回放验证结果，因此断点记为 unknown／首步前，现象和根因留空。没有视频、状态日志或节点级评分，无法确认实际分类进展及未交付的具体成因。", + "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）。该文件将六个节点记为 unknown、contact 不适用、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 CASES OPEN-16 / FAIL-5 的无交付规则；未把会话测试当作评分轨迹事实，也没有断言保存错误是原因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--pzdcekt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35b15c87f0343fcec92845b79bae28fab88db1e92fb7b2758f4fa297b87fc378", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d3d72ea45ac016a614d1159e5b1c41c2621cd6 --- /dev/null +++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "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": 1501, + "sim_steps": 1501, + "physics_steps": 6004, + "steps": 501, + "elapsed_s": 1569.1, + "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": 6, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "wine_bottles_in_bucket_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“第1个酒瓶入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + }, + "wine_bottles_in_bucket_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“第2个酒瓶入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + }, + "soda_cans_in_bucket_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“第1个汽水罐入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + }, + "soda_cans_in_bucket_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“第2个汽水罐入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + }, + "newspaper_in_bucket": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“报纸入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + }, + "magazine_in_bucket": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 DAG 所列目标入桶关系初始均未成立；按 BEHAVIOR 目标文字总分的上界，若“杂志入桶”终态为真就必须贡献正的目标完成量，因此本节点终态为 false。此结论只判终态，不从零分推断从未尝试或历史上从未达成；无视频及状态日志，intervals 保留 null。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的实际调用是机器人底盘移动、转向及俯身拍摄地面和台面，随后实时机器人服务返回 EpisodeOver: failure: the robot fell over；log step 80 的服务 /status 确认 done=true、control_steps=1501、resumes=0。log step 81 才写出包含 pick/place 的程序，log step 82 仅作语法检查，不能据此认定机器人执行了入桶动作。" + } + ], + "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；log step 77、79 是针对酒瓶、罐及纸品的共同场景勘察，未提供可归属到本节点的夹爪—物品或底盘—物品实际接触证据，因此实际作用端、对象及接触方式均未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 79, + "where": "探索", + "evidence_zh": "观察：log step 77 的机器人调用改变躯干俯仰以查看地面；log step 79 的调用继续为地面和台面核实视角而移动、转向，实时服务在 turn_to 的动作提交中返回“failure: the robot fell over”。log step 80 的 /status 确认本次唯一实时回合已终止。推断：失败发生在机器人对多类回收物及场景的共同勘察阶段，尚无证据说明它正在执行六个入桶节点中的哪一个，故 ref=unknown、where=探索；没有视频时钟，t=null。" + }, + "unmet": { + "wine_bottles_in_bucket_1": false, + "wine_bottles_in_bucket_2": false, + "soda_cans_in_bucket_1": false, + "soda_cans_in_bucket_2": false, + "newspaper_in_bucket": false, + "magazine_in_bucket": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 79, + "evidence_zh": "观察：log step 79 的机器人服务动作接口返回 EpisodeOver: failure: the robot fell over；log step 80 独立查询同一实时服务 /status，返回 done=true、reason=\"failure: the robot fell over\"、control_steps=1501、resumes=0。这是服务对受评分回合的跌倒判定，不是仅引用 agent 的跌倒自述；评分记录同时为 task_failure=1、sim_breakdown=0、infra_error=0。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json；video.json 明确为 kind=none，未提供视频、状态日志或成功参考视频，故全部视频时间与节点区间为 null。推断：q_score=0.0 结合 DAG 初态只能约束六节点终态均为 false，不能重建历史峰值、实际接触或确定共同勘察对应的单一步骤。观察：agent 在 log step 83 自述底盘碰到地面罐并在转向时翻倒，但现有服务字段只确认跌倒，没有碰撞对象、基座姿态或接触力数据；该碰撞机理尚待核实，无法区分障碍接触、承载姿态或控制跟踪等根因，因此根因层留空，不追加碰撞现象。" + }, + "summary_zh": "评分器 q_score=0.0，结合 DAG 中六个入桶关系均未在初态成立，可推断六节点终态均未达成；日志中抓放程序在回合结束后才写出，不能作为已执行搬放的证据。机器人在共同勘察厨房地面和台面的移动、转向期间被实时服务判定跌倒（log step 79、80），但无法唯一归属某个入桶节点，断点为 unknown／探索。没有视频或状态日志，历史进度、实际接触及跌倒根因无法核实，所有视频区间保留 null。", + "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/状态日志：六节点终态 false 由 q_score=0 与初态未成立界定，合理；跌倒（平衡）由服务 /status 的 done/reason 与 control_steps=1501 支撑，是评分回合的观测；log 79 的调用只是勘察、抓放程序在 step 81 才写出，未误记为已搬放。断点 unknown/探索、根因留空并写 gap_zh（碰撞机理仅为 agent 自述）均有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:49Z", + "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-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--4pxmhdp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90e27c58f3c9ae77b9dce3a36baf2b0f93848b514d06d29fc5fd23767d20176a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek.json new file mode 100644 index 0000000000000000000000000000000000000000..4affc8b2e37a5b0f16518100c22a0bb57bfb835f --- /dev/null +++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "outcome": { + "success": 0, + "reward": 0.3125, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9878, + "sim_steps": 9878, + "physics_steps": 39512, + "steps": 6051, + "elapsed_s": 2542.5, + "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": 0.3125, + "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": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "wine_bottles_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 162, + "text_zh": "观察：log step 156–162 中，agent 脚本对地面酒瓶执行闭爪、抬臂、驶向所选桶和开爪命令；log step 164 的“酒瓶似乎在桶内”是 agent 自述，log step 163 的深度换算是其自写检查。无视频、状态日志或服务逐酒瓶入桶结果，不能确认本节点的容纳、松手和静止终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + }, + "wine_bottles_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 179, + "text_zh": "观察：log step 176–179 中，agent 脚本对台面角落酒瓶执行闭爪、搬运路线和开爪命令；log step 177 自述已抓到第2瓶，log step 181 仅输出其自写的桶内深度直方图。无视频、状态日志或服务同桶酒瓶计数，两个酒瓶是否最终合格同桶未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + }, + "soda_cans_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 62, + "text_zh": "观察：log step 53–62 中，agent 脚本对地面汽水罐执行闭爪、抬臂、移向深色桶和开爪命令；log step 64 自述第1罐已入桶。输入没有这些操作的可查看图像或视频，也没有服务逐罐容纳、释放及速度结果，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + }, + "soda_cans_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 95–100 中，agent 脚本对台面汽水罐执行闭爪、抬臂、驶向深色桶和开爪命令；log step 101 自述两罐均在桶内。夹爪开度和 agent 自述不能代替入桶结果；无视频、状态日志或服务逐节点结果，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + }, + "newspaper_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 145, + "text_zh": "观察：log step 141、145 中，agent 脚本闭合右夹爪并在其估计的报纸位置执行下压、平移、抬臂命令；log step 182 返回该取物区域时实时服务报告跌倒，log step 183 确认回合终止。log step 186 的“报纸仍在台面”是 agent 自述；服务没有报告报纸容纳谓词，无视频或状态日志，故节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + }, + "magazine_in_bucket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 130, + "text_zh": "观察：log step 105–115 中，agent 脚本尝试拖动杂志并夹取边缘，log step 117–130 执行移向白桶及开爪命令；log step 133 自述杂志已在桶内。无视频、状态日志或服务对杂志容纳、松手和静止的结果，不能据自述判定完成，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：上述日志记录了机器人对本节点的动作尝试，但没有可查看视频、图像或状态接触对；无法确认右夹爪是否实际接触、夹住或拖动目标，不按命令推定接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3125, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "newspaper_in_bucket", + "t": null, + "log_step": 182, + "where": "操作中", + "evidence_zh": "推断：log step 141、145 的动作代码表明机器人已尝试处理报纸；之后先处理酒瓶，log step 182 再返回同一报纸取物区域，在 go_to(7.05,0.4,-0.8) 后执行朝 rel2world(p,0.45,-0.2,1.05) 的 reach，改变机械臂及躯干姿态，再驱动底盘接近台面，服务在该调用内报告“failure: the robot fell over”；log step 183 的服务状态确认 done=True、control_steps=9878、resumes=0。结合 log step 184、186 对再次取报纸意图的自述，将失败定位为报纸入桶步骤为再次取物而抬臂、改变躯干姿态并继续接近的操作中；无法确定跌倒始于抬臂还是随后驱动。没有证据将此前任何入桶尝试认定为更早且未修复的失败。无视频时 t 保留 null。" + }, + "unmet": { + "wine_bottles_in_bucket_1": null, + "wine_bottles_in_bucket_2": null, + "soda_cans_in_bucket_1": null, + "soda_cans_in_bucket_2": null, + "newspaper_in_bucket": null, + "magazine_in_bucket": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 182, + "evidence_zh": "观察：log step 182 的机器人实时服务返回 EpisodeOver: failure: the robot fell over，随后 log step 183 的 r.status() 明确给出 done=True、reason=\"failure: the robot fell over\"、control_steps=9878、resumes=0。这是该单回合实时评分服务的跌倒判定，非 agent 自述，也非底层服务崩溃。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 182, + "evidence_zh": "推断：log step 76 的 joint_go 将关节解按指定时长直接插值，log step 78、95 的 reach 默认使用1.5秒关节插值，遇到躯干解变化仅打印提示而继续执行。log step 182 为抬臂生成躯干解 [0.036,-0.182,0.174,0.752]，打印末端误差1.108米，之后继续底盘行驶并收到服务跌倒终止；agent 在 log step 186 也自述大幅躯干运动使底盘翻倒。执行器与底盘的稳定性控制存在问题，但没有连续状态或画面可区分逆解轨迹、跟踪反馈及驱动阶段的具体贡献，根因停留在“控制”。", + "source_zh": "日志" + } + ], + "gap_zh": "inputs/video.json 的 kind 为 none（远端视频404且无本地视频）；inputs/ 仅有 run.json、video.json、meta.json、MANIFEST.json，无状态日志或可查看的日志图片，图片调用仅留引用。故全部视频时间和节点 intervals 为 null，六个节点终值均未知，实际接触均未知；agent 的深度统计、夹爪开度和“五件已入桶”自述均不能充当节点结果。评分器只报告 q_score=0.3125 和整体失败，未报告逐节点谓词；该总分包含原生目标文字的聚合，不能唯一分配到这六个复合验收节点，不能换算为5/6节点完成。无法确定报纸早先尝试的具体接触失败现象，也无法精确定位跌倒开始于抬臂还是随后驱动；只采用服务确认的平衡现象及有日志支持的上位控制根因。" + }, + "summary_zh": "实时评分失败，q_score=0.3125；agent 自述两罐、杂志和两瓶已入桶（log step 186），但无逐节点服务结果，六个节点最终是否达标均未知。机器人尝试处理报纸后返回该取物区域，在报纸入桶步骤为再次取物而抬臂、改变躯干姿态并继续接近的操作序列中跌倒并被服务终止（log step 182–183），日志支持控制层面的稳定性问题。输入无视频、状态日志或可查看的日志图片，不能确认实际入桶、接触和节点时间。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频，六个节点 unknown、q_score 无法分配到节点、平衡现象与控制根因均有 log step 182–183 的服务读数支撑，基本同意。唯一需改：breakpoint.where 把抬臂去够报纸的动作标为“转场”，实际是报纸步骤的操作中接近动作。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；六个节点 unknown、contact 未知、断点落在报纸步骤（操作中）、平衡现象与控制根因均有 log step 182–183 的服务读数（EpisodeOver fell over、control_steps 9878）支撑，未发现需改内容的错误。第1轮的 where 修正已落实。", + "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": "2026-10-30T22:09:59Z", + "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-sorting-bottles-cans-and-paper-i00-standard--btpniek/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--btpniek/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "45df7bd27c2ddfc87c83c95427c4bed7ffa5cf5fa9c52a98fff431cebe129e66", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--ayxtjfw.json b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--ayxtjfw.json new file mode 100644 index 0000000000000000000000000000000000000000..51f7febe872a6e36c06cf1c57af0da2a8f429516 --- /dev/null +++ b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--ayxtjfw.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-privileged--ayxtjfw", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 3, + "agent_resets": 9, + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bathroom_route_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“打开路线门”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "detergents_under_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“第1瓶入槽下”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "detergents_under_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“第2瓶入槽下”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“卫生巾盒上架”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“皂液器上水槽”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "cup_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“杯子留在槽上”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "toothbrush_in_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“牙刷入杯”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。评分器未报告“牙膏放杯旁”的节点结果，无法判定其终值；会话实验不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告没有交付轨迹；无可标注的评分轨迹接触，会话交互测试不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 422, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0、agent_replays=0、grader_error=0。agent 在 log step 370 仍称准备测试后再从 reset 录制，log step 420 仍在交互调用 robot.reset，最后 log step 422 仅调用时钟，没有轨迹录制或保存；没有可定位到 DAG 操作步骤的交付尝试。" + }, + "unmet": { + "detergents_under_sink_1": null, + "detergents_under_sink_2": null, + "sanitary_box_on_shelf": null, + "soap_dispenser_on_sink": null, + "cup_on_sink": null, + "toothbrush_in_cup": null, + "toothpaste_next_to_cup": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；无视频、无状态日志，也无已交付轨迹或节点级评分结果。log step 411 的 Under=True 是 agent 交互实验中的自检，不能据此给第1瓶洗涤剂节点记真，也不能将实验中的接触或失衡标为评分轨迹现象。run.wall_s=14400 与 time_limit_s=14400 一致，末尾 log step 422 的 agent 时间为 14374.7 s，未见最终完成报告或末尾外部错误；不能仅由预算耗尽或缺交付推断具体能力根因。按 D23 无交付处理，现象和根因均留空，节点时间与终值均未知；初态杯子关系也无评分回合终态证据。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，未录制或重放任何交付轨迹；8 个节点终值均未知，不能据此声称完成 0 步或记入交互实验的摆放。日志末尾仍是测试与时钟调用，交付层面断点为 unknown／首步前；无视频、状态日志和节点级评分，按 D23 留空现象与根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1、agent_records=0；节点终值全 unknown、现象与根因留空并附 gap_zh，符合 D23(a)。未把会话内自检（log step 411）当作评分轨迹事实，也未把预算耗尽当根因。校验器通过。", + "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": "2026-10-30T22:14:59Z", + "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_rerun1/runs/behavior-sorting-household-items-i00-privileged--ayxtjfw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/behavior-sorting-household-items-i00-privileged--ayxtjfw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8df1856dea736195a7fde1b04fe861920d8089f08a4f701b3768ed1e674c266b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--caaf8xo.json b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--caaf8xo.json new file mode 100644 index 0000000000000000000000000000000000000000..a73aafb1fd22282257ce91753f2b85aac1254fbc --- /dev/null +++ b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--caaf8xo.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-privileged--caaf8xo", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 41, + "agent_resets": 0, + "agent_sim_steps": 935, + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bathroom_route_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“打开路线门”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 495, + "text_zh": "观察：log step 495 的开门程序属于新建 Session 的搬运测试，未录制交付；测试中的开门命令不能确认评分轨迹的门已打开。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "detergents_under_sink_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 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“第1瓶入槽下”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 495, + "text_zh": "观察：log step 495 编写了夹取及摆放两瓶洗涤剂的测试，log step 498 只报告该测试仍在运行，未提供评分终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "detergents_under_sink_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 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“第2瓶入槽下”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 495, + "text_zh": "观察：log step 495 的 Under、NextTo 查询是 agent 测试脚本的自检，未交付为评分轨迹，也没有该脚本的最终结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“卫生巾盒上架”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 497, + "text_zh": "观察：log step 497 只摘录会话检查得到的物体位置，未报告评分轨迹中的上架结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“皂液器上水槽”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 497, + "text_zh": "观察：log step 497 只摘录会话检查得到的皂液器位置，未报告评分轨迹中的摆放结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "cup_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“杯子留在槽上”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 497, + "text_zh": "观察：DAG 描述杯子初态在水槽上，但 log step 497 的会话物体检查不能确定不存在的评分轨迹终态仍保持该关系。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "toothbrush_in_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“牙刷入杯”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 497, + "text_zh": "观察：log step 497 只摘录会话检查得到的牙刷位置，未报告评分轨迹中的入杯结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 给出 missing_trajectory=1、agent_records=0、agent_replays=0，未给出“牙膏放杯旁”的节点结果；inputs/video.json 为 kind=none，亦无状态日志。" + }, + { + "t": null, + "log_step": 497, + "text_zh": "观察：log step 497 只摘录会话检查得到的牙膏位置，未报告评分轨迹中的杯旁摆放结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录未交付轨迹；会话测试中的机器人动作不作为此节点的评分轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 500, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 记录 missing_trajectory=1、agent_records=0、agent_replays=0；log step 495 启动新的洗涤剂搬运测试，log step 498 的工具状态仍为 RUNNING，agent 在最后的 log step 500 自述该测试仍在运行并等待完成。没有交付的评分轨迹可用于定位某个物理步骤的失败断点。" + }, + "unmet": { + "detergents_under_sink_1": null, + "detergents_under_sink_2": null, + "sanitary_box_on_shelf": null, + "soap_dispenser_on_sink": null, + "cup_on_sink": null, + "toothbrush_in_cup": null, + "toothpaste_next_to_cup": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无评分视频、无状态日志，且评分器明确记录轨迹缺失；8 个节点都没有评分器或评分服务的逐节点终态，q_score 也未报告，故 intervals 与 final 均为 null。日志仅提供多次独立 Session 的检查和动作测试，不能当作评分轨迹的进度、接触或失败现象。最后记录仍在等待测试，未说明未完成交付的具体原因；会话中的报错后仍有后续测试，不能据此认定整次运行被外部错误截断。现象与根因均留空，不从缺交付反推控制、规划或交付操作出错。" + }, + "summary_zh": "评分器判定 success=0，明确记录未交付轨迹（missing_trajectory=1，录制与重放次数均为 0）；8 个节点的评分终态全部未知，不能把会话中的开门和洗涤剂搬运测试计为进度。最后 log step 500 中 agent 仍称正在等待搬运测试，断点记 unknown／首步前。无视频、无状态日志或逐节点评分结果，无法定位物理失败或确定缺交付的具体根因，现象与根因均留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器记录 missing_trajectory=1；8 个节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 03 的无交付规则（D23(a)），未把会话测试当作评分轨迹进度。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": "2026-10-30T22:01:47Z", + "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-sorting-household-items-i00-privileged--caaf8xo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-privileged--caaf8xo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "61a9037c416185c033c9e57fcc440e2203d41d22ecb365baf051f4eb327dd1a7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--qdcpvyk.json b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--qdcpvyk.json new file mode 100644 index 0000000000000000000000000000000000000000..450f4bac94ff623098cbc23b59a18e339b10225f --- /dev/null +++ b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--qdcpvyk.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-privileged--qdcpvyk", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 0, + "sim_steps": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1396.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 0, + "agent_sessions": 5, + "agent_resets": 16, + "agent_sim_steps": 0, + "agent_records": 1, + "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": "log", + "denominator": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bathroom_route_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 232, + "text_zh": "观察：log step 232 的会话输出为 door final j=0.8178，但同时明确 SNAPSHOT saved: do_door actions: 0；评分器 reward.n_actions=0、sim_steps=0。没有视频、状态日志或评分器逐门事件字段，不能把会话开门读数当作交付轨迹的节点值，保留未知。" + } + ] + }, + "detergents_under_sink_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“第1瓶入槽下”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + }, + "detergents_under_sink_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“第2瓶入槽下”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“卫生巾盒上架”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“皂液器上水槽”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + }, + "cup_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：任务文本与 DAG 说明杯子初始在水槽上；评分器只给出 q_score=0.0，未报告杯子 ontop 的终态。该总分不计仍保持的初始目标，不能据此判杯子关系为假；无视频或状态日志，按无视频规则保留未知。" + } + ] + }, + "toothbrush_in_cup": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“牙刷入杯”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 n_actions=0、sim_steps=0；按 BEHAVIOR 总分约束，新增目标“牙膏放杯旁”成立至少需要一个新增目标文字项获分，因此该节点终态为假。此结论只限定终态，不把会话试验中的抓取或摆放计入评分轨迹，也不由零分推断操作过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "bathroom_route_door_opened", + "t": null, + "log_step": 232, + "where": "首步前", + "evidence_zh": "推断：评分器确认交付文件 n_actions=0、sim_steps=0；log step 225 的生成脚本从 do_door 开始任务，log step 232 保存 do_door 检查点时却输出 actions: 0。故评分尝试没有启动首个开门步骤；会话中门已打开属于未被录入的试验，不能作为评分尝试的操作进展。" + }, + "unmet": { + "detergents_under_sink_1": false, + "detergents_under_sink_2": false, + "sanitary_box_on_shelf": false, + "soap_dispenser_on_sink": false, + "cup_on_sink": null, + "toothbrush_in_cup": false, + "toothpaste_next_to_cup": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 232, + "evidence_zh": "观察：log step 232 明确输出 SNAPSHOT saved: do_door actions: 0，评分器最终仍报告 n_actions=0、sim_steps=0。交付的是零动作文件，评分轨迹未开始开门；此标签描述交付轨迹，非声称 agent 在会话中没有尝试。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 225, + "source_zh": "日志", + "evidence_zh": "推断：log step 191 展示 record_stop 在未录制时返回零行数组；log step 225 的脚本在首次 do_door 前没有调用 record_start，snapshot 则直接 record_stop 并保存，log step 232 实际报告保存 0 个动作。log step 233 agent 自述漏启录制，log step 234 仍只查到 snapshot 内的 record_start；log step 236 才补上首次录制并于 log step 237 重启，至 log step 239 未见新保存结果。结合评分器 n_actions=0、agent_records=1、agent_replays=0，确认漏启录制产生的空交付未被有效替换或验证。" + } + ], + "gap_zh": "无视频（inputs/video.json 的 kind=none）、无状态日志、无成功示范，所有视频时间和 intervals 均为 null。评分器没有逐节点终态：开门事件与初始杯子关系保留未知；q_score=0 只能约束新增目标的终态，不能给出接触、抓取或摆放的过程证据。日志包含多次会话试验和重启，其开门、搬瓶读数不作为评分轨迹事实；log step 239 输出为空，没有最后一次重启后的保存、重放验证或最终文字报告。" + }, + "summary_zh": "评分器记录交付轨迹为 0 个动作、0 个仿真步，新增的六个目标节点终态由 q_score=0 判为假，开门和杯子保持节点未知。断点在首个开门步骤开始前：log step 225 漏启录制，log step 232 保存空检查点，后续虽修复并重启，评分文件仍为空，根因为交付操作出错。无视频和状态日志，无法给出时间区间或实际接触，亦不将会话试验进展算入评分结果。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与日志一致：评分器 n_actions=0、sim_steps=0；log step 225 脚本未调用 record_start，log step 232 保存 0 个动作，log step 233 agent 自认漏启录制，修复后的第 4 次运行在 14400 s 限时前未见保存（log step 239 输出为空）。根因“交付操作出错”与 FAIL-19 同任务先例一致，断点首步前/没尝试、会话读数不算评分进展、无视频时节点值处理均合规。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-privileged--qdcpvyk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-privileged--qdcpvyk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fc328125c590ee03917f044453dc75deb35dd94cff5fe3be80d1e0627152a6b2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wugtzbk.json b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wugtzbk.json new file mode 100644 index 0000000000000000000000000000000000000000..8a18d28b5f5667ee489952e31d00170dfd9f5cc3 --- /dev/null +++ b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wugtzbk.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-privileged--wugtzbk", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "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": 8, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bathroom_route_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 47, + "text_zh": "观察：log step 46–47 的交互测试输出记录左夹爪接触滑门、门关节滑动；这不是已交付重放，不能确认评分轨迹中的开门事件。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "detergents_under_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 242, + "text_zh": "观察：log step 242 的 agent 脚本自检输出两瓶 Under=True；这只是交互会话的关系检查，不能确认评分轨迹中第1瓶的终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "detergents_under_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 242, + "text_zh": "观察：log step 242 的 agent 脚本自检输出两瓶 Under=True、NextTo=True；这只是交互会话的关系检查，不能确认评分轨迹中第2瓶及相邻关系的终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 299, + "text_zh": "观察：log step 299 的 agent 脚本自检输出卫生巾盒 OnTop shelf=True，并保存内存检查点；不能据此确认评分轨迹的摆放终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 299, + "text_zh": "观察：log step 299 的 agent 脚本自检输出皂液器 OnTop sink=True，并保存内存检查点；不能据此确认评分轨迹的摆放终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "cup_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 299, + "text_zh": "观察：log step 29 和 log step 299 的 agent 脚本自检均输出杯子在水槽上；这些是会话检查，没有已交付轨迹或评分器逐节点终态可确认杯子最终保持情况。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "toothbrush_in_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 349, + "text_zh": "观察：log step 345 的会话输出记录左手辅助抓取牙刷；log step 349 中 agent 自述仍在等待牙刷和牙膏抓取调试，未报告入杯验收。没有交付轨迹，不能将这些会话信息作为节点终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 345, + "text_zh": "观察：log step 345 的抓取调试输出为右手抓住篮子，非牙膏；log step 348 再次启动调试，log step 349 自述等待结果。没有交付轨迹，不能将会话中的抓取失败判为评分轨迹的节点终态。 inputs/video.json 的 kind=none，且无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1，未给出本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹（评分器 missing_trajectory=1）；交互会话的接触不记作本节点的轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 349, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 5 的 save_ckpt 仅写入进程内 checkpoints 字典，log step 299 保存的也只是内存检查点。log step 348 启动新的抓取调试，log step 349 中 agent 自述等待该调试结束；没有已交付评分轨迹可定位具体失败步骤。" + }, + "unmet": { + "detergents_under_sink_1": null, + "detergents_under_sink_2": null, + "sanitary_box_on_shelf": null, + "soap_dispenser_on_sink": null, + "cup_on_sink": null, + "toothbrush_in_cup": null, + "toothpaste_next_to_cup": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频（inputs/video.json: kind=none），无状态日志，评分器 missing_trajectory=1，且未报告逐节点结果或 q_score。日志包含交互调试、内存快照保存与恢复，不能用于确认已交付评分轨迹的节点值或物理失败现象；杯子初态关系也不能证明评分终态。inputs/run.json 记录 wall_s=7203、time_limit_s=7200；log step 349 仍在等待调试，未见提供方过滤、网络错误或外部崩溃终止的证据。按 DECISIONS.md D23，无交付且只有会话证据时，现象与根因均留空；不把预算耗尽、缺交付或会话中的抓错篮子直接标成原因。" + }, + "summary_zh": "评分器记录失败且未收到轨迹（missing_trajectory=1），8 个节点均无可确认的评分终态。交互会话曾自检两瓶在槽下且相邻、卫生巾盒在架上、皂液器及杯子在水槽上（log step 242、299），但最后仍在调试牙刷和牙膏抓取（log step 348–349），不能将这些会话结果计入评分进度。无视频、无状态日志及逐节点评分结果，断点仅能记为 unknown／首步前，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、评分器 missing_trajectory=1；所有节点 unknown、现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)，未把会话证据当作评分轨迹事实。", + "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": "2026-10-30T22:01:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-privileged--wugtzbk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-privileged--wugtzbk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eeb34d68d9fc0d05328fb56964a247683e44acc28668960c01cb85a35c7af057", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--g5xkk9t.json b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--g5xkk9t.json new file mode 100644 index 0000000000000000000000000000000000000000..eae128eb7ab1f1df57c8c91c3a7af218aeffbd4b --- /dev/null +++ b/phase2/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--g5xkk9t.json @@ -0,0 +1,308 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-standard--g5xkk9t", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "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": 1170, + "sim_steps": 1170, + "physics_steps": 4680, + "steps": 390, + "elapsed_s": 1628.2, + "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": 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": { + "bathroom_route_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "观察：log step 59 中 agent 寻找出口并令机器人转向疑似门，log step 64 中 agent 仅自述该处可能已敞开，log step 66 调用导航脚本驶向其选定的出口；服务终态 log step 71 只报告倾倒，没有路线门的开度或打开事件。无视频或状态日志，不能确认门是否被滑开，终态及区间均未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 59、61、66 记录机器人转向、调整躯干观察门区并向所选出口移动；没有可检查的图像或接触对记录，不能确认夹爪与门板、门把的实际接触，也不能核实倾倒时机体与家具的接触方式。" + } + ] + }, + "detergents_under_sink_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“第1瓶入槽下”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + }, + "detergents_under_sink_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“第2瓶入槽下”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“卫生巾盒上架”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“皂液器上水槽”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + }, + "cup_on_sink": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：DAG 与任务文本说明杯子初始在水槽上；log step 71 的服务终态未报告杯子关系，评分器也没有逐物体状态。推断：q_score=0.0 不计入初始已满足且保持的目标，故不能据此将杯子保持判为假；同时无视频或状态日志，不能仅由初态或 agent 自述“未搬动物品”（log step 76）确认终态，保留未知。" + } + ] + }, + "toothbrush_in_cup": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“牙刷入杯”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 q_score=0.0、graded_by_live=1、finalized=1；按 DAG 初态，本节点“牙膏放杯旁”需要新增的目标关系（第2瓶还要求两瓶均在槽下）不在初始已满足目标中，因此该终态若成立必增加评分器的满足数，与零分矛盾，判为假。这只决定终态，不说明此前是否尝试或短暂达成；无视频，区间为 null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "bathroom_route_door_opened", + "t": null, + "log_step": 66, + "where": "转场", + "evidence_zh": "推断：log step 59–66 的实际调用依次为转向疑似门、调整躯干观察门区、向所选卧室出口导航；因此将未修复的失败定位于“打开路线门”前的转场，未据此认定已操作门板。观察：log step 66 的底座姿态已明显倾斜，log step 70 的恢复动作未恢复直立，log step 71 的实时服务确认 done=True、reason=\"failure: the robot fell over\"、control_steps=1170、resumes=0；评分器 graded_by_live=1，所标的是该实时回合。无视频，t 为 null。" + }, + "unmet": { + "detergents_under_sink_1": false, + "detergents_under_sink_2": false, + "sanitary_box_on_shelf": false, + "soap_dispenser_on_sink": false, + "cup_on_sink": null, + "toothbrush_in_cup": false, + "toothpaste_next_to_cup": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 66, + "evidence_zh": "观察：log step 66 导航调用打印底座高度从初始约 0.005 m（log step 50）变为 0.613 m，并出现大幅倾斜四元数；log step 70 从服务姿态计算的底座竖直上轴分量为 -0.168，恢复后仍为 -0.033，随后服务返回 \"failure: the robot fell over\"；log step 71 再确认该终止原因。由服务终止判定可确认机器人倾倒；具体撞床过程仅为 agent 在 log step 67、76 的解释，未作为另一个碰撞现象。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 46, + "t": null, + "source_zh": "日志", + "evidence_zh": "推断：log step 46 的导航脚本虽然载入占据地图，goto 却只计算目标方位、转向并向目标直驶，每段最多 0.6 m，没有查询地图或生成绕障路径；log step 64 更新地图后，log step 66 仍直接调用同一 goto 驶向出口，随后倾倒。agent 在 log step 76 承认没有验证路径并自述直线穿过床的障碍带，与代码缺少路径检查相符，支持路线规划缺陷；床的具体位置及碰撞几何仍待核实。" + }, + { + "cat": "控制", + "item": "反馈控制", + "log_step": 46, + "t": null, + "source_zh": "日志", + "evidence_zh": "推断：独立于路线选择，log step 46 的执行循环只在每段 drive 完成后才读取头部深度并判断小于 0.5 m，未用底座倾角中止运动；log step 66 已连续打印多组严重倾斜的服务姿态，到末尾才报 obstacle ahead at 0.14 并停止。log step 70 的扶正仍未恢复直立，log step 71 确认倾倒终止；说明该反馈循环未及时阻止失稳后的继续运动，支持反馈控制缺陷，不能仅凭这些日志定量断言速度或增益不当。" + } + ], + "gap_zh": "inputs/video.json 明确 kind=none（远端视频 404，亦无本地视频）；本目录也无状态日志和可读取的逐帧图像。所有视频时刻和节点区间均为 null；六个新增摆放节点仅由评分器 q_score 总分约束终态，不能还原达成历史或据此判定没尝试。路线门与杯子没有逐节点服务字段，均保留未知；按门区观察及出口导航将断点归入开门步骤的转场属于日志推断，未核实所选开口对应 DAG 哪扇门，也未确认需要主动开门。倾倒有服务终止原因支持，撞床与障碍几何仅由 agent 自述，接触方式未知，故不增列碰撞现象。" + }, + "summary_zh": "评分器对这一无重置实时回合给出 success=0、q_score=0.0，可据总分判定六个新增摆放节点的终态为假，路线门和初始杯子保持关系则无法确认。机器人在观察门区、向所选卧室出口转场时倾倒，恢复未成功，服务在 log step 71 确认因倾倒终止；按 log step 59–66 将断点归入打开路线门前的转场，导航代码支持缺少绕障规划及失稳反馈不足两项根因。没有视频或状态日志，无法核实时刻、门的实际操作、杯子终态与具体接触几何。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（无视频、节点终态由 q_score 约束、断点 bathroom_route_door_opened/转场）与日志一致，无时钟问题。问题在现象：'全身·平衡' 实质上是评分器的终止规则（倾倒），而导致失稳的物理事件是底盘驶上/撞上床（服务本体姿态读数显示底座高度 0.005→0.613 m 并大幅倾斜，随后 obstacle ahead 0.14 m），应标为碰撞类现象而非把倾倒本身记为现象（S14/S15）。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；六个新增摆放节点由 q_score=0 约束为假，路线门与杯子保持未知，均合理。断点（打开路线门前的转场）与 平衡 现象有服务姿态读数（底座高度、上轴分量为负）和倾倒终止支持，上一轮的反对意见已被有证据地回应，无新证据推翻。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:10:35Z", + "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-sorting-household-items-i00-standard--g5xkk9t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-standard--g5xkk9t/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-standard--g5xkk9t/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-household-items-i00-standard--g5xkk9t/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41d81727c0fd0272be20142a35cfb40aec40c10793003a353c5124bea4b1b784", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--6bgjbtn.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--6bgjbtn.json new file mode 100644 index 0000000000000000000000000000000000000000..f3967129121c7b029d8a1e87ec65888f1946828e --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--6bgjbtn.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--6bgjbtn", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 0, + "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": "none", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 349, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“打开橱柜”的终值。log step 349 的开门角度及完成提示来自未交付的会话试跑，不能确定受评节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第1盒燕麦入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第2盒燕麦入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第1袋薯片入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第2袋薯片入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第1瓶油入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第2瓶油入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第1罐糖入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 481, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、agent_replays=0，且 inputs/video.json 为 kind=none，无状态日志；评分字段没有单独报告“第2罐糖入柜”的终值。log step 481 仅为 agent 自述生成任务仍在运行，未提供受评食品入柜结果，不能据总体失败推定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，无法将会话测试中的机器人夹爪或底盘接触计入此节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "无量纲", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 481, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、agent_replays=0。log step 370 检查输出目录时只有会话日志，log step 373 中 agent 终止了旧生成进程；log step 473 启动新生成任务，log step 480 仅新增 session_start，log step 481 的最后自述仍在等待生成。没有交付的受评动作序列，无法定位到某个物理步骤，按未交付记首步前。" + }, + "unmet": { + "oatmeal_in_cabinet_1": null, + "oatmeal_in_cabinet_2": null, + "chips_in_cabinet_1": null, + "chips_in_cabinet_2": null, + "olive_oil_in_cabinet_1": null, + "olive_oil_in_cabinet_2": null, + "sugar_in_cabinet_1": null, + "sugar_in_cabinet_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有运行记录及元数据，无视频、状态日志或成功参考视频；评分器报告 missing_trajectory=1，没有逐节点终值或 q_score。log step 353 的服务会话日志记录一次试跑 fallen、n_actions=621、success=false，log step 370 未见轨迹文件，log step 373 中 agent 随后终止旧进程；这些均不能当作受评轨迹的现象。最后日志停在 log step 481（agent 工作时间4840秒），run.wall_s=7202秒、time_limit_s=7200秒，缺少其后的生成、保存及终止记录，不能确定最终缺交付的具体原因，也不能把时限本身当作原因。按 DECISIONS.md D23 的当前处理，未交付的现象与根因均留空；九节点终值与全部视频时间均未知。" + }, + "summary_zh": "评分器判失败并报告 missing_trajectory=1，没有交付轨迹；九个节点均无法确认终值，不能将会话试跑的开柜提示计作进度。log step 353 记录旧试跑摔倒并录制621个动作，但 log step 370 未见保存文件；log step 481 的最后自述仍在等待新生成任务。断点记 unknown／首步前；无视频、无状态日志，且缺少末段交付记录，因此现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "未交付轨迹（missing_trajectory=1，无视频/状态日志），九个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；会话试跑未被当作受评事实，log 步号与时间（4840 s agent 时间、wall 7202 s）核对无误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:57Z", + "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-storing-food-i00-privileged--6bgjbtn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-privileged--6bgjbtn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d1b9038822c6ca529efa1525a446c43636b69fdaef12fc4be21cb057ed4c16fe", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--apsh8gi.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--apsh8gi.json new file mode 100644 index 0000000000000000000000000000000000000000..ed795669d6525cff073c658d4815d65efa15ab4a --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--apsh8gi.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--apsh8gi", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 2, + "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": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“打开橱柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第1盒燕麦入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第2盒燕麦入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第1袋薯片入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第2袋薯片入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第1瓶油入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第2瓶油入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第1罐糖入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 302, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且无状态日志。log step 302 仍是 agent 等待开柜调试脚本的会话记录，没有交付轨迹或报告“第2罐糖入柜”终值的受评结果字段，因此该节点终值未知。" + } + ], + "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，不能把会话测试中的夹爪或底盘接触计为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "无量纲", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 302, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、agent_records=0、agent_replays=0。log step 301 启动开柜调试脚本，log step 302 返回 RUNNING，agent 最后自述仍在等待；没有交付的受评轨迹可定位到某个物理节点，故断点为 unknown，位置为首步前。" + }, + "unmet": { + "oatmeal_in_cabinet_1": null, + "oatmeal_in_cabinet_2": null, + "chips_in_cabinet_1": null, + "chips_in_cabinet_2": null, + "olive_oil_in_cabinet_1": null, + "olive_oil_in_cabinet_2": null, + "sugar_in_cabinet_1": null, + "sugar_in_cabinet_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、meta.json、MANIFEST.json 和 video.json；无视频、无状态日志，也无成功参考视频。评分器只报告未交付轨迹，未报告各节点终值或 q_score；log step 289 中 agent 调试脚本打印的四件食品 Inside=True 属于恢复检查点后的会话检查，不能作为受评轨迹的进度或接触。推断：run.json 的 wall_s=7203 与 time_limit_s=7200 相近，且 log step 302 仍在调试，支持会话在预算附近结束而未交付；这不证明具体物理失败或根因。按无交付规则，两层均留空，不从缺交付反推“没尝试”或“交付操作出错”。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，没有受评轨迹；九个节点均无可确认的终值，实际接触均为不适用。log step 289 的会话检查虽打印四件食品 Inside=True，但不能计为交付结果；log step 302 仍在等待开柜调试脚本，因此断点记 unknown／首步前。无视频、状态日志或逐节点评分字段，无法确定物理失败现象及根因，两层留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1，agent_records=0）。所有节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，符合外因截断且无交付的规则；未把会话内测试当作受评事实。", + "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": "2026-10-30T22:04:47Z", + "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-storing-food-i00-privileged--apsh8gi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-privileged--apsh8gi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5842dee3277e057ca2cdc4172e31bc720c3dd9e85c175960dc1cf5aa4d5475e9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ab8ynb.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ab8ynb.json new file mode 100644 index 0000000000000000000000000000000000000000..aa3a98c821abfcbed95c6d7744759de06c51b7fb --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ab8ynb.json @@ -0,0 +1,334 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--4ab8ynb", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 10199, + "sim_steps": 10199, + "physics_steps": 40796, + "steps": 488, + "elapsed_s": 2931.1, + "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": 2, + "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": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 57、60—62记录agent脚本的开柜与探测指令；log step 62的脚本打印OPENED AT: False。log step 65再次执行右夹爪贴门、闭合和拉动，但只返回夹爪开度与done: False，没有服务报告的柜门开合结果；log step 67中agent仅称可能打开。无视频或状态日志，不能由脚本探测或自述确定开柜事件是否发生。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 50指定左夹爪探测柜门，log step 57、60—62、65指定右夹爪夹门边或贴门拉动，log step 60—61含底盘靠近指令；无影像或接触对，无法确认夹爪实际如何接触柜门。" + } + ] + }, + "oatmeal_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有燕麦盒满足入柜目标，第1件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62中agent脚本依次对oatA、oatB发出右夹爪接近、闭合和抬升命令，并打印MISS；此处为同类第1次尝试，不据脚本夹爪开度确认实际抓握。无视频或状态接触日志，接触未知。" + } + ] + }, + "oatmeal_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有燕麦盒满足入柜目标，第2件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62中agent脚本依次对oatA、oatB发出右夹爪接近、闭合和抬升命令，并打印MISS；此处为同类第2次尝试，不据脚本夹爪开度确认实际抓握。无视频或状态接触日志，接触未知。" + } + ] + }, + "chips_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有薯片袋满足入柜目标，第1件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 67中agent脚本计划右夹爪依次处理chipB、sugarB、sugarA、chipA，但该调用被终止且没有逐项回执；无视频或状态接触日志，不能确定两袋薯片各自是否及如何接触，故保留未知。" + } + ] + }, + "chips_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有薯片袋满足入柜目标，第2件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 67中agent脚本计划右夹爪依次处理chipB、sugarB、sugarA、chipA，但该调用被终止且没有逐项回执；无视频或状态接触日志，不能确定两袋薯片各自是否及如何接触，故保留未知。" + } + ] + }, + "olive_oil_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有橄榄油瓶满足入柜目标，第1件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + }, + { + "t": null, + "log_step": 69, + "text_zh": "观察：日志中的定位计算包含橄榄油瓶，log step 69保存的汇总脚本也包含油瓶位置，但保存发生在log step 68服务已经报告episode结束之后；未见在结束前执行油瓶取放的记录，保存脚本不计作本次执行。" + } + ] + }, + "olive_oil_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有橄榄油瓶满足入柜目标，第2件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + }, + { + "t": null, + "log_step": 69, + "text_zh": "观察：日志中的定位计算包含橄榄油瓶，log step 69保存的汇总脚本也包含油瓶位置，但保存发生在log step 68服务已经报告episode结束之后；未见在结束前执行油瓶取放的记录，保存脚本不计作本次执行。" + } + ] + }, + "sugar_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有糖罐满足入柜目标，第1件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62中agent脚本对sugarB执行右夹爪接近、闭合和抬升并打印MISS；log step 67计划再处理两罐糖，但没有逐项回执。无视频或状态接触日志，不能确认实际接触或最后一轮覆盖到哪一罐。" + } + ] + }, + "sugar_in_cabinet_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报告graded_by_live=1、q_score=0、success=0；任务初始描述为八件食品均在台面上，没有初始已满足的入柜目标可被进度分数排除。因此最终没有糖罐满足入柜目标，第2件计数节点最终为false；总分不能说明过程中是否曾入柜，无视频，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62中agent脚本对sugarB执行右夹爪接近、闭合和抬升并打印MISS；log step 67计划再处理两罐糖，但没有逐项回执。无视频或状态接触日志，不能确认实际接触或最后一轮覆盖到哪一罐。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "无量纲", + "threshold": null, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 68, + "where": "操作中", + "evidence_zh": "观察：log step 62的agent脚本记录开柜探测未通过及两盒燕麦、一罐糖的MISS；log step 65最后一次开柜没有服务柜门结果。log step 67开始食品抓取与入柜脚本后无逐项回执，log step 68的机器人实时服务status返回done=true、reason=\"failure: the robot fell over\"、control_steps=10199、resumes=0。推断：失败发生于这一实时操作过程，但无法确定开柜是否已修复、哪一食品操作执行到了跌倒处，也无法唯一选出最早未修复的DAG步骤，故ref为unknown。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 68, + "evidence_zh": "观察：log step 68机器人服务的最终status明确报告done=true和reason=\"failure: the robot fell over\"；这是服务对唯一实时评分episode的终止判定，reward同时报告graded_by_live=1、resumes=0、sim_error=0、infra_error=0。该证据确认机器人跌倒；没有视频，不填写视频时刻，也不推定具体碰撞。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/仅有run.json、meta.json、MANIFEST.json、video.json；video.json为kind=none，没有replay.mp4、状态日志或成功参考视频。log step 62的OPENED AT/MISS来自agent自写脚本，不能替代节点服务结果；log step 65—67缺少柜门状态与逐项执行反馈。因此全部视频时间和区间为null，开柜值、实际接触及具体断点节点未知，八个食品节点仅以评分器q_score=0约束最终值。log step 70将跌倒归于近柜操作接触，并称早先逆解跳变；这些是agent解释，缺少跌倒前姿态、力或接触数据，不能验证因果，根因留空。早期连接等待与log step 67脚本终止不替代log step 68已确认的物理失败。" + }, + "summary_zh": "推断：实时评分的q_score=0表明八个食品入柜节点最终均未满足；开柜事件没有可用的服务节点结果，保留未知，不能确定过程峰值。观察：log step 68服务确认机器人跌倒并结束episode；无视频、状态日志及最后取放的逐项回执，无法唯一定位最早未修复步骤或验证跌倒根因。", + "conf": 5, + "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，标注仅以服务 status（log step 68 的 done=true、robot fell over）和 q_score=0 为依据，保守且与 log 一致；未发现需要修改的内容。断点 ref=unknown 因无法唯一定位而保留，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--4ab8ynb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--4ab8ynb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "63f1112571fa0e2736bea53997e8a99961e719e548e5698771aefec23dee01fa", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--n4sgvbx.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--n4sgvbx.json new file mode 100644 index 0000000000000000000000000000000000000000..d26796cfdaadd2e2fa4b0680c46df22a5c0a27e0 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--n4sgvbx.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--n4sgvbx", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 3025, + "sim_steps": 3025, + "physics_steps": 12100, + "steps": 1844, + "elapsed_s": 2566.0, + "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": 2, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "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、q_score=0.0、live_success=0；任务 DAG 中沙子与灰尘的清除条件初始均为假，且是仅有的两个目标字面量。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：两个初始为假的目标字面量最终满足数为0，因此清除沙子的终值为false；此结论仅限终值，不能据此判定过程中从未完成或从未尝试。无本次视频及状态日志，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 61、63、65、76、80、81记录机器人为清扫工作尝试操纵扫帚；log step 82—91又记录底盘推扫和颗粒接触试验。无本次视频或接触状态日志，不能确认夹爪是否夹住扫帚、底盘是否推到扫帚，或工具与本种污物实际如何接触；两项清洁目标共用的工具准备按接触未知记录。" + } + ] + }, + "floor_clear_of_dust": { + "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、q_score=0.0、live_success=0；任务 DAG 中沙子与灰尘的清除条件初始均为假，且是仅有的两个目标字面量。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：两个初始为假的目标字面量最终满足数为0，因此清除灰尘的终值为false；此结论仅限终值，不能据此判定过程中从未完成或从未尝试。无本次视频及状态日志，intervals保留null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 61、63、65、76、80、81记录机器人为清扫工作尝试操纵扫帚；log step 82—91又记录底盘推扫和颗粒接触试验。无本次视频或接触状态日志，不能确认夹爪是否夹住扫帚、底盘是否推到扫帚，或工具与本种污物实际如何接触；两项清洁目标共用的工具准备按接触未知记录。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": null, + "log_step": 81, + "where": "操作中", + "evidence_zh": "观察：本次为单一现场评分局，评分器graded_by_live=1、sim_startups=1、resumes=0。log step 61、63、65、76、80、81中机器人执行低位接近、闭爪和等待等扫帚抓取动作；log step 81服务回读左末端z=0.252米，仍偏离脚本目标z=0.070米。log step 82中agent明确放弃手臂操纵，并下发改用底盘推扫的移动命令；log step 87、91继续用车轮试验颗粒清除。log step 91动作提交随后返回“failure: the robot fell over”，log step 92状态确认done=True、control_steps=3025及同一失败原因，最终q_score=0.0。推断：清洁所需的工具操纵已经实际开始，反复未到位后被放弃，清洁步骤未在结束前完成修复；按docs/03_trajectory.md Step 3.1及DECISIONS.md S14，将断点置于最后一次抓取失败的log step 81，位置为操作中，跌倒为后续终止事件。抓取扫帚是两项清洁目标共用的准备，ref沿用floor_clear_of_sand，结合后续针对深色颗粒的试验目标作归属推断；无本次视频，不能独立核实颗粒物质身份或倒下起始时刻。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 81, + "evidence_zh": "观察：本次为graded_by_live=1、sim_startups=1、resumes=0的单一现场评分局。log step 63的抓取脚本把左末端最终目标设为z=0.060米，服务eef_pose回读为z=0.148米；log step 65目标z=0.055米，回读z=0.197米、gripper_opening为[0.0, 0.1]；log step 71目标降至z=0.055米，末端最终仍为z=0.273米，左臂第四关节effort多次约25.0—25.4牛米。log step 80和81改换姿态、延长等待，目标均为z=0.070米，最终回读分别为z=0.154和0.252米。推断：机器人在扫帚抓取中反复未能到达所下发的低位目标，支持位姿不准；开度为零只证明夹爪闭合，不能单独证实夹住扫帚或闭在空处，无本次画面或接触状态可核实实际抓取。" + }, + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 91, + "evidence_zh": "观察：log step 91中机器人服务对动作提交返回EpisodeOver，原因是“failure: the robot fell over”；log step 92再次查询服务得到done=True、reason为同一跌倒失败、control_steps=3025。服务判定来自本次无重置的现场评分局，足以支持机器人失去平衡；不依据agent关于扫帚卡住底盘的解释追加碰撞现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 63为机器人下发最低约0.06米的末端路径后，服务末端位置仍约0.148米；log step 71逐帧本体感知显示末端下降后停在约0.273米、左臂第四关节力矩多次约25牛米。log step 76、80、81更换姿态或延长等待后，末端仍分别约0.170、0.154、0.252米；agent随后在log step 82放弃手臂操纵，改用底盘推扫，最终log step 91—92服务判定跌倒。推断：实际执行反复不能跟踪低位操纵目标，清扫工具的控制问题未解决并促成改用底盘试探，支持宽泛的控制根因；这些记录不能证明所有合法抓法均不可行，也不足以确定跌倒的具体机械原因或控制子类。" + } + ], + "gap_zh": "观察：inputs/video.json的kind为none，inputs/没有本次replay.mp4或states.jsonl；inputs/oracle/replay.mp4是另一成功运行，不能证明本次接触或进度。两项目标只有最终评分总数可判，所有视频时间和intervals均为null，历史峰值未知；接触方式未知。推断：低位目标与服务末端回读的偏差支持位姿不准，但不能证明所有合法抓法均不可行。扫帚操纵是两项清洁目标共用的准备，断点沿用清除沙子并结合后续深色颗粒试验目标推断归属，抓取记录本身不能区分沙子与灰尘，物质身份缺少独立核实。服务直接证明跌倒，但agent在log step 93、98声称扫帚卡入底盘下、早先碰动扫帚及地面抓取不可能，均缺少可核查的本次画面或接触记录，未据此标碰撞、感知或任务环境根因；根因仅保留日志支持的控制大类。" + }, + "summary_zh": "评分器q_score=0.0且两项目标初始均为假，故清除沙子、清除灰尘最终均未完成；无视频，不能判断历史上是否短暂达到目标。机器人多次低位扫帚操纵偏离所下发目标，log step 81仍未到位、log step 82放弃手臂抓取，断点沿用清除沙子（操作中），现象为位姿不准及后续服务于log step 91—92确认的跌倒，根因保留控制大类。conf维持6：服务回读支持位姿偏差和跌倒，但本次没有视频或状态日志，实际接触、共用工具准备对两项目标的归属及跌倒机械原因仍有证据缺口。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "终值false、接触未知、跌倒由服务判定都有日志支撑，无视频下处理克制，可以接受。问题在于：标签把失败只写成最后的跌倒（探索），漏掉了日志里反复出现、有服务本体感知数据支持的扫帚夹取失败（末端到不了地面目标）；断点位置也因此偏向探索。", + "n_issues": 2, + "n_major": 1 + 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375 中，机器人服务在 agent 脚本打开夹爪后返回 rcb_client.EpisodeOver: success；inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1、resumes=0，表明本次单次实时评分局已成功结束。" + }, + { + "t": null, + "log_step": 375, + "text_zh": "推断：本次任务文字将“盆栽上茶几”列为成功所需的四个同时成立的目标之一；服务成功终局及评分器 q_score=1.0 因而确定该节点终态为真。没有本次录像或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null；未将 agent 自行计算的位姿、深度统计或最终自述当作节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次尝试处理了“盆栽上茶几”，但没有本次录像或状态日志可核实夹爪与目标物体的实际接触。日志中的夹爪指令、开度及 agent 自述不足以确定实际接触方式，故记未知。" + } + ] + }, + "newspaper_on_table": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 375, + "text_zh": "观察：log step 375 中，机器人服务在 agent 脚本打开夹爪后返回 rcb_client.EpisodeOver: success；inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1、resumes=0，表明本次单次实时评分局已成功结束。" + }, + { + "t": null, + "log_step": 375, + "text_zh": "推断：本次任务文字将“报纸上茶几”列为成功所需的四个同时成立的目标之一；服务成功终局及评分器 q_score=1.0 因而确定该节点终态为真。没有本次录像或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null；未将 agent 自行计算的位姿、深度统计或最终自述当作节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次尝试处理了“报纸上茶几”，但没有本次录像或状态日志可核实夹爪与目标物体的实际接触。日志中的夹爪指令、开度及 agent 自述不足以确定实际接触方式，故记未知。" + } + ] + }, + "hardback_in_bookcase": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 375, + "text_zh": "观察：log step 375 中，机器人服务在 agent 脚本打开夹爪后返回 rcb_client.EpisodeOver: success；inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1、resumes=0，表明本次单次实时评分局已成功结束。" + }, + { + "t": null, + "log_step": 375, + "text_zh": "推断：本次任务文字将“精装书进入任一书柜”列为成功所需的四个同时成立的目标之一；服务成功终局及评分器 q_score=1.0 因而确定该节点终态为真。没有本次录像或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null；未将 agent 自行计算的位姿、深度统计或最终自述当作节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次尝试处理了“精装书进入任一书柜”，但没有本次录像或状态日志可核实夹爪与目标物体的实际接触。日志中的夹爪指令、开度及 agent 自述不足以确定实际接触方式，故记未知。" + } + ] + }, + "notebook_on_desk": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 375, + "text_zh": "观察：log step 375 中，机器人服务在 agent 脚本打开夹爪后返回 rcb_client.EpisodeOver: success；inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、q_score=1.0、finalized=1、resumes=0，表明本次单次实时评分局已成功结束。" + }, + { + "t": null, + "log_step": 375, + "text_zh": "推断：本次任务文字将“笔记本上书桌”列为成功所需的四个同时成立的目标之一；服务成功终局及评分器 q_score=1.0 因而确定该节点终态为真。没有本次录像或状态日志，不能确定首次达成、途中失去或恢复的时刻，intervals 保留 null；未将 agent 自行计算的位姿、深度统计或最终自述当作节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次尝试处理了“笔记本上书桌”，但没有本次录像或状态日志可核实夹爪与目标物体的实际接触。日志中的夹爪指令、开度及 agent 自述不足以确定实际接触方式，故记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "评分器 success=1、live_success=1、q_score=1.0，且 log step 375 的机器人服务返回 EpisodeOver: success，据此判定盆栽和报纸上茶几、精装书入书柜、笔记本上书桌四个目标终态全部成立，无失败断点。当前任务文字要求四个目标同时满足并松手静置保持约一秒，服务成功终局支持其联合验收已通过。inputs/video.json 标明本次录像不可用，且未提供本次状态日志，故全部时间区间保留 null、实际接触标为未知；独立 oracle 成功录像不能证明本次动作或中间进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无录像、无状态日志；评分器 success=1、q_score=1.0、log step 375 EpisodeOver: success 支持四个目标终态均为真，intervals 为 null、contact 为未知均合理，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": "2026-10-30T22:00:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--g4hfm6w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--g4hfm6w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d5b61ad5d88ba5526ed84aadb56d95f0b6be9c420d53c66a3d5b7be1a3b3cd88", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--x8pcm5v.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--x8pcm5v.json new file mode 100644 index 0000000000000000000000000000000000000000..e864aef8105736c3d042b22e94c87f81f627f6be --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--x8pcm5v.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--x8pcm5v", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 1064, + "sim_steps": 1064, + "physics_steps": 4256, + "steps": 355, + "elapsed_s": 1821.3, + "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": 0, + "nodes": { + "plant_on_table": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的实时评分器字段 graded_by_live=1、q_score=0.0；任务初态为盆栽和报纸在地板、精装书和笔记本在茶几，DAG 四个目标关系均非初始成立。按 BEHAVIOR 目标谓词总分约束，终态不能满足其中任一关系，故“盆栽上茶几”终值为假；此总分不能判定中途是否曾达成。无本次视频和状态日志，intervals 保持 null。" + }, + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 22 的脚本驱动底盘接近 agent 估计的盆栽位置，log step 28 agent 自述先抓盆栽，但提交的是底盘转向；log step 45 又执行八视角转向扫描以寻找盆栽，未提交盆栽抓取或放置动作。log step 55 服务以 failure: the robot fell over 结束本次单一实时回合。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 22、28、45 记录为寻找盆栽而提交的底盘移动与转向；缺少本次画面及接触状态，不能核实轮式底盘的实际支承接触，也不能确认夹爪或机体是否碰到盆栽。" + } + ] + }, + "newspaper_on_table": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的实时评分器字段 graded_by_live=1、q_score=0.0；任务初态为盆栽和报纸在地板、精装书和笔记本在茶几，DAG 四个目标关系均非初始成立。按 BEHAVIOR 目标谓词总分约束，终态不能满足其中任一关系，故“报纸上茶几”终值为假；此总分不能判定中途是否曾达成。无本次视频和状态日志，intervals 保持 null。" + }, + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 38-41 的脚本尝试分割报纸；log step 42 agent 自述找到报纸，log step 43 提交前往 agent 所称报纸所在通道的底盘动作。上述自编检测不作为节点成立证据；未见报纸抓取或放置指令。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 38-43 有为定位和接近报纸而执行的转向、移动脚本；本次无视频或接触状态，实际作用端与报纸之间是否接触及接触方式无法核实。" + } + ] + }, + "hardback_in_bookcase": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的实时评分器字段 graded_by_live=1、q_score=0.0；任务初态为盆栽和报纸在地板、精装书和笔记本在茶几，DAG 四个目标关系均非初始成立。按 BEHAVIOR 目标谓词总分约束，终态不能满足其中任一关系，故“精装书入书柜”终值为假；此总分不能判定中途是否曾达成。无本次视频和状态日志，intervals 保持 null。" + } + ] + }, + "notebook_on_desk": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的实时评分器字段 graded_by_live=1、q_score=0.0；任务初态为盆栽和报纸在地板、精装书和笔记本在茶几，DAG 四个目标关系均非初始成立。按 BEHAVIOR 目标谓词总分约束，终态不能满足其中任一关系，故“笔记本上书桌”终值为假；此总分不能判定中途是否曾达成。无本次视频和状态日志，intervals 保持 null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plant_on_table", + "t": null, + "log_step": 45, + "where": "探索", + "evidence_zh": "推断：log step 22 已驱动机器人接近盆栽估计位置，log step 28 又为先抓盆栽而转向；该步骤未完成。log step 45 的实际脚本在原地连续转向，采集八个视角寻找盆栽；紧接着 log step 47 读取到底座严重倾斜，log step 49、51 的恢复动作未恢复直立，log step 55 服务最终返回 failure: the robot fell over。故断点归于盆栽上茶几的场景探索阶段。无本次视频，无法定位最初翻倒的瞬间，t 保持 null；log step 45 是对应动作的日志锚点。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 55, + "evidence_zh": "观察：log step 55 机器人服务的提交结果为 done=True、reason=failure: the robot fell over；其 status 同时报 control_steps=1064、resumes=0。此前 log step 47 脚本打印从服务本体感知读取的 rx=-4.516、ry=1.483，计算的底座上轴竖直分量约 -0.017；log step 49、51 恢复探测后该值仍约 -0.010、-0.014。跌倒现象由同一实时回合的服务终局确认，不据 agent 的“被栏杆卡住”自述追加碰撞现象。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 kind=none，原录像获取状态为 404 且无本地视频；inputs/ 未提供 states.jsonl，亦无状态路径。本次只能用日志及评分器字段，所有视频时间和节点区间均为 null；oracle 是另一条成功轨迹，不能代替本次证据。推断：日志动作支持将断点归于寻找盆栽的探索，但不能精确确定开始翻倒的动作或实际接触。agent 在 log step 53、59 声称被楼梯栏杆卡住、开环驾驶且未及时检查姿态；缺少本次画面、支承/碰撞状态和翻倒前连续姿态，无法核实这些因素对翻倒的具体因果作用，根因层留空。评分器零分仅决定终值，不证明各节点从未短暂成立。" + }, + "summary_zh": "实时评分器 q_score=0，结合四个目标关系初始均不成立，可判终态盆栽上茶几、报纸上茶几、精装书入书柜及笔记本上书桌均未满足（0/4）。推断：断点为寻找盆栽时的场景探索，log step 45 的转向扫描后发现底座严重倾斜，恢复未奏效，log step 55 服务确认以跌倒结束。无本次视频及状态日志，无法标注历史区间、核实实际接触或确定翻倒根因。", + "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；终值全 false 由 q_score=0 加四个目标初始均不成立推出，符合 N9/PROG-10。断点（盆栽，探索，log step 45 八视角原地转向）与日志吻合：该步之前 z=0.019，之后 z=0.336、cos_tilt≈-0.017，随后服务返回 fell over。平衡现象成立，根因留空并有 gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:43Z", + "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-tidying-living-room-i00-standard--x8pcm5v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--x8pcm5v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e2c13b970f4ea56fe753386512c9b0623ee005438f1e26145c4361e56139ab38", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ywglpgm.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ywglpgm.json new file mode 100644 index 0000000000000000000000000000000000000000..f40d602fac9eb2ea6319c0917fce5dcb49534e39 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ywglpgm.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--ywglpgm", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 14267, + "sim_steps": 14267, + "physics_steps": 57068, + "steps": 7840, + "elapsed_s": 5703.5, + "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": 14238, + "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": { + "plant_on_table": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 406, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0；log step 406 读取的机器人服务终局元数据为 done=True、reason=success、control_steps=14267。该服务终局对应本次单次实时评分回合，reward 中 sim_startups=1、resumes=0、replays=0。" + }, + { + "t": null, + "log_step": 406, + "text_zh": "推断：本任务成功要求四项目标同时成立，故服务成功终局及评分结果确定盆栽与茶几的 ontop 关系终态为真。该判断来自评分器和服务终局，并非 agent 的放置自述；本次没有录像或状态日志，无法确定首次达成、途中丢失或恢复的时刻，intervals 保持 null。" + }, + { + "t": null, + "log_step": 168, + "text_zh": "观察：log step 168 中 agent 的控制脚本向机器人发出移动右夹爪、张开双指及撤离的命令，意图释放盆栽；命令本身不能证实实际抓握或物体接触。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次没有录像或状态日志；log step 168 的右夹爪操纵盆栽命令可定位尝试，但不能核实夹爪与物体实际如何接触，亦不能据此确认搬运中的接触链。" + } + ] + }, + "newspaper_on_table": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 406, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0；log step 406 读取的机器人服务终局元数据为 done=True、reason=success、control_steps=14267。该服务终局对应本次单次实时评分回合，reward 中 sim_startups=1、resumes=0、replays=0。" + }, + { + "t": null, + "log_step": 406, + "text_zh": "推断：本任务成功要求四项目标同时成立，故服务成功终局及评分结果确定报纸与茶几的 ontop 关系终态为真。该判断来自评分器和服务终局，并非 agent 的放置自述；本次没有录像或状态日志，无法确定首次达成、途中丢失或恢复的时刻，intervals 保持 null。" + }, + { + "t": null, + "log_step": 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"contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次没有录像或状态日志；log step 326 的右夹爪操纵精装书命令可定位尝试，但不能核实夹爪与物体实际如何接触，亦不能据此确认搬运中的接触链。" + } + ] + }, + "notebook_on_desk": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 406, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0；log step 406 读取的机器人服务终局元数据为 done=True、reason=success、control_steps=14267。该服务终局对应本次单次实时评分回合，reward 中 sim_startups=1、resumes=0、replays=0。" + }, + { + "t": null, + "log_step": 406, + "text_zh": "推断：本任务成功要求四项目标同时成立，故服务成功终局及评分结果确定笔记本与书桌的 ontop 关系终态为真。该判断来自评分器和服务终局，并非 agent 的放置自述；本次没有录像或状态日志，无法确定首次达成、途中丢失或恢复的时刻，intervals 保持 null。" + }, + { + "t": null, + "log_step": 403, + "text_zh": "观察：log step 403 中 agent 的控制脚本向机器人发出移动左夹爪、张开双指及撤离的命令，意图释放笔记本；命令本身不能证实实际抓握或物体接触。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次没有录像或状态日志；log step 403 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"不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + }, + "switches_off_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 missing_trajectory=1、success=0，未报告“第1个开关关闭”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不构成已交付的受评分轨迹，无法确定该节点终值。" + } + ], + "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；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + }, + "switches_off_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 missing_trajectory=1、success=0，未报告“第2个开关关闭”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不构成已交付的受评分轨迹，无法确定该节点终值。" + } + ], + "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；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + }, + "switches_off_3": { + "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 missing_trajectory=1、success=0，未报告“第3个开关关闭”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不构成已交付的受评分轨迹，无法确定该节点终值。" + } + ], + "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；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + }, + "lamps_off_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 missing_trajectory=1、success=0，未报告“第1盏台灯关闭”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不构成已交付的受评分轨迹，无法确定该节点终值。" + } + ], + "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；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + }, + "lamps_off_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 missing_trajectory=1、success=0，未报告“第2盏台灯关闭”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不构成已交付的受评分轨迹，无法确定该节点终值。" + } + ], + "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；不将 agent 会话试验中的机器人接触作为本节点的实际轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 551, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、grader_error=0；agent 在 log step 177 将试验动作留在 trial_actions 变量中，在 log step 217、309、449 重放该片段，log step 488 又开始录制。最后的 log step 551 仍是机器人底盘接近杂物间开关的会话命令，未返回输出；日志中没有最终轨迹保存调用。推断：没有可定位物理失败步骤的受评分交付轨迹，故断点为 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": 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run.json 一致。没有发现需要修改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--fbyqfyf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--fbyqfyf/04_review_r1" + } + ], + "review_engine": 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"behavior-turning-out-all-lights-before-sleep-i00-privileged--uhro7kg", + "taskKey": "behavior-1k/turning_out_all_lights_before_sleep", + "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa", + "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": 17, + "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": { + "utility_door_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“打开杂物间门”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + }, + "switches_off_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“第1个开关关闭”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + }, + "switches_off_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“第2个开关关闭”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + }, + "switches_off_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“第3个开关关闭”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + }, + "lamps_off_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“第1盏台灯关闭”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + }, + "lamps_off_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 237, + "text_zh": "观察：inputs/video.json 标为 none，本次无视频或状态日志；评分记录 reward.missing_trajectory=1，未报告“第2盏台灯关闭”的节点结果。log step 237 仅有 agent 自述最后脚本已启动、仍在等待完成，不能据会话调试或计划确认本节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，本次未交付受评分轨迹；会话调试中的机器人接触不作为本次轨迹接触。" + } + ] + } + }, + "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": 237, + "where": "首步前", + "evidence_zh": "观察：评分记录 reward.missing_trajectory=1、agent_replays=0；log step 235 的脚本将完整轨迹保存放在最后阶段动作之后，log step 236 只返回后台任务已启动，log step 237 的 agent 自述仍在等待。没有交付轨迹可定位具体失败节点；“首步前”指受评分轨迹未开始，不代表会话中机器人未运动。" + }, + "unmet": { + "switches_off_1": null, + "switches_off_2": null, + "switches_off_3": null, + "lamps_off_1": null, + "lamps_off_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 none，inputs/ 中无本次 replay.mp4 或 states.jsonl；评分记录 missing_trajectory=1，亦未报告 q_score 或逐节点终局结果。日志终止于 log step 237 的等待消息，没有最后后台任务的完成输出、保存成功或受评分回放结果；run.json 记录会话墙钟用时 wall_s=7203、预算 time_limit_s=7200，但未明确记录末尾任务为何未完成。推断：无法确认六个节点的终值、节点时刻及具体物理失败，亦无法证明导致未交付的能力根因；依 DECISIONS.md D23 留空现象与根因，不把会话测试或预算耗尽当作现象和根因。inputs/oracle/replay.mp4 属于另一成功运行，不能补足本次轨迹证据。" + }, + "summary_zh": "评分记录 success=0、missing_trajectory=1，本次未交付受评分轨迹，六个节点终值均未知，不能把会话调试进展计入节点。log step 235–237 只表明 agent 编写并启动了末段动作及保存脚本，最后仍在等待，故断点记 unknown／首步前，现象与根因留空。本次无视频、无状态日志，也无逐节点评分或 q_score，无法进一步确认物理进展与未交付原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分记录 missing_trajectory=1；六个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)，未把会话调试或预算耗尽当作现象/根因，也没有转换时钟。", + "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": "2026-10-30T22:02:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": 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b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--dadjkko.json new file mode 100644 index 0000000000000000000000000000000000000000..f3170599ec29c55b654cd442aee7d8a36f6327ef --- /dev/null +++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--dadjkko.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--dadjkko", + "taskKey": "behavior-1k/turning_out_all_lights_before_sleep", + "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa", + "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": 2556, + "sim_steps": 2556, + "physics_steps": 10224, + "steps": 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"text_zh": "推断：这五个关灯目标均非初始已满足条件，终局 q_score=0.0 限定没有任何目标设备关闭，因此“至少2个墙壁开关关闭”的终值为假；此推断只确定终值，不据零分断言从未尝试或从未短暂关闭。无本次视频，区间为 null。" + } + ] + }, + "switches_off_3": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 23, + "text_zh": "观察：log step 23 的服务 spec.task_text 明确三个目标墙壁开关及两盏目标台灯初始全部开启；inputs/run.json 的 reward 报告 graded_by_live=1、finalized=1、q_score=0.0。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：这五个关灯目标均非初始已满足条件，终局 q_score=0.0 限定没有任何目标设备关闭，因此“至少3个墙壁开关关闭”的终值为假；此推断只确定终值，不据零分断言从未尝试或从未短暂关闭。无本次视频，区间为 null。" + } + ] + }, + "lamps_off_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 23, + "text_zh": "观察：log step 23 的服务 spec.task_text 明确三个目标墙壁开关及两盏目标台灯初始全部开启；inputs/run.json 的 reward 报告 graded_by_live=1、finalized=1、q_score=0.0。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：这五个关灯目标均非初始已满足条件，终局 q_score=0.0 限定没有任何目标设备关闭，因此“至少1个台灯关闭”的终值为假；此推断只确定终值，不据零分断言从未尝试或从未短暂关闭。无本次视频，区间为 null。" + } + ] + }, + "lamps_off_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 23, + "text_zh": "观察：log step 23 的服务 spec.task_text 明确三个目标墙壁开关及两盏目标台灯初始全部开启；inputs/run.json 的 reward 报告 graded_by_live=1、finalized=1、q_score=0.0。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "推断：这五个关灯目标均非初始已满足条件，终局 q_score=0.0 限定没有任何目标设备关闭，因此“至少2个台灯关闭”的终值为假；此推断只确定终值，不据零分断言从未尝试或从未短暂关闭。无本次视频，区间为 null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 61, + "where": "转场", + "evidence_zh": "观察：log step 61 的 agent 脚本执行 goto 18.7 1.7 1.75，随后输出服务终止原因“failure: the robot fell over”；log step 62 直接查询服务得到 done=true、control_steps=2108、相同 reason，后续提交被 EpisodeOver 拒绝。推断：机器人在驶向门的转场中跌倒；该门仅由 agent 称作木门，无法对应到 DAG 的杂物间滑门，也没有证据确定它在前往哪一个灯的操作位置，故具体断点节点为 unknown。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 62, + "evidence_zh": "观察：log step 62 的机器人服务 status 返回 done=true、reason=\"failure: the robot fell over\"、control_steps=2108、resumes=0，并拒绝继续执行动作。这是本次单一现场评分局的服务终态，确认机器人跌倒，非仅 agent 对画面的描述。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 60 的 agent 底盘控制代码按距离和航向误差生成整段运动，旋转每控制步最高0.03弧度，平移最高0.03米，未见倾斜保护；log step 61 在距目标仍约0.49米时连续记录航向大幅变化并最终收到服务跌倒判定。推断：这次底盘运动控制没有保持稳定，导致转场跌倒；可定位到控制层，但缺少逐步姿态、速度和接触记录，不能证实 agent 在 log step 62 所称的积分累积机理，也不据此细分参数调试或认定碰撞。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none，inputs/ 下没有本次 replay.mp4 或 states.jsonl，日志中的图片仅留占位与索引，无法直接检查本次操作接触、开门进展、短暂关灯或跌倒起点；所有视频时间及区间均为 null。五个关灯终值由评分总数及全开初态确定，开门终值未知。日志只显示调姿、扫描和驶向身份未确认的门，无法把目标操作或其接触可靠归属到具体 DAG 节点，因此未填任何节点的 contact_actual，也不把搜索阶段算成按压接触。参考成功视频仅用于理解门的可见形态（已查看参考视频约40、50、60秒），不作为本次已开门或已触碰目标的证据。控制根因的具体动力学机制仍缺测量。", + "unmet": { + "switches_off_1": false, + "switches_off_2": false, + "switches_off_3": false, + "lamps_off_1": false, + "lamps_off_2": false + } + }, + "summary_zh": "本次现场评分的 q_score=0.0，结合服务描述的五个设备全开初态，五个关灯计数节点终值均为假；杂物间开门节点终值未知，未确认完成任何节点。机器人在驶向身份未确认的门时跌倒，服务于 log step 62 确认终止，现象为全身失衡，根因证据支持底盘控制层但不足以确定具体机理。没有本次视频或状态日志，无法确定具体断点节点、过程区间及实际目标接触。", + "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/状态日志；五个关灯节点终值由 q_score=0.0 与全开初态界定，开门节点 unknown、断点 ref unknown、全身·平衡（服务终态 fell over）与控制根因均有 log step 61/62 支持且标注了观察/推断，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--qe3aqm3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--qe3aqm3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "076e50002c012c3d04a1260f9945b18872322bf1de58e166f58c1fab3eaff924", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gqmbdb7.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gqmbdb7.json new file mode 100644 index 0000000000000000000000000000000000000000..d8862bd42322491197cd556ebf04e54059ddc9c3 --- /dev/null +++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gqmbdb7.json @@ -0,0 +1,156 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-vacuuming-floors-i00-privileged--gqmbdb7", + "taskKey": "behavior-1k/vacuuming_floors", + "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5", + "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": 21, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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": { + "bedroom_floor_clean": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/video.json 的 kind=none，未提供本次受评视频或状态日志；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，且未报告 q_score 或地面除尘节点结果，故无法判定该节点终值。" + }, + { + "t": null, + "log_step": 134, + "text_zh": "观察：agent 在 log step 134 自述已启动清扫最后一粒灰尘的测试并等待结果；log step 133 仅返回后台任务已启动，随后 log step 136 出现 Gemini 过滤器拦截提示。推断：这是未交付会话中的测试，不能据此认定受评节点完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0；没有交付轨迹，不能将会话测试中的夹爪、吸尘器或底盘接触写作受评轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 136, + "where": "首步前", + "evidence_zh": "观察：log step 136 为“This request was blocked by Gemini's filters”；此前 log step 133 只确认最后清扫测试在后台启动，log step 134 的 agent 自述仍在等待结果。评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0。推断：在交付受评轨迹前遭模型提供方过滤中断，没有可定位的受评物理失败步骤，按外部因素中断规则记 unknown／首步前。" + }, + "unmet": { + "bedroom_floor_clean": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，评分器只报告未交付轨迹，未报告 q_score 或节点终态；log step 136 明确记录 Gemini 过滤器拦截。推断：按 CASES.md FAIL-5，属于交付前的外部中断，应重试并排除出 agent 失败归因；现象和根因均留空，不标没尝试或交付操作出错。会话内的反复重置和清扫测试不构成受评轨迹，其物理进度、失败时刻与实际接触无法核定；所给 oracle 属于另一成功运行，不能补作本次证据。" + }, + "summary_zh": "观察：评分器记录未交付轨迹（missing_trajectory=1、agent_records=0），卧室地面除尘节点没有可判定的受评终值；log step 134 的 agent 自述仍在等待清扫测试结果，log step 136 随即出现 Gemini 过滤器拦截。推断：这是交付前的外部中断，断点记 unknown／首步前，现象和根因留空；本次没有视频或状态日志，不能把会话测试的除尘进展计入受评节点。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注符合 FAIL-5：评分器 missing_trajectory=1、agent_records=0，log step 136 为 Gemini 过滤器拦截，断点 unknown/首步前，现象与根因为空且有 gap_zh，节点 unknown 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": "2026-10-30T21:59:39Z", + "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-vacuuming-floors-i00-privileged--gqmbdb7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-vacuuming-floors-i00-privileged--gqmbdb7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e07e036b85d55e9091c1d4ec766d5f5f303df8133232be1829fb4e79a80a3fd1", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--6z9zz2z.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--6z9zz2z.json new file mode 100644 index 0000000000000000000000000000000000000000..abfa610d23fb9821ca77d537b33d7c787a1c27aa --- /dev/null +++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--6z9zz2z.json @@ -0,0 +1,162 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-vacuuming-floors-i00-standard--6z9zz2z", + "taskKey": "behavior-1k/vacuuming_floors", + "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5", + "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": 12909, + "sim_steps": 12909, + "physics_steps": 51636, + "steps": 12309, + "elapsed_s": 4613.6, + "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": 12880, + "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": 1, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "bedroom_floor_clean": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 269, + "text_zh": "观察：log step 269 中机器人控制服务返回 done=true、reason=\"success\"，对应 control_steps=12909、仿真 430.3 s；这是本次单一现场回合的服务终态，而非 agent 对画面的清洁判断。本次无视频，故不将该仿真时刻换算为视频时间，intervals 保持 null。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 success=1、live_success=1、graded_by_live=1、finalized=1、q_score=1.0，且 sim_startups=1、resumes=0、replays=0；任务 DAG 只有“卧室地面除尘”一个目标节点，因此该次现场成功结果确认此节点最终成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 268 的 agent 脚本继续发送清洁过程中的底盘平移命令，log step 269 的服务随后返回成功；但本次没有可用视频或状态日志，无法核实夹爪与吸尘器、吸头与灰尘及底盘与地板实际发生的接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "评分器与 log step 269 的机器人控制服务共同确认本次现场回合成功，唯一目标“卧室地面除尘”最终完成（1/1），无失败断点。观察：log step 269 的服务返回 done=true、reason=\"success\"，评分器 q_score=1.0；此前 agent 多次自述可见灰尘已清完时，服务仍返回 done=false，不能把这些自述当作节点完成。没有本次视频或状态日志，无法确定视频时间区间、逐处灰尘清除过程及实际接触，intervals 留 null、contact_actual 标未知；参考成功录像不作为本次运行证据。", + "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；节点 bedroom_floor_clean final=true 由 log step 269 服务 done=true/reason=success 与评分器 q_score=1.0 决定，intervals 为 null、contact_actual 为未知均符合 N9，无失败标签，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", + 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a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--g4m4qho.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--g4m4qho.json new file mode 100644 index 0000000000000000000000000000000000000000..0f365830d384e62b51a6385d20bcf1d1c9d05aff --- /dev/null +++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--g4m4qho.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-vacuuming-floors-i00-standard--g4m4qho", + "taskKey": "behavior-1k/vacuuming_floors", + "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5", + "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": 1490, + "sim_steps": 1490, + "physics_steps": 5960, + "steps": 497, + "elapsed_s": 1786.2, + "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": 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": 1, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "bedroom_floor_clean": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 graded_by_live=1、finalized=1、success=0、q_score=0.0，且 sim_startups=1、resumes=0；DAG 只有一个目标文字 not covered(floor.n.01_1, dust.n.01_1)，其初态为地面有尘。" + }, + { + "t": null, + "log_step": 72, + "text_zh": "推断：唯一目标的 q_score=0.0 决定卧室地面除尘终态为 false；log step 72 的服务 status 在 control_steps=1490 返回 done=True、reason=\"failure: the robot fell over\"，确认现场评测已结束。无本次视频或状态日志，不能确定途中是否短暂清洁，也不从零分推断机器人从未尝试。" + }, + { + "t": null, + "log_step": 60, + "text_zh": "观察：agent 的接近脚本以中央暗像素的深度反投影距离为反馈，连续执行三次前进；log step 52 的服务本体位置反馈也显示机器人由 (-4.27,1.24) 移动至 (-5.07,1.59)。这些记录表明清洁准备中的取工具接近已开始，不证明吸尘器被抓住或灰尘被吸除。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 52、60 记录机器人移动接近吸尘器，log step 71、72 记录跌倒终止；本次无视频、无状态接触对，无法确认夹爪、吸尘器吸头与灰尘或障碍物之间实际发生的接触，亦不能从运动指令补写接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bedroom_floor_clean", + "t": null, + "log_step": 60, + "where": "转场", + "evidence_zh": "推断：机器人为卧室除尘空手接近吸尘器时失衡，此后未修复。log step 60 的接近脚本连续驱动底盘三次；log step 62 读取同次服务本体反馈，基座 rx=0.228、ry=-1.311 rad，已严重倾斜；log step 64、71 的恢复动作未恢复直立，log step 72 的服务最终以跌倒判负。断点归到唯一清洁节点的取工具转场；无本次视频，t 留空。" + }, + "unmet": { + "bedroom_floor_clean": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 71, + "evidence_zh": "观察：这是无重置的单次现场评测。log step 64 的服务本体反馈从 rx=0.23、ry=-1.31 rad 发展至 rx=2.50、ry=-1.57 rad；log step 71 的正向恢复探测最终反馈 rx=3.84、ry=-1.52 rad，并返回 done=True、reason=\"failure: the robot fell over\"；log step 72 再次确认相同终止原因。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "log_step": 60, + "evidence_zh": "推断：取工具的距离估计失真驱动机器人继续前进，是本次失衡的上游原因。log step 60 的脚本把中央暗像素整体当作测距目标，输出距离 8.49、8.20、9.74 米，并以 clip(dist-0.65,-0.3,0.4) 连续三次下发 0.4 米前进；紧接着 log step 62 的本体反馈已严重倾斜。agent 自述“将窗框误作吸尘器目标”（log step 73、77）与该链条一致，但窗框身份及碰撞几何因无本次画面仍待核实，不能当作直接观察。", + "source_zh": "日志" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none（HF 返回 404，且无本地录像），inputs/ 中无本次状态日志；日志中的图片仅有占位与索引，无法检查本次画面。因此所有视频时间和节点 intervals 均为 null，不能确定历史达成区间、具体碰撞对象、抓握或吸除接触。跌倒由现场服务终止状态确认，根因的错误测距至失衡链条为日志推断；agent 所称窗框误识及底盘爬上杂物的细节未获独立图像核实。inputs/oracle/replay.mp4 是另一成功运行，仅用于理解场景，不能补作本次证据。" + }, + "summary_zh": "唯一节点“卧室地面除尘”终态未完成（0/1），由评分器 q_score=0.0 判定；本次无视频，无法给出历史达成区间。机器人在取吸尘器的转场中失衡，现场服务在 log step 71、72 明确以跌倒终止；接近脚本的异常距离估计与连续前进支持感知根因的推断。缺少本次视频和状态日志，具体碰撞对象、工具接触及 agent 所述窗框误识细节无法独立核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频，标注严格依赖评分器字段与现场服务读数：q_score=0、节点 false、跌倒终止均有 log 支持；断点（取工具转场中失衡）、平衡现象、感知根因（log step 60 的 8.49/8.20/9.74 m 距离与连续 0.4 m 前进，随后 step 62 倾角 ry=-1.31）均已标为推断并说明局限，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-vacuuming-floors-i00-standard--g4m4qho/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-vacuuming-floors-i00-standard--g4m4qho/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cf3fce7381ef20f58068452fe77a1ecedf0a480b9b6befdecaf3310228c1ced4", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--gshpiee.json b/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--gshpiee.json new file mode 100644 index 0000000000000000000000000000000000000000..3c0a0730ef4bf0395ed9f48196b8737484e34320 --- /dev/null +++ b/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--gshpiee.json @@ -0,0 +1,171 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-a-baseball-cap-i00-privileged--gshpiee", + "taskKey": "behavior-1k/wash_a_baseball_cap", + "dag_sha256": "053fa67e538181953dbdeadf3cc6214fb48ffaf32dc990187116a191052c4c85", + "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": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "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": { + "caps_clean_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 326, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告逐帽清洁结果或 q_score；inputs/video.json 标记无视频，且没有状态日志。log step 326 的 agent 最后自述仍在等待右臂调试任务完成；该会话调试不能确定受评尝试是否达到第1顶帽洗净，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话中的夹爪和底盘调试不作为受评实际接触。" + } + ] + }, + "caps_clean_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 326, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告逐帽清洁结果或 q_score；inputs/video.json 标记无视频，且没有状态日志。log step 326 的 agent 最后自述仍在等待右臂调试任务完成；该会话调试不能确定受评尝试是否达到第2顶帽洗净，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话中的夹爪和底盘调试不作为受评实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 326, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0、grader_error=0。log step 324 的 agent 脚本恢复调试快照并测试右臂外展过渡，log step 325 的后台任务仍为 RUNNING，log step 326 的 agent 最后自述为等待该测试结束；没有交付受评轨迹，无法定位某个清洁节点的受评物理断点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无交付轨迹、无受评视频、无状态日志，评分器也未给出逐节点清洁结果或 q_score。run.json 记载 wall_s=7203、time_limit_s=7200，日志在右臂装帽调试的等待中结束（log step 324–326）；会话中的抓取、快照恢复和装帽检查均不是已交付的评分回放。推断：会话耗至预算附近而未交付，但无法据此确定受评物理失败现象或具体能力根因；依无交付规则保留两层为空，不以超时、缺交付或调试接触问题代替失败标签。成功示范属于另一运行，不能补足本次的节点终值。", + "unmet": { + "caps_clean_1": null, + "caps_clean_2": null + } + }, + "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1，录制和重放计数均为0；两顶帽洗净节点均无可确认的受评终值。观察：agent 会话末尾仍在恢复快照、测试右臂装帽过渡并等待后台任务（log step 324–326），未交付受评轨迹，断点记为 unknown／首步前。推断：无视频、无状态日志且未报告逐帽清洁结果，不能把会话调试进度计入节点，也不能从耗至预算附近或缺交付反推现象与根因。", + "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、无状态日志、评分器 missing_trajectory=1 且无交付；节点 unknown、断点 unknown/首步前、两层为空并有 gap_zh，符合 03 的无交付规则（预算耗尽未交付不作现象/根因）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-privileged--gshpiee/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-privileged--gshpiee/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b8fb15d983e082d11794dfabb19f885d41d23f6bcd067b7163ac6963634a48fd", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--xh86hyf.json b/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--xh86hyf.json new file mode 100644 index 0000000000000000000000000000000000000000..43bc3337861dbbd0569df305100fa729ea2cb299 --- /dev/null +++ b/phase2/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--xh86hyf.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-a-baseball-cap-i00-standard--xh86hyf", + "taskKey": "behavior-1k/wash_a_baseball_cap", + "dag_sha256": "053fa67e538181953dbdeadf3cc6214fb48ffaf32dc990187116a191052c4c85", + "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": 797, + "sim_steps": 797, + "physics_steps": 3188, + "steps": 266, + "elapsed_s": 658.7, + "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": 2, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "caps_clean_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0.0；任务文本及 DAG 规定开局两顶帽子均有泥土，清洁目标没有初始即成立而被 q_score 排除的字面量。因此终局没有一顶洗净，第1顶帽洗净的计数条件为假；该总分不确定历史上是否曾短暂洗净。无本次视频或状态日志，无法给出时间区间。" + }, + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 27 中 agent 的脚本执行 nav_to(24.0, 2.2, tyaw=0.0, tol=0.3)，返回九个导航分段的位置与 done 值，随后服务报 EpisodeOver: failure: the robot fell over；该调用没有抓帽、装机或启动洗衣机的动作。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 27 记录机器人为取帽执行底盘导航，但本次无视频和接触状态日志，无法核实底盘支撑、夹爪与帽子或机体与环境的实际接触；不以指令或 agent 自述代替接触证据。" + } + ] + }, + "caps_clean_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的现场评分字段 graded_by_live=1、q_score=0.0；任务文本及 DAG 规定开局两顶帽子均有泥土，清洁目标没有初始即成立而被 q_score 排除的字面量。因此终局没有一顶洗净，第2顶帽洗净的计数条件为假；该总分不确定历史上是否曾短暂洗净。无本次视频或状态日志，无法给出时间区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "caps_clean_1", + "t": null, + "log_step": 27, + "where": "转场", + "evidence_zh": "推断：log step 19 的脚本先控制机器人原地扫描，log step 24–26 做定位；log step 27 开始驶向帽子所在台面，尚未提交抓帽或清洗操作就收到服务的倒地终止消息。log step 29 的服务 /status 确认 done=true、reason=\"failure: the robot fell over\"、control_steps=797、resumes=0，故这是单次现场评分局在前往取第一顶帽的转场中失败，归到 caps_clean_1；无视频，t 留空。" + }, + "unmet": { + "caps_clean_1": false, + "caps_clean_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": null, + "log_step": 29, + "evidence_zh": "观察：log step 27 执行导航时服务返回 EpisodeOver: failure: the robot fell over；log step 29 从本机服务 /status 读取到 done=true、reason=\"failure: the robot fell over\"、control_steps=797、resumes=0，log step 31 再提交动作仍被同一理由拒绝。这是基准服务对本次现场机器人倒地的判定，不是 agent 自述；无视频不能定位失衡起始时刻。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": null, + "log_step": 27, + "source_zh": "日志", + "evidence_zh": "推断：log step 27 的实际执行代码只按平面位置和偏航误差生成每段导航指令，除到达目标外没有停滞或倾斜检测及退避分支；该步输出中 chunk 3–8 距目标持续约0.34–0.35米，仍继续提交，直至 chunk 8 的 done=true 和服务倒地终止。导航未对持续无进展及失衡风险作反馈处置，支持反馈控制不足；具体触发失衡的接触位置没有独立证据。" + } + ], + "gap_zh": "观察：inputs/video.json 的 kind=none，注明远端视频404且无本地视频；inputs/ 只有本次 run.json 等记录及另一次成功的 oracle 视频，没有本次视频或状态日志。故全部区间和视频时刻均为 null，最终清洁值仅由现场评分总分推断，接触未知，历史峰值不可定。log step 28、33 中“导航目标在墙柱内、持续顶柱”的描述是 agent 自述，缺少本次画面、碰撞对或姿态序列核实，因此不标被挡/碰撞，不据此确定墙柱位置或规划错误；倒地现象取自服务终止字段，反馈控制归因是对执行代码与停滞输出的推断。log step 28 的域名解析错误发生在评分局倒地终止之后，log step 29 已成功取得状态，不是造成失败的外部中断。" + }, + "summary_zh": "现场评分 q_score=0.0，结合两顶帽子开局均脏，可判定两个清洁节点终局均为假（0/2）。机器人在前往台面取帽的转场中由基准服务判定倒地，断点为第1顶帽洗净；导航代码在持续无进展时仍继续执行，支持反馈控制不足的归因。无本次视频或状态日志，不能定位视频时刻、核实实际接触或确认 agent 所称的墙柱碰撞，成功示范不能替代本次证据。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无本次视频；q_score=0 加开局两帽皆脏，两节点终局为假成立；断点（转场中倒地）、平衡现象（服务 /status 终止字段）和反馈控制归因（标为推断，依据 step 27 的导航代码与停滞输出）与日志一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-standard--xh86hyf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-standard--xh86hyf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5252b17247920ba35298d1884d02ce3960b7e4fbfd5254e0af033d6ba8ba3fae", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ibjviza.json b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ibjviza.json new file mode 100644 index 0000000000000000000000000000000000000000..af854b42e0850e298aa1af7d50a30adb377cba75 --- /dev/null +++ b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ibjviza.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-privileged--ibjviza", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "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": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "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": { + "teddies_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 missing_trajectory=1、success=0，未报告“第1只熊洗净”的受评终态；inputs/video.json 的 kind=none，且无状态日志。会话中的调试、污染物查询和检查点恢复不构成交付轨迹的节点证据，故终值未知、无视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付受评轨迹；不把 agent 会话测试中的机器人接触作为本节点的轨迹接触。" + } + ] + }, + "teddies_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 missing_trajectory=1、success=0，未报告“第2只熊洗净”的受评终态；inputs/video.json 的 kind=none，且无状态日志。会话中的调试、污染物查询和检查点恢复不构成交付轨迹的节点证据，故终值未知、无视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付受评轨迹；不把 agent 会话测试中的机器人接触作为本节点的轨迹接触。" + } + ] + }, + "tennis_ball_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 missing_trajectory=1、success=0，未报告“网球洗净”的受评终态；inputs/video.json 的 kind=none，且无状态日志。会话中的调试、污染物查询和检查点恢复不构成交付轨迹的节点证据，故终值未知、无视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付受评轨迹；不把 agent 会话测试中的机器人接触作为本节点的轨迹接触。" + } + ] + }, + "softball_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 missing_trajectory=1、success=0，未报告“垒球洗净”的受评终态；inputs/video.json 的 kind=none，且无状态日志。会话中的调试、污染物查询和检查点恢复不构成交付轨迹的节点证据，故终值未知、无视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付受评轨迹；不把 agent 会话测试中的机器人接触作为本节点的轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 403, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_replays=0、success=0；agent 在 log step 68 仅启动内存动作录制并建立可恢复检查点，log step 402 仍在恢复 teddy2_picked 检查点并搜索持熊姿态，末条 log step 403 是右臂中间姿态的运动学检查，未出现交付保存或验证回放记录。推断：没有可供定位物理断点的受评轨迹，按未交付情形记 unknown／首步前；此位置不表示机器人在会话测试中没有运动。" + }, + "unmet": { + "teddies_clean_1": null, + "teddies_clean_2": null, + "tennis_ball_clean": null, + "softball_clean": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有运行记录、视频元数据和清单等文件，无视频、无状态日志，评分器明确报告 missing_trajectory=1，且没有受评节点终态或 q_score。运行 wall_s=7203、time_limit_s=7200；日志最后的 log step 403 仍是 agent 的运动学调试，没有最终汇报或明确的终止错误信息。推断：会话长度与预算到期一致，但不能仅由时限或缺交付反推控制、认知或交付操作根因；按 DECISIONS.md D23 的当前处理，未交付时现象和根因均留空，调试会话中的接触、装载及清洁测试不算受评轨迹进度。四个节点终值均未知，所有视频时间均留空。" + }, + "summary_zh": "观察：评分器以 missing_trajectory=1 判定本次失败；四个清洁节点均无受评终态证据，不能确认任何节点完成，也不能据此认定四件玩具均未洗净。观察：agent 在会话中进行洗衣机测试、抓取装载和多次检查点恢复，末条 log step 403 仍在检查右臂中间姿态；运行墙钟时长为7203秒，预算为7200秒。推断：本次按未交付记断点 unknown／首步前，接触均不适用；无视频、状态日志及交付回放，现象和根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0；四节点 unknown、接触不适用、现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)。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": "2026-10-30T21:57:16Z", + "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-wash-dog-toys-i00-privileged--ibjviza/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-privileged--ibjviza/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e6757147689cb7b3bb55932174f4d846579da670e247a511bb61da4bad6e59dc", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--srzymk9.json b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--srzymk9.json new file mode 100644 index 0000000000000000000000000000000000000000..f2493f513f8a64f9deb7cf0cb3435a99f4e0aa28 --- /dev/null +++ b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--srzymk9.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-privileged--srzymk9", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 30, + "agent_resets": 0, + "agent_sim_steps": 41747, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "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": { + "teddies_clean_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 581, + "text_zh": "观察：评分器reward.missing_trajectory=1，未提供受评终态中“至少一只玩具熊同时无泥土、无灰尘”的结果字段；inputs/video.json的kind为none，且无状态日志。agent在log step 581仅报告已启动取熊测试并等待结果；该会话测试不能确定本节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付受评轨迹，会话测试中的接触不计为本节点的轨迹接触。" + } + ] + }, + "teddies_clean_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 581, + "text_zh": "观察：评分器reward.missing_trajectory=1，未提供受评终态中“两只玩具熊均同时无泥土、无灰尘”的结果字段；inputs/video.json的kind为none，且无状态日志。agent在log step 581仅报告已启动取熊测试并等待结果；该会话测试不能确定本节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付受评轨迹，会话测试中的接触不计为本节点的轨迹接触。" + } + ] + }, + "tennis_ball_clean": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 581, + "text_zh": "观察：评分器reward.missing_trajectory=1，未提供受评终态中“网球无碎屑”的结果字段；inputs/video.json的kind为none，且无状态日志。agent在log step 581仅报告已启动取熊测试并等待结果；该会话测试不能确定本节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付受评轨迹，会话测试中的接触不计为本节点的轨迹接触。" + } + ] + }, + "softball_clean": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 581, + "text_zh": "观察：评分器reward.missing_trajectory=1，未提供受评终态中“垒球无泥土”的结果字段；inputs/video.json的kind为none，且无状态日志。agent在log step 581仅报告已启动取熊测试并等待结果；该会话测试不能确定本节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付受评轨迹，会话测试中的接触不计为本节点的轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 581, + "where": "首步前", + "evidence_zh": "观察：评分器报告missing_trajectory=1、agent_records=2、agent_replays=0；log step 480的输出目录清单没有轨迹文件，日志最后的log step 581仍是agent报告启动取熊测试并等待结果。推断：未形成可供评分的交付轨迹，无法把断点定位到任一清洁节点；首步前指受评轨迹未开始，不表示会话中机器人未做测试。" + }, + "unmet": { + "teddies_clean_1": null, + "teddies_clean_2": null, + "tennis_ball_clean": null, + "softball_clean": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/仅有run.json、meta.json、video.json和MANIFEST.json，无视频、状态日志或成功参考；评分器只报告交付缺失，未报告四个清洁节点的受评终态，亦未给出受评q_score。log step 270、303的脚本仅在会话status.success为真时保存轨迹；log step 434显示一次会话录制了3610行，但其最终status.success=False、q_score=0.0；log step 581在启动另一次取熊测试后结束，没有后续结果或明确的会话终止原因。推断：会话结果不能当作受评节点值，也不能据此判定物理失败现象或缺交付的能力根因；依DECISIONS.md D23，两层留空，不从missing_trajectory反推交付操作出错或没尝试。" + }, + "summary_zh": "评分器判定失败且missing_trajectory=1；没有交付受评轨迹，四个清洁节点的最终真假均未知，不能把会话测试进度计入节点。断点记为unknown／首步前；日志最后仍在启动取熊测试，缺少受评视频、状态和节点结果，失败现象及根因均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、无受评轨迹（missing_trajectory=1），四个节点unknown、断点unknown/首步前、现象与根因留空并以gap_zh说明，符合DECISIONS D23(a)；未发现把会话测试当作受评事实或转换时钟的错误。", + "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": "2026-10-30T21:57:47Z", + "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-wash-dog-toys-i00-privileged--srzymk9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-privileged--srzymk9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "21abdd42d328192ca9cc6cec4b8457933eb6c63f29cdc1709a8836190b8a83b7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--u2eovpu.json b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--u2eovpu.json new file mode 100644 index 0000000000000000000000000000000000000000..f6bd663fd038456319e780b2e6e83f5e824f390e --- /dev/null +++ b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--u2eovpu.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-privileged--u2eovpu", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "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": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "teddies_clean_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 120, + "text_zh": "观察：log step 120 的输出目录列表仅有生成脚本与会话日志，没有轨迹文件；run.json 的评分字段 missing_trajectory=1，未报告“至少一只玩具熊同时无泥土、无灰尘”的节点终值。inputs/video.json 为 kind=none，亦无状态日志，故本节点不可判定；会话调试结果不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1；没有交付轨迹，故无可标注的评分尝试接触。" + } + ] + }, + "teddies_clean_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 120, + "text_zh": "观察：log step 120 的输出目录列表仅有生成脚本与会话日志，没有轨迹文件；run.json 的评分字段 missing_trajectory=1，未报告“两只玩具熊均同时无泥土、无灰尘”的节点终值。inputs/video.json 为 kind=none，亦无状态日志，故本节点不可判定；会话调试结果不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1；没有交付轨迹，故无可标注的评分尝试接触。" + } + ] + }, + "tennis_ball_clean": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 120, + "text_zh": "观察：log step 120 的输出目录列表仅有生成脚本与会话日志，没有轨迹文件；run.json 的评分字段 missing_trajectory=1，未报告“网球无碎屑”的节点终值。inputs/video.json 为 kind=none，亦无状态日志，故本节点不可判定；会话调试结果不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1；没有交付轨迹，故无可标注的评分尝试接触。" + } + ] + }, + "softball_clean": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 120, + "text_zh": "观察：log step 120 的输出目录列表仅有生成脚本与会话日志，没有轨迹文件；run.json 的评分字段 missing_trajectory=1，未报告“垒球无泥土”的节点终值。inputs/video.json 为 kind=none，亦无状态日志，故本节点不可判定；会话调试结果不作为交付轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分字段 missing_trajectory=1；没有交付轨迹，故无可标注的评分尝试接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 120, + "where": "首步前", + "evidence_zh": "观察：run.json 的评分字段 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 117 和 log step 119 显示录制脚本仍在运行，log step 120 的输出目录列表仅有生成脚本与会话日志，log step 121 的等待保存调用没有返回结果。没有可供评分回放的交付轨迹，无法定位到某个清洁步骤。" + }, + "unmet": { + "teddies_clean_1": null, + "teddies_clean_2": null, + "tennis_ball_clean": null, + "softball_clean": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、meta.json、video.json 和 MANIFEST.json；无视频、无状态日志，评分记录明确 missing_trajectory=1，且没有逐节点结果或评分 q_score。log step 104 的抓取失败、脚本异常和 q_score=0.0 属于此前调试会话，不是已交付的评分轨迹；log step 115 至 log step 121 未确认保存或回放成功。推断：会话总时长 wall_s=7203 已到 time_limit_s=7200 的预算末端，但不能据此断定具体物理失败或交付错误根因；依 D23，无交付时现象和根因均留空，不把调试动作移作评分尝试现象，也不标“没尝试”。四个节点终值及发生时刻均未知。" + }, + "summary_zh": "评分记录 success=0、missing_trajectory=1，未交付可回放轨迹；四个清洁节点均无可确认的终值，不能据此认定四件玩具均未洗净。日志末尾录制脚本仍在运行，输出目录只确认生成脚本与会话日志存在（log step 117、119、120），随后等待调用无返回（log step 121），断点记 unknown／首步前。无视频、无状态日志，调试会话不代替交付轨迹，故实际清洁进度、物理失败现象和根因均无法判定。", + "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、无交付轨迹（missing_trajectory=1，agent_records=0）；四节点 unknown/null、现象与根因留空并附 gap_zh，符合 D23(a)；会话调试结果未被当作评分尝试，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": "2026-10-30T22:00:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-privileged--u2eovpu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-privileged--u2eovpu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "951eb4cf9649facd5d75b43d81ac07d383feaaa27df38f8605040500f2a000c9", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--zvmxpef.json b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--zvmxpef.json new file mode 100644 index 0000000000000000000000000000000000000000..b36e86fc8c39bb592099477a3406eb6b9b816797 --- /dev/null +++ b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--zvmxpef.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-privileged--zvmxpef", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 20, + "agent_resets": 6, + "agent_sim_steps": 21434, + "agent_records": 20, + "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": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "teddies_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“至少一只玩具熊同时无泥、无尘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不是交付回放，因此本节点终值未知。" + } + ], + "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；会话中夹爪与柜门或玩具的试验接触不作为本节点的轨迹级实际接触。" + } + ] + }, + "teddies_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“两只玩具熊均同时无泥、无尘”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不是交付回放，因此本节点终值未知。" + } + ], + "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；会话中夹爪与柜门或玩具的试验接触不作为本节点的轨迹级实际接触。" + } + ] + }, + "tennis_ball_clean": { + "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“网球无碎屑”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不是交付回放，因此本节点终值未知。" + } + ], + "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；会话中夹爪与柜门或玩具的试验接触不作为本节点的轨迹级实际接触。" + } + ] + }, + "softball_clean": { + "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“垒球无泥”的节点结果；inputs/video.json 为 kind=none，且无状态日志。会话试验不是交付回放，因此本节点终值未知。" + } + ], + "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；会话中夹爪与柜门或玩具的试验接触不作为本节点的轨迹级实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 667, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_replays=0，未形成可评分的交付轨迹。agent 在 log step 618、630 退出试验时，驱动程序分别输出 DISCARDED_ACTIONS 1409、872；log step 653 又启动试验，日志最后的 log step 667 仅返回 GRIPPER 15 和 MOVED_EE_ERR，没有交付确认。推断：无法把会话中的某次开柜或取物试验指定为正式评分轨迹的失败步骤，断点为 unknown；首步前指没有交付的评分尝试。" + }, + "unmet": { + "teddies_clean_1": null, + "teddies_clean_2": null, + "tennis_ball_clean": null, + "softball_clean": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本任务输入没有视频、状态日志或成功参考视频；评分字段 missing_trajectory=1，且未报告各清洁节点终值或正式评分的 q_score。log step 529 展示的驱动程序虽包含保存分支，但日志未记录执行保存指令；log step 667 仍是会话试验的末端运动反馈。推断：这些会话试验不能用于确定评分轨迹的节点进度、接触或物理失败现象；没有足够证据将未交付归因于具体规划、控制或保存操作错误，故现象与根因均留空。运行记录 wall_s=14401、time_limit_s=14400 表明会话达到工作时间预算；这本身不是现象或根因，早期试验异常后仍有后续运行，不能据此认定最终被外因中断。" + }, + "summary_zh": "观察：评分器判定 success=0、missing_trajectory=1、agent_replays=0，未交付可评分轨迹；四个清洁节点的终值均未知。日志显示 agent 持续进行开柜、接近玩具的会话试验，多次退出丢弃录制动作，末尾仍无保存确认（log step 618、630、667）；断点记为 unknown／首步前。无视频、状态日志或逐节点评分结果，无法确定实际清洁进度及具体失败现象和根因，原生 q_score 未报告。", + "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，评分字段 success=0、missing_trajectory=1、agent_replays=0；四个节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a)。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": "2026-10-30T21:59:09Z", + "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-wash-dog-toys-i00-privileged--zvmxpef/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-privileged--zvmxpef/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f0d14e0fc1a68bb96583484afa27cab6354741abab5d11b3af9dbe8d5166d970", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--7bwr4fs.json b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--7bwr4fs.json new file mode 100644 index 0000000000000000000000000000000000000000..22d2270773a429c77f37e4510057b4dfae0d2019 --- /dev/null +++ b/phase2/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--7bwr4fs.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-standard--7bwr4fs", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "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": 14851, + "sim_steps": 15001, + "physics_steps": 60004, + "steps": 5121, + "elapsed_s": 6644.2, + "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": 0.0, + "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": { + "teddies_clean_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、resumes=0、q_score=0.0、success=0；任务文本及DAG记载四件玩具的初始污染。推断：至少一只熊全身无泥且无尘必须新增满足至少一条原先为假的清洁目标；两只熊各有一种初始污染，因此原先已真的另一种无污染条件不能单独使本节点成立。BEHAVIOR 的 q_score 不计仍然保持的初始真文字，零分排除了本节点在最终验收时成立；该总分不能确定历史上是否曾洗净，也不能证明没有尝试。无视频及状态日志，所有时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 99 的机器人脚本向柜内多个位置探取，log step 135 再次执行开门与探取组合；日志未确认玩具身份。推断：这些探索针对共同取物前置，无法归属到本件玩具；无视频或状态接触对，不能确认夹爪是否触及本件玩具、如何接触或是否取出。" + } + ] + }, + "teddies_clean_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、resumes=0、q_score=0.0、success=0；任务文本及DAG记载四件玩具的初始污染。推断：两只熊同时全身无泥且无尘必须新增满足两条原先为假的清洁目标，不能由初始已真的无污染条件得到。BEHAVIOR 的 q_score 不计仍然保持的初始真文字，零分排除了本节点在最终验收时成立；该总分不能确定历史上是否曾洗净，也不能证明没有尝试。无视频及状态日志，所有时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 99 的机器人脚本向柜内多个位置探取，log step 135 再次执行开门与探取组合；日志未确认玩具身份。推断：这些探索针对共同取物前置，无法归属到本件玩具；无视频或状态接触对，不能确认夹爪是否触及本件玩具、如何接触或是否取出。" + } + ] + }, + "tennis_ball_clean": { + "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、resumes=0、q_score=0.0、success=0；任务文本及DAG记载四件玩具的初始污染。推断：网球初始带碎屑，本节点成立必须新增满足网球无碎屑的目标文字。BEHAVIOR 的 q_score 不计仍然保持的初始真文字，零分排除了本节点在最终验收时成立；该总分不能确定历史上是否曾洗净，也不能证明没有尝试。无视频及状态日志，所有时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 99 的机器人脚本向柜内多个位置探取，log step 135 再次执行开门与探取组合；日志未确认玩具身份。推断：这些探索针对共同取物前置，无法归属到本件玩具；无视频或状态接触对，不能确认夹爪是否触及本件玩具、如何接触或是否取出。" + } + ] + }, + "softball_clean": { + "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、resumes=0、q_score=0.0、success=0；任务文本及DAG记载四件玩具的初始污染。推断：垒球初始带泥，本节点成立必须新增满足垒球无泥的目标文字。BEHAVIOR 的 q_score 不计仍然保持的初始真文字，零分排除了本节点在最终验收时成立；该总分不能确定历史上是否曾洗净，也不能证明没有尝试。无视频及状态日志，所有时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 99 的机器人脚本向柜内多个位置探取，log step 135 再次执行开门与探取组合；日志未确认玩具身份。推断：这些探索针对共同取物前置，无法归属到本件玩具；无视频或状态接触对，不能确认夹爪是否触及本件玩具、如何接触或是否取出。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "比例", + "threshold": null, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 135, + "where": "探索", + "evidence_zh": "观察：log step 99 的机器人脚本在柜内多个点闭合再张开夹爪；log step 135 的最后一次动作仍是右臂开门、左臂入柜探取的组合，脚本未指定熊、网球或垒球，且记录的末端位置偏离目标。agent 在 log step 136 自述“nothing got gripped”，随后没有新的工具调用。推断：本次卡在寻找及获取玩具的共同前置，证据不足以把首个未修复的失败唯一归到四个清洁节点之一，故断点为 unknown；log step 135 仅作最后一次有动作反馈的导航锚点。" + }, + "unmet": { + "teddies_clean_1": false, + "teddies_clean_2": false, + "tennis_ball_clean": false, + "softball_clean": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "note_zh": "候选细化：控制脚本中的关节块与动作列映射错误；现有控制子类不能准确表达这些数组映射错误，保留在控制总类。", + "evidence_zh": "观察：服务在 log step 20 给出的逆运动学关节顺序是躯干4维、左臂7维、右臂7维。log step 76 修正了从本体感知读取关节种子的顺序；log step 78（agent 时钟3906.7秒）的代码又将 rows25 中连续写入 A[:,3:21] 的做法改为躯干 A[:,3:7]、左臂 A[:,7:14]、右臂 A[:,16:23]，避开两臂之间的夹爪列，log step 79 继续修补其他脚本。修补前 log step 77 的右末端目标为(24.14,0.70,0.73)，反馈为(23.924,0.17,1.017)；修补后 log step 80 的目标与反馈均为(24.15,0.70,0.73)。log step 135 再出现同类关节块映射错误：脚本将右臂计划 QRp 的左臂块写入 Q[:,4:11]，又将左臂计划 QLp 的左臂块写入右臂 Q[:,11:18]，没有使用右臂计划的右臂块；输出右末端末段为(23.35,0.61)，而右臂保持目标为(24.01,0.95)，左末端末段为(24.12,1.05,0.90)，而入柜目标为(24.33,0.68,0.50)，服务返回 time_left_s=631.3。agent 在 log step 111 自述门又关上，log step 116 自述门带弹簧、松手即关闭，log step 123 自述凹槽夹持靠摩擦、拉动时滑脱。推断：较早的动作列错位有代码及修补前后末端反馈支持，末次的关节块拼接错误也妨碍设定的双臂开门和探取；二者是同类映射问题，不表示已修补的 rows25 错误一直持续。这些证据只解释上述具体尝试，不能把末次错误当作整个会话未取出玩具的充分原因。持续撑不开门是 agent 对整体受阻主线的解释，弹簧回关及夹持滑脱尚未独立核实，不能据其自述另立现象或根因；现有代码错误不能归为仿真或评分器故障。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs/仅有 MANIFEST.json、meta.json、run.json、video.json；video.json 标明 kind=none、远端视频404且无本地视频，也无状态日志和成功参考视频。日志中的看图调用仅保留占位符，无法检查画面。推断：评分器零分足以限定四个节点最终为假，但不能恢复清洁历史、节点时间、玩具身份或实际接触；无法把共同取物探索唯一归到某个清洁节点，也不能仅凭夹爪开度或agent自述判为没建立接触、滑脱或碰撞，故现象层留空。控制根因有 log step 76-80 与135的代码及末端反馈支持，但只解释这些具体尝试；log step 111、116、123 关于门回关、弹簧和摩擦夹持滑脱的自述未能独立核实，整个会话持续取物受阻的物理主因仍不确定。" + }, + "summary_zh": "评分器按单次实时会话验收，success=0、q_score=0.0；结合各玩具的初始污染，四个清洁节点最终均为假（0/4），历史进度无法确定。log step 76-80 记录较早的关节种子及动作列映射修补，log step 135 的末次双臂脚本又有不同的关节块拼接错误，支持具体尝试的控制根因，不能作为整个会话失败的充分解释；门回关和摩擦夹持滑脱仅有 agent 自述。断点保留未知：日志中的共同取物探索没有指定玩具类别，不能依 DAG 列表顺序认定先尝试熊。审查重大意见要求定位第1只熊，但没有画面或状态可核实实际目标，仍不能决定性排除该可能，因此 conf 从5降至4；实际接触、清洁时刻和整体物理失败主因均待核实。", + "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：四个节点 final=false（q_score=0 且初始已真文字不计分）与 intervals=null 均正确，gap_zh 也说明了无视频。问题在断点与根因：断点 ref 记为 unknown，但四个清洁节点互为并列、同一前置（把玩具从弹簧门柜里取出）未完成，按“首个未修复步骤”和 N4（实例身份不是 unknown 的理由）应落在 DAG 顺序第一个节点 teddies_clean_1；根因 控制 只解释了最后 631 s 的一次脚本，而同类的动作列错位 bug 在 step 78 已出现过，且整体失败主线（柜门松手即弹回、右臂握不住门）没有被写进根因证据，需补全或降 conf。", + "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；四个清洁节点 final=false（q_score=0）、intervals=null、contact_actual=未知均有评分器字段支持。断点 unknown 在证据无法区分具体节点时可接受（上一轮已就此给出理由），现象层留空并有 gap_zh，控制根因仅限于具体尝试且已声明范围，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:10:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-standard--7bwr4fs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-standard--7bwr4fs/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-standard--7bwr4fs/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-wash-dog-toys-i00-standard--7bwr4fs/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "32294347ec3a2412b52088ad31669d3de0ff1bc623d3137599c0bb342c6f575f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +}