Add 113 trajectories (phase 2, remaining runs; batch S32)

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--ecryhls.json

@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--ecryhls",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2750,
+   "submitted_actions": 2750,
+   "sim_steps": 2830,
+   "physics_steps": 28300,
+   "sim_time_s": 70.74999999999896,
+   "final_reward": 0.0,
+   "replay_wall_s": 1900.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 18,
+   "agent_sim_steps": 10,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.979,
+   "peak_memory_gb": 2.81,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.619,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--ecryhls/replay.mp4",
+  "duration_s": 70.8,
+  "fps": 15.0,
+  "frames": 1062,
+  "sha256": "04ce4bffa07ee0879a7abf43ae3bd00e8c548ad370700dffe815988c41bbd081"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角中的蓝色网格毯为折起的窄片，左侧有折角和隆起，初态未展平。"
+     },
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–26.0 s 机器人左右二指夹爪分别夹住上层布片的两处，布边随两爪提起并向远侧翻开；左侧折片仍搭叠，操作期间没有达到释放后平铺的联合条件。"
+     },
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频 33.0–46.0 s 主要布层落回桌面，右侧展开而左侧仍呈斜折片；视频 48.0–64.5 s 左爪在左侧褶皱附近反复下降、合拢和变换位置，布面只有局部凹陷和扰动，未见折边被夹起拉开。"
+     },
+     {
+      "t": 70.73,
+      "log_step": null,
+      "text_zh": "观察：视频 66.0–70.73 s 机器人双爪已退至布面两侧；视频 69.7、69.9、70.1、70.3、70.5、70.7 及 70.73 s 均可见左侧折角与隆起，侧视亦有翘起，未成为大幅平铺布面。成功参考视频 23.5 s 则呈展开的平整布面；参考仅用于辨认外观。"
+     },
+     {
+      "t": null,
+      "log_step": 175,
+      "text_zh": "观察：log step 175 将 f07_traj.npz 复制为最终提交文件，打印形状为 2750×14；log step 180 明确继续采用 f07，log step 186 再次确认提交为 2750 行。评分器字段 n_actions=2750、strict_goal_reached=0、success=0，与录像中展平未完成一致；后续 f08 的测试动作和指标不归入本次评分轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–26.0 s 左右二指夹爪各夹住毯子上层的一处布片，协同提起、翻开并铺下；不是两臂从外侧挤住物体。随后视频 48.0–64.5 s 由左爪单独在左侧折片处合拢、压碰修整，布面发生局部凹陷，但未见新的有效夹持和展开；右爪停在远侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 48.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 48.0–51.5 s，机器人左爪已移到翻开后残留的左侧折片上反复合拢，折片未随爪夹起或向外展开；视频 52.0–64.5 s 的后续换位修整仍未消除折叠，视频 70.73 s 退离后仍然如此。因此失败定位在毯子展平的操作中，时间锚点取左侧修整开始失效处。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 48.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 48.0–51.5 s 左爪在左侧折片处下降合拢，视频 52.0–55.0 s 换至外侧位置再次尝试，视频 55.5–64.5 s 又反复换位；没有看到左侧折边被夹住后随爪提起并拉开。推断：这里缺少的是修整左侧折叠所需的有效抓持，允许存在压碰；前段双爪对主要布层的成功抓持不受此判断影响。"
+   },
+   {
+    "cat": "其他",
+    "item": "残留折叠",
+    "t": 48.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 33.0–46.0 s 主要布层落桌后左侧仍斜向叠起；视频 48.5 s 修整时及视频 69.7–70.73 s 双爪退离后，该处仍有卷边、折片和明显隆起，右侧布面则已展开。",
+    "note_zh": "候选名称：残留折叠。现象是柔性材料局部未展开并保留高褶；现有接触与运动条目没有直接描述此形变结果，且并非释放后翻倒或滚走，故使用其他。它与修整抓持未建立是不同观察。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 48.5,
+    "log_step": 164,
+    "source_zh": "日志",
+    "evidence_zh": "推断：左侧修整采用的夹持几何未能适配已聚褶的布片。log step 164 的 f07 脚本使用固定俯抓朝向、close=0.012 和三个固定下降高度，只有 object_in_hand 成立才执行拉动；log step 172 的 f07 会话输出记录左爪触发布面高度保护，下降目标被截停，log step 173 中 agent 也自述该次边缘抓取失败。视频 48.0–64.5 s 可见左爪只在褶皱处反复合拢和压碰，没有夹起折边，支持抓取接触设计失配；具体保护或辅助抓持拒绝的逐帧原因未被记录，不能把 agent 的厚度估计当作测量。对这一残留折叠状态的可行替代抓法尚未验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器 reward 仅报告总体失败和 strict_goal_reached=0，未报告 DAG 所列七项连续指标，native_metrics 因此均为 null。log step 172 的覆盖、高度、拉伸和速度是 f07 录制会话的诊断输出，不能作为评分重放的精确数值；辅助抓持为何拒绝左侧修整也缺逐帧记录。录像可直接判断残留折叠与未夹起折边，但无法逐点复算材料覆盖、应变、毫米级净空、速度及漂移。"
+ },
+ "summary_zh": "观察：评分视频中机器人双爪翻开了主要折层，但左侧仍有折片和隆起，后续左爪修整未夹起并展开该处，退离至视频 70.73 s 时仍未展平，唯一节点最终为 0/1。推断：断点位于展平操作中的左侧修整，固定俯抓与下降方案未建立有效抓持，接触设计失配得到脚本、会话保护输出及录像共同支持。无状态日志且评分器未给连续指标，精确几何阈值及抓持拒绝细节不能复算；f08 测试未提交，不计入评分轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "唯一节点未达成、final=false、断点在展平操作中的左侧修整，均与视频和评分器字段（success=0、strict_goal_reached=0）一致。接触标签双臂协作+抓握与视频相符。f07 提交链为单次录制（log 175/180/186），无拼接，根因有 log 172 的会话输出和录像支持。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:22:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--ecryhls/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--ecryhls/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a79ee2573cfd9493d8d3029651ac84acdd2009873e1d1ca5cd5b34c19c604395",
+   "video_sha256": "04ce4bffa07ee0879a7abf43ae3bd00e8c548ad370700dffe815988c41bbd081",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--hdlhjkp",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 941,
+   "submitted_actions": 941,
+   "sim_steps": 941,
+   "physics_steps": 9409,
+   "sim_time_s": 23.522499999999734,
+   "final_reward": 1.0,
+   "replay_wall_s": 1100.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 941,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp/replay.mp4",
+  "duration_s": 23.6,
+  "fps": 15.0,
+  "frames": 354,
+  "sha256": "11819031b6b65a99be98bca3384f7cc0abd7d7465b6a95ef5045d1c1f995d66e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s蓝色网格毯呈窄幅折叠片，左侧还有卷褶，未达到大幅平铺状态，节点初始不成立。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–6.0 s机器人左右二指夹爪依次靠近并夹住毯子的两处边缘；视频6.5–10.0 s布边随夹爪离开原桌面位置，毯子展开为悬垂的大幅布面，两爪各自保持一处夹持，属于双臂协作抓握。此时布面悬空，尚不满足终态。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 101,
+      "text_zh": "观察：视频14.0–20.0 s机器人逐渐将大幅布面铺向桌面，视频20.0–22.0 s夹爪仍在毯边附近活动，随后张开并离开；不能仅凭布面已展开提前计为联合验收完成。log step 101的已保存生产轨迹输出记载后段修整时sm pinch为None None，因此不把后段闭爪动作另算作已建立抓握。"
+     },
+     {
+      "t": 23.533,
+      "log_step": 107,
+      "text_zh": "观察：视频22.5、23.0、23.333及最后一帧23.533 s，机器人双爪已经张开并退离毯边，蓝色布面保持大幅平铺于桌面，侧视无明显悬空布角。log step 107对已保存941行轨迹的评分式重放返回success=true、strict_success=true、success_row=941、hold_steps=0；run.json的reward另报告两次重放成功、strict_goal_reached=1、strict_goal_row=941、replay_tolerance_needed=0。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 107,
+      "text_zh": "推断：结合末段视频画面与评分器在提交末行严格成功的记录，将包含释放、退离和连续0.5秒稳定要求的唯一节点首次完成锚定在视频约23.5 s，持续到片尾；这是末段画面支持的近似时间，不是由agent工作时间换算。没有逐物理步状态日志，不能独立精确复核材料投影并集、粒子高度、应变、净空、速度和漂移，也不能从较早铺平的外观确定联合验收已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频6.5–15.0 s左右二指夹爪各夹住一处毯边，两处夹持共同提起、展开并逐渐铺下同一条毯子；先建立单侧夹持，再由双爪配合完成。后段夹爪在已铺开的毯边附近低位修整并张开退离，不依据闭爪外观再虚构一次抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双爪分别夹住毯边，将初始窄幅折片提起展开，铺回桌面并松手退离；唯一展平节点在视频约23.5 s完成，片尾为1/1。评分器报告两次重放成功，且提交第941行内达到严格目标，无需末尾宽限确认。无状态日志，量化阈值及首次联合成立的精确时刻无法从画面独立复算；原生指标数值未在run.json的reward字段中报告，故保留null，不用会话调试数值代填。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点blanket_flattened：初帧为窄幅折片，视频6/12/16 s夹爪各夹一处毯边提起、展开，20–23.5 s毯子大幅平铺、夹爪张开退离；23.5 s末段完成与评分器第941行严格成功一致，contact_actual为双臂协作+抓握，无失败层，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": "2026-10-30T23:22:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fffd4fb4f5164a41952c88f96d0d133353b2b15a949821f9d221243312bc596f",
+   "video_sha256": "11819031b6b65a99be98bca3384f7cc0abd7d7465b6a95ef5045d1c1f995d66e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa.json

@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--m3nc7qa",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 281,
+   "submitted_actions": 301,
+   "sim_steps": 281,
+   "physics_steps": 2801,
+   "sim_time_s": 7.002500000000032,
+   "final_reward": 1.0,
+   "replay_wall_s": 316.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 281,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.979,
+   "peak_memory_gb": 2.408,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.455,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa/replay.mp4",
+  "duration_s": 7.133,
+  "fps": 15.0,
+  "frames": 107,
+  "sha256": "74c07dd1ba892bdec0f11bc24291c5265749f713a49b9b9f9f12217da5f23f41"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色网格毯呈窄片，仍有叠层及左侧折角，初始不满足展平。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6–3.4 s 左右二指夹爪分别夹住布料两处，布边随两爪抬起并向桌面远侧展开；视频 3.6 s 两爪已离开布面，但近左折角仍未展开。"
+     },
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 4.6–6.2 s 两爪再次夹住毯子，右爪固定右半布面，左爪提拉并向外展开剩余折角；视频 6.3–6.6 s 两爪张开后向上退离，毯子落回桌面并铺成大幅近矩形。"
+     },
+     {
+      "t": 7.067,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6–7.067 s 各视角可见毯子保持平铺，未见高起折层或悬空角；双爪张开并停在布面上方，末帧外观与参考成功视频 23.53 s 的平铺退离状态一致。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 6.6–7.067 s 的退离静置末态及 inputs/run.json 的评分器 reward.success=1、all_success=1、strict_goal_reached=1、replay_hold_steps=0、replay_tolerance_needed=0，将本节点完成锚定在视频约 7.0 s（时间精度约0.5秒）。严格联合验收由评分结果支持；无状态日志，不能从画面独立逐点复算覆盖率、应变、净空、速度及漂移。"
+     },
+     {
+      "t": null,
+      "log_step": 123,
+      "text_zh": "观察：log step 123 将录制动作追加保持行后保存，输出交付数组为301行；log step 124 对该交付文件启动两次评分重放。评分器记录实际执行281行、deterministic=1，故本标签采用本次评分视频中的两阶段展开，不采用会话中较早试验的中间状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.6–3.4 s 左右二指夹爪各自夹住毯子一处并共同抬拉展开；视频 4.6–6.2 s 右爪夹住右半布面作为固定点，左爪夹住近左折角提拉展开。两爪均以相对的指面夹持布料，随后张开并退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分轨迹由双爪共同展开大幅折层，再由右爪固定、左爪展开剩余折角，松手退离后在视频约 7.0 s 完成唯一的毯子展平节点，最终1/1。评分器报告两次重放成功、严格目标已达到且未使用宽限确认，末态平铺外观与参考成功视频一致。无状态日志，毫米级净空、材料投影覆盖、应变、速度及漂移不能由画面精确复算；原生指标在评分器字段中未报告，均留空，不采用 agent 在 log step 130 的自述数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 blanket_flattened 在视频约 7.0 s 达成与帧及评分器字段（success=1、strict_goal_row=281、n_actions=281≈7.0 s）一致；双爪夹持的 contact_actual 与画面相符，无失败层，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": "2026-10-30T23:13:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d888eb9fd696010649fd93cbd2aed120e25917dc792428be09a71cc940990df2",
+   "video_sha256": "74c07dd1ba892bdec0f11bc24291c5265749f713a49b9b9f9f12217da5f23f41",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--tytwsya.json

@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--tytwsya",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 276,
+   "submitted_actions": 316,
+   "sim_steps": 276,
+   "physics_steps": 2758,
+   "sim_time_s": 6.89500000000003,
+   "final_reward": 1.0,
+   "replay_wall_s": 295.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 276,
+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 15,
+   "agent_sim_steps": 1104,
+   "agent_records": 2,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.639,
+   "peak_memory_gb": 2.99,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.64,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--tytwsya/replay.mp4",
+  "duration_s": 7.0,
+  "fps": 15.0,
+  "frames": 105,
+  "sha256": "17b7f5792ae1dd1156874c8f0a5b9be8f211fbc3798b30d5f360bf52aecfa930"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角中的蓝色网格毯呈折叠的窄片，左侧有内折布角，尚未达到展平状态。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–4.27 s 左右二指夹爪各夹住折起层的一处布角，双臂同时提起并向桌面另一侧翻开；布角随对应夹爪移动，毯面从窄片展开成大幅布面。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.60 s 毯子已大幅展开，但左侧布角仍内折；视频 5.93–6.20 s 该角逐渐摊平，双爪张开并向上退离，主视角和侧视均可见布面落在桌面上。"
+     },
+     {
+      "t": 6.93,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 6.20–6.93 s，毯子保持大幅平铺、无明显高褶或悬空角，双爪停在布面上方且已与布边分离；末帧仍保持此状态。"
+     },
+     {
+      "t": null,
+      "log_step": 64,
+      "text_zh": "观察：log step 64 将重新生成的轨迹复制为最终提交文件并调用官方重放；评分器输出两次重放均 success=true、all_success=true、deterministic=true、strict_goal=[1,276]，两次均无需尾部宽限。inputs/run.json 的 reward 同样报告 success=1、strict_goal_reached=1、strict_goal_row=276、replay_hold_steps=0、replay_tolerance_needed=0。"
+     },
+     {
+      "t": 6.9,
+      "log_step": null,
+      "text_zh": "推断：结合视频末段 6.20–6.93 s 的展平、释放、退离与静置外观，以及评分器确认严格联合验收成功，将本节点完成时间近似标在视频 6.9 s 并保持到结尾；这不是由 agent 工作时间换算。缺少状态日志，无法仅凭像素确定毫米级净空、逐粒子速度、漂移和拉伸阈值首次共同满足的精确时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.80–5.33 s 左右二指夹爪分别夹住毯子折起层的两个不同布角，同时提起、翻开并铺下；各夹爪独立夹持布料。随后双爪张开并抬高退离，毯子自行摊平余下折角。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
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+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双爪各捏住一个布角，协同翻开毯子后松手退离，视频约 6.9 s 完成唯一节点“毯子展平”（1/1），没有失败断点。评分器报告两次确定性重放均成功，严格目标已在提交行内达到，未使用尾部宽限。无状态日志，毫米级净空、速度、漂移和拉伸等联合验收细节依评分器判定；reward 未逐项报告七项原生指标，数值均保留为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点“毯子展平”在视频 6.9 s 达成且 final=true，与帧和评分器 strict_goal_row=276、success=1 一致；双臂协作+抓握符合帧所见，无失败断点，时钟均为视频时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:15:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--tytwsya/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--tytwsya/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1cc26d01a3637c348d591668c26cfea0ea5822bc845cd434d48f8b5441cc43c6",
+   "video_sha256": "17b7f5792ae1dd1156874c8f0a5b9be8f211fbc3798b30d5f360bf52aecfa930",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xaaptka.json

@@ -0,0 +1,248 @@
+{
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+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--xaaptka",
+ "taskKey": "roboarc/blanket_flatten_03",
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+ "outcome": {
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+  "raw": {
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+   "instance_ok": 1,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--xaaptka/replay.mp4",
+  "duration_s": 26.933,
+  "fps": 15.0,
+  "frames": 404,
+  "sha256": "b24f6a16c0cd0f6d23b02f54421f73d81b1c12c6dac8722b26c26035a608558f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色网格毯呈对折的窄片，左侧还有斜向折角，未达到大幅平铺的初始外观。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–8.5 s 左右二指夹爪先后夹住毯子的不同布片，随后双臂拉动，布片随两只夹爪移动；视频 8.5–17.5 s 毯面逐渐展开，但仍由夹爪牵住，左侧折角及横向褶皱仍在。"
+     },
+     {
+      "t": 19.0,
+      "log_step": 395,
+      "text_zh": "观察：视频 18.0–21.0 s 夹爪张开并先后抬升，毯子的对应边缘仍紧随指端升起，侧视可见布边悬空，未实现松手铺平。log step 395 的同候选脚本输出虽报告 Post-release: right=None, left=None，这个抓持查询结果不能替代录像中的实际脱离状态。"
+     },
+     {
+      "t": 26.866,
+      "log_step": null,
+      "text_zh": "观察：视频 25.9–26.866 s 双爪仍贴在悬起的毯边，毯面左侧保留明显内折和凹褶，未形成平铺、释放、退离的联合终态。评分器 reward 的 strict_goal_reached=0、success=0，与此可见结果一致。"
+     },
+     {
+      "t": null,
+      "log_step": 406,
+      "text_zh": "推断：log step 360 编写、log step 362 运行的候选先抓右边、再抓左侧斜折片，双臂拉动后尝试松手和撤离；log step 406 读取保存文件为993行，与评分器 submitted_actions=993一致，动作顺序也与录像吻合。因此用该候选日志辅助理解评分片段；后续独立测试不计入节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.0 s 起右二指夹爪夹住毯子右侧布片，视频约 5.5 s 起左二指夹爪夹住左侧斜折布片；视频 8.0–17.5 s 两爪分别捏持不同布片协同牵拉展开，先由右爪接触、再加入左爪。视频 18.0 s 后虽张爪撤离，布边仍随指端抬升。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 19.0,
+   "log_step": 395,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 19.0 s，机器人在拉开毯子后张开右爪并抬升，右侧毯边仍随指端升起；左爪随后抬升也带起左侧布片。到视频 26.866 s，两侧毯边仍悬起，左侧折皱未消除，本次释放撤离没有修复；log step 360 的候选脚本明确将此阶段设为松手后垂直抬升和撤离。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 19.0,
+    "log_step": 395,
+    "evidence_zh": "观察：视频 18.0–21.0 s 二指夹爪已张开，但布边仍在对应指端处随机器人抬升；视频 23.0–26.866 s 仍呈两端悬起的布面，未像成功参考录像末态那样落平并与夹爪分离。log step 395 输出的抓持查询为双侧None，录像却显示未实际脱离；此处按可见运动耦合标记没松开，不把查询值当作释放证据。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/没有本次逐帧状态日志，reward未报告DAG所列七项原生指标，故native_metrics的值均为null；无法从录像精确复算材料覆盖、边长应变、毫米级净空、速度和漂移。log step 395 报告抓持查询双侧None，但视频 19.0–26.866 s 布边仍随指端悬起；缺少该候选的粒子抓持绑定、碰撞接触及释放执行记录，无法区分残留绑定、碰挂或其他机制，根因留空。"
+ },
+ "summary_zh": "机器人双爪先后抓住毯子的不同布片并协同拉开，但唯一节点“毯子展平”始终未完成，最终0/1。视频约 19.0 s 的松手撤离阶段，毯边仍随张开的夹爪抬升，直到视频 26.866 s 仍悬起且有明显折皱，断点为展平操作中的没松开。缺少本次接触和抓持绑定状态，不能确定未脱离的内部原因，也不能由录像精确复算七项原生指标。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与录像一致：唯一节点毯子展平未达成（final=false，reward=0），断点在松手撤离阶段（视频约19 s），毯边随张开的夹爪抬升，没松开有可见证据；根因留空并有gap_zh，合理。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": "2026-10-30T23:17:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--xaaptka/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--xaaptka/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe5e962818194fa84cbe36f95c2a9aa06464dbfd2b6225c8146bcadccd956ad1",
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+   "states_sha256": null,
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+  }
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+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xux9eyq.json

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+ "outcome": {
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+  "source": "catalog",
+  "raw": {
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+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-privileged--xux9eyq/replay.mp4",
+  "duration_s": 22.533,
+  "fps": 15.0,
+  "frames": 338,
+  "sha256": "d36d19464f1f466a8b524db081c2bad3bf3a8382b5d8425e9eb341b5380173a9"
+ },
+ "state": null,
+ "progress": {
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+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
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+      null
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+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的蓝色网格毯仍是带重叠和折角的窄片，初始未展平。"
+     },
+     {
+      "t": 6.533,
+      "log_step": null,
+      "text_zh": "观察：视频 5.6–10.8 s，机器人左右二指夹爪分别夹住毯边的不同布片，同步提起并越过折线向桌面另一侧铺开；视频 6.53 s 可见布边随两爪升起，原处布层打开。视频 11.0–15.0 s 双爪已释放退开，但左侧仍有大片内折和凸起，尚未完成。"
+     },
+     {
+      "t": 18.6,
+      "log_step": null,
+      "text_zh": "观察：视频 17.6–20.8 s，机器人右爪停在毯外，左爪夹住左侧折角附近的布片，提起并向外移动；视频 18.6 s 的左腕视角可见布片位于闭合指间，随后折角随左爪向外展开。"
+     },
+     {
+      "t": 22.4,
+      "log_step": 111,
+      "text_zh": "观察：视频 21.47–22.47 s，左爪张开并向外退离，蓝色布面展开为大幅近矩形，侧视没有此前的大褶或悬空角，末帧仍维持该形态。log step 99 保存的交付动作被重放验证；log step 111 的第一次评分模式重放结果为 strict_success=True、success_row=897、hold_steps=0、tolerance_needed=False，log step 125 的两次重放均成功且最终状态哈希相同。inputs/run.json 的 reward 也报告 all_success=1、strict_goal_reached=1、replay_tolerance_needed=0。"
+     },
+     {
+      "t": 22.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频末段的展平、松手和退离外观与本次评分器的严格成功结果，将含释放、净空、低速、漂移及至少0.5秒共同保持要求的唯一节点记为约视频 22.4 s 达成并保持至结束；这是末段帧的近似导航时间，未将 agent 工作时间转换为视频时间。无逐物理步状态日志，无法仅由画面逐点复算这些量化条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.6–10.8 s，机器人左右二指夹爪各自夹住毯边的一块布片，同步提起、翻开并铺下；两爪各有夹持，属于双臂协作抓握。之后视频 17.6–20.8 s 由左二指夹爪单独夹持左侧折角附近布片并向外展开，右爪退离不接触；随后左爪释放并退出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先双爪夹持毯边翻开主折叠，再由左爪向外展开剩余折角，松手退离后约在视频 22.4 s 完成唯一展平节点，最终为1/1。评分器确认两次重放均成功、在提交动作行内达到严格目标，未使用宽限阈值，无失败断点。缺少逐物理步状态日志，毫米级净空、材料投影、应变和静置窗口依严格评分结果确认；reward未逐项报告DAG原生指标，故这些指标值保留null，不以会话诊断读数替代。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点毯子展平：初帧折叠，6.5 s 双爪提起翻开，18.6–20.8 s 左爪修整折角，22.4 s 平铺且双爪退离；与评分器严格成功（strict_goal_row=897、sim_time 22.42 s）一致，接触标签（双臂协作抓握、其后左爪单手）与画面相符，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": "2026-10-30T23:17:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--xux9eyq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--xux9eyq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f2c69e31895dd45bc6a25e67127ac593b8e28afeb966e5c87c993b9cf8306613",
+   "video_sha256": "d36d19464f1f466a8b524db081c2bad3bf3a8382b5d8425e9eb341b5380173a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8ddjadx.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--8ddjadx",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 14654,
+   "live_rows": 14654,
+   "sim_steps": 14654,
+   "physics_steps": 146540,
+   "steps": 11722,
+   "elapsed_s": 10423.5,
+   "replay_wall_s": 7680.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--8ddjadx/replay.mp4",
+  "duration_s": 366.4,
+  "fps": 15.0,
+  "frames": 5496,
+  "sha256": "06cd9be578ca49377fc5b02dc87b51f280b4ecb666cad600942ba09911e50a10"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色网格毯在桌面呈近似矩形，布面大体平摊，左侧有一条斜折边，侧视该处略有隆起；两臂初始悬于桌面上方。此帧不能证明布料已经完全展开为单层。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 88,
+      "text_zh": "观察：视频 7.2–8.4 s，机器人右夹爪夹着局部布片提起，侧视出现帐篷状悬空；视频 9.0–14.0 s 拉动、放下并松手后，毯子仍呈较大矩形布面，左侧斜折边仍可见，右前缘有所错出。视频 16.0 s 与 22.0 s 的布面也大体平摊，并非皱成窄条；视频 18.0–20.0 s 之间另有一次局部提起。log step 88 提交右臂翻展开动作，log step 90 返回 done=false。"
+     },
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频 25.0–28.0 s，机器人右夹爪再次夹布提起，布面由大体平摊变为明显悬空的帐篷形，斜折脊向抓点汇聚；视频 30.0–35.0 s 放下后仍有卷折，视频 40.0–45.0 s 又被提拉收成皱团状。这里记录的是操作引起的布面收拢起褶，不能由悬空本身断言具体抓持失效。"
+     },
+     {
+      "t": 86.0,
+      "log_step": null,
+      "text_zh": "观察：视频 82.0–86.0 s，左夹爪在布面局部按住，右夹爪抓住另一处提拉；布的投影有所扩大，但仍有明显卷折、重叠边及悬空布角。视频 95.0 s 放下后的布面也未完全展开。"
+     },
+     {
+      "t": 143.0,
+      "log_step": null,
+      "text_zh": "观察：视频 140.0–145.0 s，左、右二指夹爪先后夹住不同局部，并在视频 142.0–143.0 s 同时持布提拉；视频 146.0–160.0 s 再次操作后，布上仍有长条卷折，没有出现完全铺平并释放退离的状态。"
+     },
+     {
+      "t": 354.0,
+      "log_step": 343,
+      "text_zh": "观察：视频 342.0–354.0 s，机器人又将带长折边的布片拖成更窄的斜条，形成新的重叠和凸起；log step 343 的两次梳拖完成输出与这一末段操作顺序一致。"
+     },
+     {
+      "t": 366.33,
+      "log_step": 352,
+      "text_zh": "观察：视频 355.0–366.33 s，两爪张开并退回上方，桌上的毯子仍明显折叠堆起；已查看视频 365.4 s 及最后一帧视频 366.33 s。评分器 success=0、live_success=0、replay_success=0，且 live_matches_replay=1、resumes=0；log step 352 的服务最终状态仍为 done=false。"
+     },
+     {
+      "t": 353.95,
+      "log_step": 346,
+      "text_zh": "推断：这是同一个未重置的实时 episode。log step 346 的服务计数 control_steps=14158，按控制步长 0.025 s 对应视频 353.95 s，与视频 354.0 s 双爪释放、随后抬臂退离的事件核对一致；log step 352 的 14654 个控制步对应视频 366.35 s，也与视频总长 366.4 s 一致。时间定位使用实际视频帧，未将 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 142.0–143.0 s，左右二指夹爪各自夹住毯子不同部位并共同提拉，布片随两爪运动；这是各爪夹住布料的双臂抓握。此前视频 7.2–8.4 s、25.0–28.0 s 等时段先由右夹爪单独夹布提拉，后续也有左右爪交替处理。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 82.0–86.0 s 及 347.0–352.0 s，左夹爪指端压在毯子的局部布面上，右夹爪同时夹布拖动；本项记录左爪压布的接触，右爪抓布见抓握项。左爪压住布面时未见其双指包夹该布片，不把这一压布动作记为抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 28.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.0 s、16.0 s、22.0 s，毯子大体平摊且斜折边仍在；视频 25.0–28.0 s 右夹爪提拉后，布面明显悬空，形成汇向抓点的斜折脊，视频 40.0–45.0 s 再次提拉收成皱团。视频 28.0 s 用作这段布面恶化过程的粗略跳转锚点，并非本次首次提起布料；后续虽有部分拉开，唯一展平节点未完成，视频 347.0–354.0 s 又被拖成窄斜条，视频 365.4–366.33 s 退离后的褶皱仍未修复。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "提拉拖动使布面收拢起褶",
+    "t": 28.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 25.0–28.0 s，机器人右夹爪提起布面，材料沿斜向折脊向抓点聚拢；视频 40.0–45.0 s 进一步收成皱团状。视频 347.0–352.0 s，左爪压在局部布面、右爪拖动另一处，毯子随之收窄并出现新的堆褶；视频 354.0 s 松手后和视频 365.4–366.33 s 退离后仍保留这些褶皱。",
+    "note_zh": "候选名称：提拉拖动使布面收拢起褶。描述可见的材料形变及操作前后变化，不以覆盖率或高度未达标充当现象。已见抓持和移动，没有足够证据证明失握、碰撞阻断或放后滚动失稳；材料局部折叠收拢也不能仅凭整体位置归为位姿不准，故保留其他并改写候选名称与依据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人以展开毯子为目标，但局部抓持、提拉和拖动反复使材料收拢起褶，未控制出展开所需的形变。视频 25.0–28.0 s 单爪提起使斜折脊汇向抓点，视频 40.0–45.0 s 布面收成皱团；视频 142.0–145.0 s 两爪持布时左侧仍卷起，但这一持布中间状态本身不足以证明该动作方案错误。更直接的末段证据是视频 347.0–354.0 s 左爪压布、右爪拖动后形成窄斜条和新褶皱；log step 340 的 comb2 脚本规定左爪压点、右爪闭合后沿单一方向拖动，log step 343 输出两次执行完成，与末段操作顺序一致。接触确已发生而材料形变控制未奏效，支持控制总类。",
+    "note_zh": "已按目标与策略、接触设计、轨迹与反馈的次序重新评估。成功参考视频 12.0 s 同样有悬空提布，视频 23.4 s 最终铺平退离，故不能仅由提起布料认定规划错误；参考片仅说明这一动作类别不必然失败，不证明本次抓点可行。缺少抓持补丁、材料层对应、受力及跟踪误差记录，无法判断具体接触布局是否不适配，或把失败细分为轨迹、反馈控制或参数调试，因此保留控制总类；没有验证“压住折边就近展平”这一替代方案。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；评分器 reward 未报告 DAG 所列的覆盖率���最高点、最大应变、速度、净空、漂移及稳定时长，故 native_metrics 值均为 null。log step 348 和 log step 353 的覆盖率、布高数值来自 agent 自己的视觉反投影脚本及自述，未当作原生评分指标。没有逐粒子状态及抓持补丁/受力记录，无法核验所有毫米级阈值或确认具体失握机制；但主视、侧视和腕部视图均可见残留折叠，足以判断展平节点未达成。成功参考视频 18.0–23.4 s 的大幅平铺退离状态仅用于外观比较，不作为本次进度证据。 重新核对后，早期证据只支持近似矩形布面上的局部斜折边，不能凭外观确定隐藏材料层数；也没有足够证据区分接触设计与执行控制，或验证局部压平替代方案。"
+ },
+ "summary_zh": "机器人实施了单爪抓布提拉、双爪持布及压布配合拖拉，最终松手退离，唯一展平节点最终为 0/1。初始和视频 14.0 s 的毯子呈大体平摊的矩形并带斜折边，视频 28.0–45.0 s 提拉使布面收拢起褶，后续虽有部分拉开，视频 347.0–354.0 s 又收成窄斜条，最后一帧视频 366.33 s 仍有明显折叠。根因保留控制总类；无状态日志、原生几何指标和接触受力记录，具体机制仍属推断，置信度由7降至6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成（final=false）正确，但对早期布面的描述与视频相反：视频 0–25 s 毯子基本是一块平铺的矩形，仅有一条斜折边，并非“重叠窄片”；布面是在视频 28–45 s 起被拎起拖拽后才变成皱团/窄斜条。因此断点 t=14.0 s 的证据和“展开未奏效”的叙述为假观察，现象与根因的证据链随之不成立。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 final=false、断点 28 s 作为粗略锚点、现象“其他”与根因“控制”均与帧和评分器 success=0 一致；第 1 轮指出的早期布面描述已更正，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:45:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8ddjadx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8ddjadx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8ddjadx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8ddjadx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "92e1f0aee8414ce86667ef2e78c90c914de17fcba16bc7c5ab5885b7057ef0c0",
+   "video_sha256": "06cd9be578ca49377fc5b02dc87b51f280b4ecb666cad600942ba09911e50a10",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--ajqhyq9.json

@@ -0,0 +1,263 @@
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+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--ajqhyq9",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
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+   "forcing_events": 0,
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+   "finalized": 1,
+   "n_actions": 11761,
+   "live_rows": 11761,
+   "sim_steps": 11761,
+   "physics_steps": 117610,
+   "steps": 4759,
+   "elapsed_s": 9972.9,
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+   "gpu_lost": 0,
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+   "replay_tolerance_needed": 0,
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+   "simulator_instability": 0,
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+   "peak_memory_gb": 0.347,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.285,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--ajqhyq9/replay.mp4",
+  "duration_s": 294.133,
+  "fps": 15.0,
+  "frames": 4412,
+  "sha256": "044e644c337a7265609f5f8e2400efab66e6ea962c3f84e35f296114daa2dd25"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色网格毯呈窄长折片，左侧有斜向折叠，初态没有展开为大幅布面。"
+     },
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–21.0 s 右夹爪先后贴近毯面、闭合及移动；视频 22.0–24.0 s 右夹爪离开布面时未携带展开的布片，原处毯边及斜褶仍在。"
+     },
+     {
+      "t": 143.0,
+      "log_step": null,
+      "text_zh": "观察：视频 139.0–145.0 s 左夹爪在毯子左部接触并向前移动，局部布面起皱；视频 165.0–180.0 s 左夹爪退开后，布面仍为原来的窄长折片，未出现大幅展开。"
+     },
+     {
+      "t": 254.0,
+      "log_step": null,
+      "text_zh": "观察：视频 247.0–254.0 s 左夹爪在毯子左部下降、拨动后抬起；视频 254.0–257.0 s 夹爪下方可见空隙，布边仍留在桌上，没有随夹爪翻开。视频 267.0–280.0 s 后续同类动作也未展开布片。"
+     },
+     {
+      "t": 294.0,
+      "log_step": null,
+      "text_zh": "观察：视频 283.0–294.0 s 两夹爪已经退离，末秒视频 293.2、293.4、293.6、293.8、294.0 s 毯子仍是窄长折片，左部斜褶和重叠外观仍在；评分器字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 294.0,
+      "log_step": 216,
+      "text_zh": "推断：全程所查帧均未出现展开覆盖的大幅布面，因此本节点没有成立区间。成功参考录像的 视频 18.0–21.0 s 显示明显宽大的铺开布面，仅作为完成外观的对照；本次 agent 自述“仍对折、覆盖约49%”（log step 216）与本次视频外形一致，但该估计不作为评分器原生指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.0–21.0 s 右夹爪从上方贴压毯面；视频 139.0–140.0 s 及 247.0–251.0 s 左夹爪下降压到毯子左部。两臂先后操作，另一只夹爪保持退离；未据闭合指令或爪间距读数认定抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 140.0–143.0 s 左夹爪沿桌面向前拨动局部折片，视频 247.0–253.0 s 左夹爪再次沿毯面移动、拨扫。可见局部皱褶，未见双手同时夹持展开；抬爪时布边仍在桌上，无法确认双指包夹住材料。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 22.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.0–21.0 s 右夹爪在毯面尝试闭合，视频 22.0 s 离开时没有带起所需布片，毯子仍折叠；后续左夹爪多轮操作至视频 280.0 s 也没有完成展开，视频 294.0 s 仍为窄长重叠布面。断点取首次明确可见的空手退离作为导航锚点，所失败的步骤始终是毯子展平。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 22.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 21.0–24.0 s 右夹爪从毯面移开时，布片留在原处；视频 251.0–257.0 s 左夹爪接触后抬起、移向远侧，夹爪与毯面分离而没有布边随行。这里缺少的是展开所需的布层夹持，并非完全未碰毯子；按压、拨动虽发生，布层并未被翻开。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人反复采用从上方下降到折叠毯面、闭合再抬爪的接触方式，实际主要把布片压在桌面或拨出局部皱褶，没有建立可带起自由布边的包夹关系（视频 5.0–24.0 s、139.0–145.0 s、247.0–257.0 s）。log step 68 的机器人服务桌面保护反馈报告下降在布面处被截停，log step 74、82 的脚本仍在该高度闭合后提升；这一接触几何未让上层布边进入有效夹持位置。具体辅助抓持未激活的内部条件无法核实，不采纳 agent 对距离或穿透条件的多次猜测，也未验证本次单手抓法的替代参数。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有逐帧状态日志，评分器 reward 也没有报告 DAG 所列七项原生指标，故其 value 均为 null；agent 的相机估算及最终自述不是评分器测量。推断：视频足以判断布片没有展开，却不能逐点核验应变、高度、速度、毫米级净空、确认漂移，或确定辅助抓持究竟因距离、穿透、暴露布层还是跟随误差而未保持有效；局部被夹爪遮挡，不能将局部起皱或 agent 声称抓住等同于确认包夹。"
+ },
+ "summary_zh": "观察：机器人先用右夹爪、后用左夹爪反复按压、拨扫并尝试夹取毯子，最终双爪退离；视频 294.0 s 毯子仍呈窄长重叠折片，毯子展平始终未达到，最终为0/1。推断：展开所需的布边夹持未建立，主要问题在抓取和接触设计，抬爪没有带起并翻开上层布片。观察：无逐帧状态日志及评分器布料指标，无法确定辅助抓持失败的具体内部条件，agent 自述的约49%覆盖不作为原生指标。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 blanket_flattened 未达成、断点与根因与视频及 log 一致：视频 0/6/12/18/22/26/60/100/143/200/254/294 s 毯子始终为窄长折片，对照成功录像 20 s 的大幅平铺面；log step 68/74/82 的描述（桌面保护截停、闭合 gap 0.0000 后抬起）与根因证据一致。未发现需要改动的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:38:53Z",
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phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--bwxxvyy.json

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+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--bwxxvyy/replay.mp4",
+  "duration_s": 244.4,
+  "fps": 15.0,
+  "frames": 3666,
+  "sha256": "faae96663edb277226c21f644bbd7c3db4960c858db993d33888f73e1c6f91d0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的蓝色网格毯是横向折起的窄片，左部还有局部隆起，初态不满足展平。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频26–34 s左夹爪提住布片，右夹爪向另一边缘靠近并拉动；毯子局部展开，但中部仍形成明显帐篷状隆起。视频168–178 s两臂又共同夹取、拉铺布片，铺下后仍留卷边与大褶。"
+     },
+     {
+      "t": 197.0,
+      "log_step": null,
+      "text_zh": "观察：视频190–196 s机器人在布面推擦，视频197–203 s双爪退开后，毯子下部和右侧仍有鼓起的折褶，未形成完整平整布面。成功参考视频23.53 s的同一主视角则可见大幅、无此折褶的平铺网格；参考仅用于比较完成外观。"
+     },
+     {
+      "t": 244.33,
+      "log_step": 106,
+      "text_zh": "观察：视频234–236 s最后一轮推擦后仍留下右侧斜向折褶；视频243.2–244.33 s逐帧抽查可见双爪已远离、布面静置，但该折褶始终存在。log step 106的机器人服务末次状态为control_steps=9772、done=False、reason=None；reward记录live_success=0、graded_by_live=1、infra_error=0。"
+     },
+     {
+      "t": 202.8,
+      "log_step": 102,
+      "text_zh": "推断：log step 6报告服务控制频率40 Hz，log step 102的control_steps=8112对应视频202.8 s，已与视频202–203 s双爪退离、布面保留右下褶皱的外观核对；末次9772/40=244.3 s也与视频244.4 s总长相符。这是单次实时评分episode；结合持续可见的折褶及服务始终未触发成功，展平联合条件未曾完成，不能将中间的局部展开计为节点达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频168–176 s左右二指夹爪分别夹住毯子不同布片，协同提拉并拉铺；夹爪各自夹布，并非只在两臂之间挤压。视频26–30 s也有左夹爪单独夹持提布，单手处理与双手处理依次出现。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频55–58 s两夹爪在布面横向推拢布料；视频135–155 s左右手交替配合，一侧停在毯边，另一侧用夹爪沿布面扫动，使褶皱移动或聚拢。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频190–196 s两臂配合修整，一只夹爪向下抵住布面，另一只在布面压擦；视频234–235 s又共同贴近布面做短程压擦，随后退出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 197.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频190–196 s机器人仍在推擦展平，视频197–203 s双爪暂退后，毯子下部及右侧仍有折褶；后续视频205–235 s继续拉边、提铺和压擦，视频244.33 s仍未消除右侧斜褶。断在同一个始终未完成的展平步骤，视频197 s仅作未展平结果的定位锚点。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留折叠/褶皱",
+    "t": 197.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频197–203 s毯子虽较初态铺开，右下仍有明显折褶和鼓起区域；视频205–210 s拉动后布面整体移转，褶皱仍在，视频243.2–244.33 s退爪静置时仍见右侧斜向折脊。",
+    "note_zh": "候选名称：残留折叠/褶皱。这里可见的问题是柔性材料未充分展开、铺平；现有接触失败和刚体位姿类条目不能准确描述这种材料形态结果，不把覆盖或高度阈值直接当作现象名称。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频135–155 s反复贴面扫动后，隆起主要移位、聚拢，视频168–178 s夹取拉铺仍留下大褶；视频205–210 s一手抵住布面、另一手拉边时，毯子明显整体移转而未消除折褶。log step 92的控制脚本明确使用一手下压、另一手扫动，log step 104–106又执行拉边、提铺和短程压擦，视频中的残留折褶持续存在；这些动作未能可靠地分离并铺开折层，支持控制层归因，但不足以唯一细分为抓取设计、逆解或反馈问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有逐点状态日志；reward未报告DAG列出的覆盖率、最高高度、最大拉伸、速度、净空、漂移和稳定时长，故原生指标均为null。log step 102–106中的面积与高度是agent脚本从颜色和深度计算的估计，不能当作评分器原生值；视频可确定残留折褶，但不能精确复算毫米级联合判据或唯一确定控制子类。"
+ },
+ "summary_zh": "机器人多次单手及双手夹取、提拉、拉铺和推擦毯子，虽将初始窄折片部分展开，但“毯子展平”始终未完成，最终节点为0/1。失败表现为铺下后仍保留明显折褶，最后退爪静置也未消除；操作只反复移动、聚拢部分褶皱，支持控制层归因。缺少逐点状态与评分器原生指标，不能精确复算覆盖、高度等阈值或细分控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点在展平步骤、接触（双臂协作×抓握/推扫/压擦）与终帧右侧残留折脊均与视频一致，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:23:09Z",
+  "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/roboarc-blanket-flatten-03-i01-standard--bwxxvyy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--bwxxvyy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11faf547ef00349dcfc66681e97ed4629472ccc4e851c518a8d239eacb90d791",
+   "video_sha256": "faae96663edb277226c21f644bbd7c3db4960c858db993d33888f73e1c6f91d0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--dda3qw8.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--dda3qw8",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 708,
+   "live_rows": 708,
+   "sim_steps": 708,
+   "physics_steps": 7080,
+   "steps": 177,
+   "elapsed_s": 10750.7,
+   "replay_wall_s": 409.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--dda3qw8/replay.mp4",
+  "duration_s": 17.8,
+  "fps": 15.0,
+  "frames": 267,
+  "sha256": "7990f670dfe5719c3af1c49bba2222ff32e70bfeac960f38327b16cc54d627d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色网格毯为窄幅折叠布片，左侧有叠层和褶皱，尚未展平。"
+     },
+     {
+      "t": 3.2,
+      "log_step": 34,
+      "text_zh": "观察：视频 1.8–3.4 s 机器人双爪在毯子近侧边缘闭合并向上抬，毯面只有局部拱起，折层没有被展开；log step 34 的脚本提交了下降、闭爪及小幅试提动作。"
+     },
+     {
+      "t": 17.73,
+      "log_step": null,
+      "text_zh": "观察：已逐段查看视频 0.0–17.73 s，并加密查看视频 16.8–17.73 s；机器人多次闭爪试提后，末帧毯子仍是窄幅折叠形态，近侧留有褶皱，没有展开为大幅平铺布面。"
+     },
+     {
+      "t": null,
+      "log_step": 322,
+      "text_zh": "观察：log step 322 列出的服务 control_steps 从初始 0 依次累积至 140、248、340、416、512、608、708；评分器报告 n_actions=708、resumes=0、live_matches_replay=1、live_success=0、replay_success=0。推断：这些编号为 001–007 的动作段是同一评分局中的连续重试，不能按独立成功试验计进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.8–3.0 s、5.0–5.4 s 及 16.2–16.8 s，机器人左右二指夹爪同时贴压毯子两处，指尖附近布面起皱、拱起；随后抬爪未见布片被持续夹住带起。记录实际指尖压擦接触，不把闭爪指令当成已建立抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 3.2,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.2–3.4 s，机器人完成首次闭爪并试提，毯子仍留在原有窄幅折叠位置，未随双爪展开；视频 3.6–17.73 s 的后续重试也未修复。log step 34 提交的是直接抓取及试提动作，因此断点为毯子展平步骤的操作中。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.2,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 1.8–3.4 s 双爪闭合时毯边出现局部褶皱，抬爪后布片未被带起展开；视频 16.2–17.73 s 最后一次闭爪和上抬仍留下折叠布面。推断：机器人碰到了布料，但没有建立用于展开的持续夹持；画面不支持已夹稳后再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 34、107、127、173、193、299 的机器人脚本反复调整下降高度、闭爪量及试提高度；视频 1.8–3.4 s 与 16.2–17.73 s 均只见局部压皱而未带起布片。log step 47、322 中，机器人服务的 table_guard（限制末端向桌面或布料侵入的运动保护）还报告多次 stopped_steps；这些反馈表明部分命令受到保护限幅。推断：失败落在抓取接触的执行控制上；缺少实际接触对及辅助抓持状态，不能确定接触布局、跟踪误差或闭爪参数中哪项起决定作用。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供状态日志，视频不能逐点测得覆盖率、粒子高度、材料拉伸、速度、毫米级净空、漂移及共同保持时间，评分器 reward 也未报告这七项原生指标，故数值均留 null。布面持续折叠足以判断节点未达；没有接触对、辅助抓持开关或载荷记录，局部短暂附着是否发生及控制失败的具体子类不能精确确认。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "评分轨迹中机器人连续进行多次双爪下降、闭合和试提，毯子始终保留窄幅折叠形态，毯子展平节点未达（0/1）。首次抓取试提即未建立能展开布片的持续夹持，后续未修复，根因保守归为控制。缺少状态日志和原生几何、接触指标，无法进一步确定控制子类或量化各项终态偏差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点、接触和根因保守归控制均与视频一致；未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:32:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--dda3qw8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--dda3qw8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f80941b438e18fa41b148eb3d73758d3942362bb7e5335bb37a1484f92f88bd",
+   "video_sha256": "7990f670dfe5719c3af1c49bba2222ff32e70bfeac960f38327b16cc54d627d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--g3yqzo9.json

@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--g3yqzo9",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 21100,
+   "live_rows": 21100,
+   "sim_steps": 21100,
+   "physics_steps": 211000,
+   "steps": 7776,
+   "elapsed_s": 10753.6,
+   "replay_wall_s": 6372.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/replay.mp4",
+  "duration_s": 527.6,
+  "fps": 15.0,
+  "frames": 7914,
+  "sha256": "86e3dbb5008f26b1e30f721336030a47d434ec6e3849a51da7636af600aec18a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色网格毯为窄长折片，侧视有折起部分，初态未展平。"
+     },
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 7–18 s 双爪夹住不同布片共同提拉，布面形成横向折层；视频约 22–40 s 换为单爪抬角，仍有明显斜向重叠。"
+     },
+     {
+      "t": 516.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗查并加密查看操作段，机器人反复捏取、提拉和放下毯子，未见无重叠的大幅平铺状态；视频 506–516 s 最后一次左爪修整后，左侧仍有纵向折回布片和凸起长褶。"
+     },
+     {
+      "t": 527.5,
+      "log_step": null,
+      "text_zh": "观察：视频 526.5–527.5 s 双爪张开并退离，毯子左侧长褶及重叠仍然存在；成功参考视频 23.5 s 则呈完整大幅平铺布面。此对照仅用于识别完成外观。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward 的 live_success=0、replay_success=0、live_matches_replay=1、deterministic=1，sim_startups=1、resumes=0；与本次视频可见的残余折叠一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7–18 s、78–96 s，左右二指夹爪分别夹住毯子的不同布片，同时提起或拉动；每只夹爪均夹住布料。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：双手协作之外，左右夹爪先后单独捏取折角或褶顶提拉修整；视频 506–515 s 左爪夹住左侧褶顶并向布面内侧移动，右爪退在空中，随后左爪放开退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 516.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 506–516 s 机器人左爪对左侧折褶进行最后一次夹取、向内拉动和放下，退离后仍留下明显纵向折叠；视频 527.5 s 该折叠仍在。本次始终未完成毯子展平，断点锚定这次未奏效的末段修整。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留折叠",
+    "t": 516.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 516.0 s 及 527.5 s，毯子左侧有折回重叠的长条布片，侧视可见褶脊凸起，整体轮廓仍收拢；夹爪已经离开，布片没有自行摊开。",
+    "note_zh": "候选名称：残留折叠。现有接触、刚体位姿和全身运动条目不能准确表达柔性布料操作后仍有重叠与褶皱这一结果缺陷。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 510.0,
+    "log_step": 744,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：末段的褶顶抓点与拉动方向未能把折回布片展开。log step 744 的动作检查将左爪从褶顶 X=-0.404 m 拉向 X=-0.180 m，log step 747 自述执行该方案；视频 506–515 s 可见左爪捏起左侧布片向布面内部移动、右爪留在空中，放下后折层仍叠在布面上（视频 516.0 s、527.5 s）。据此将本次失败保守归于这组抓点和受力布局；具体夹住了哪些材料层无法逐点确认，替代抓法在本次局部状态是否可行未知。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志；评分器 reward 未报告 DAG 所列覆盖率、高度、拉伸、速度、净空、漂移或稳定时长的数值，故 native_metrics 全部为 null。log step 750、759 中的高度与面积来自 agent 自行处理相机数据，不能替代评分器指标；视频足以确认残留折叠，但不能核实粒子级夹持层、张力与毫米级终态量，接触设计根因仅为视频和动作记录支持的推断。 暂行规则分歧（DECISIONS.md N10）：审查意见要求现象必须是过程中的接触或运动缺陷；但当前规则（docs/DECISIONS.md:357-360、docs/03_trajectory.md:250-252、docs/CASES.md:433-439）允许记录结果中直接可见的具体缺陷。观察：本次视频 516.0 s、527.5 s 可见左侧折回长条布片及凸起褶脊；故按 N10 当前处理保留“残留折叠”，它描述具体材料形态，未代填覆盖率或高度等未知指标。未把其成因视作直接观察，抓取和接触设计根因仍为推断。"
+ },
+ "summary_zh": "观察：机器人进行了双爪协同抓握及多次单爪捏取、拉动、铺放，末段已松手退离，但视频 516.0–527.5 s 仍有明显长褶和重叠，毯子展平节点始终未达到，最终为 0/1。推断：末段褶顶抓点与向布面内部拉动的受力布局未把折回布片展开；无粒子状态及评分器连续指标，无法精确核实材料层接触和各终态数值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（节点 false、无区间、断点 blanket_flattened/操作中、接触双臂协作+抓握）与视频一致：527 s 毯子仍为收拢带褶的斜向布片，成功参考 23.4 s 为完整平铺。问题在 phenomena：「其他/残留折叠」只是重述未达成的展平结果（N10），不是失败过程中的物理现象。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 false、断点 blanket_flattened/操作中、接触标签与视频一致（527 s 毯子仍为收拢带褶斜向布片）。现象「残留折叠」是结果中可见的具体缺陷，符合 N10 当前文本，不重述指标；根因标为推断并 alt_feasible=未知，合理。第1轮分歧已在 gap_zh 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": "2026-10-30T23:42:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/04_review_r1"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/05_reconcile_r1"
+   },
+   {
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+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
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+ }
+}

phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--txky9gm.json

@@ -0,0 +1,233 @@
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+   "resource_service_oom_kills": 0
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-03-i01-standard--txky9gm/replay.mp4",
+  "duration_s": 66.4,
+  "fps": 15.0,
+  "frames": 996,
+  "sha256": "df4f535fa485e71a248ad58c4c1d40758ae024b00fbf6f169f0d058f2a2e2641"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
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+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色网格毯呈折叠窄片，尚未展开为大幅平铺布面，节点初始不成立。"
+     },
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–35.0 s，机器人左右二指夹爪各夹住一处毯边，布片随两爪一起抬起并向远侧展开；视频 36.0–40.0 s 仍有布角被右爪带起，尚非释放静置的终态。"
+     },
+     {
+      "t": 48.0,
+      "log_step": null,
+      "text_zh": "观察：视频 41.0–42.0 s，毯子铺下但左侧仍有折叠；视频 43.0–50.0 s，机器人左爪独自夹持、拉动左侧布片修整，右爪停在布面上方。视频 52.0–55.0 s 两臂退开，毯子已大幅平铺。"
+     },
+     {
+      "t": 55.1,
+      "log_step": 58,
+      "text_zh": "观察：log step 58 的机器人实时服务返回 control_steps=2202、sim_time_s=55.05、done=False、reason=None；此时尚未通过联合验收。视频 55.0 s 两臂处于退开的姿态，随后机器人重新接近毯边。"
+     },
+     {
+      "t": 65.8,
+      "log_step": 60,
+      "text_zh": "观察：视频 56.0–64.0 s，机器人先后接近并夹持毯子两侧，随后双爪协同向画面右侧平移布面；视频 65.2–66.33 s 的主视角及侧视中，双爪已张开，毯子落回桌面并保持平铺，未见大折叠或悬空布角。log step 60 的脚本执行平移后逐手释放，服务随后返回 EpisodeOver: success。"
+     },
+     {
+      "t": 66.3,
+      "log_step": 61,
+      "text_zh": "推断：log step 6 的机器人规格给出控制频率 40 Hz；log step 58 的 2202/40=55.05 s 与视频约 55.0 s 双臂退开的停留段相符。log step 61 的实时服务报告 control_steps=2653、done=True、reason=success、resumes=0，对应视频约 66.325 s，与已检查的末段视频 65.2–66.33 s 相符，故将含 0.5 s 联合确认的完成时刻取视频约 66.3 s，精度约 0.1 s。run.json 的评分器字段 live_success=1、replay_success=1、live_matches_replay=1、replay_tolerance_needed=0 支持最终成立；逐粒子数值未报告，不由画面估算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 27.0–35.0 s，机器人左右二指夹爪各自夹住毯子的不同布片，协同提拉展开；视频约 61.0–64.0 s 两爪再次同时夹持两侧布片并协同平移。视频 43.0–50.0 s 的左爪单独夹持修整为依次发生的操作，记在同一说明中。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_height_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人通过双爪抓握协同展开毯子、左爪单独修整折角及最后一次双爪平移，完成唯一的“毯子展平”节点，视频约 66.3 s 通过联合验收，最终为 1/1。实时服务与重放评分均成功，末段视频可见双爪张开、毯子平铺；输入无状态日志，评分器未报告覆盖率、逐粒子高度、拉伸、速度、净空、漂移和稳定时长的实测值，完成时刻结合视频及服务控制步计数确定，原生指标值均保留为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "毯子展平节点在视频约66.3 s（由控制步2653/40 Hz与视频时长66.4 s相符）成立，final=true，与评分器live/replay成功一致；接触标签双臂协作+抓握符合画面；无失败层，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:19:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--txky9gm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--txky9gm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "09ccfb7c9f350fed549f5793e458afd5b7995989f1b689da88c7c0a1a72f22d5",
+   "video_sha256": "df4f535fa485e71a248ad58c4c1d40758ae024b00fbf6f169f0d058f2a2e2641",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--568efwf.json

@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--568efwf",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 400,
+   "submitted_actions": 400,
+   "sim_steps": 400,
+   "physics_steps": 4000,
+   "sim_time_s": 10.000000000000075,
+   "final_reward": 0.0,
+   "replay_wall_s": 469.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 27,
+   "agent_resets": 29,
+   "agent_sim_steps": 4331,
+   "agent_records": 4,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--568efwf/replay.mp4",
+  "duration_s": 10.067,
+  "fps": 15.0,
+  "frames": 151,
+  "sha256": "0946050c5d6d42d4990fd74bc0d81a4b17cb79bebd36c8a4708bd2d466509cce"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 俯视及低视角中，毛毯虽已有双层长方形外观，但左侧有明显斜向卷折、隆起，角边未整齐重合；两夹爪位于毛毯外。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 411,
+      "text_zh": "观察：通看评分视频每约0.5 s的抽帧及视频 5.0 s，双臂停在初始位置，没有接近、夹取或翻动毛毯；log step 411 对实际提交文件的检查显示400行动作完全相同。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0、9.2、9.4、9.6、9.8、10.0 s，毛毯左侧卷折仍在，机器人未接触毛毯，目标形态没有恢复。评分器 reward.strict_goal_reached=0、all_success=0；成功参考视频 21.0 s 的布叠左侧已展开并形成整齐边角，仅用于形态比较。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 0.0,
+   "log_step": 323,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0—10.0 s，机器人始终保持初始姿态，毛毯保留左侧卷折，没有开始折叠或修角。log step 323 的交付脚本在reset后仅录制hold(400)，log step 336 确认保存400行且success=False，log step 411 确认最终文件所有动作行相同；因此评分轨迹止于毛毯对折首步前。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 411,
+    "evidence_zh": "观察：视频 0.0、5.0 s 以及视频 9.0—10.0 s 的密集抽帧显示，两夹爪始终停在毛毯外，无抓取、拖拽或翻折动作；log step 411 检查的最终提交文件为400行完全相同的初始关节及夹爪指令。会话中的操作试验没有包含在这段评分轨迹中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 323,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent把求解策略持续限定为修补原有半折叠布形的左侧层序，没有尝试整块展开后重新对折。log step 143、172、215 的脚本均按剥离左侧远层、拉动局部近层、再覆盖的顺序修补；log step 293 改用左侧短距离按压扫动，仍未改变整体策略。log step 166 的测试虽将LN误差从181.6毫米减到73.6毫米，却使stacking_all从0.828降到0.561，并破坏轮廓、平整度和位置；log step 319 的局部双臂修整也未达标。log step 323 的脚本说明仍把问题限定为左侧三分之一换层，并关联到静止基线交付。对照成功参考视频，视频 0.0 s 也有左侧卷折，视频 5.0 s 已展开大部分布面，视频 15.0 s 为整块铺开的形态，之后视频 21.0 s 已重新对折；inputs/oracle/oracle.json 的success=1。结合本次脚本的策略范围与测试退化，根因归为跨阶段策略选择失当，而非仅由停止或零进度反推规划失败。",
+    "note_zh": "存在可行替代：已验证有，来源为同任务成功参考视频的整块展开、修角再重折路径及inputs/oracle/oracle.json的成功记录；这只验证替代策略在参考运行可行，不表示本次运行执行过该路径，也不把展开列为必经节点。右臂逆解失败是所选局部方案的测试结果，不能据此认定所有合法方案不可解；现有证据不另加独立的轨迹或逆解根因。",
+    "alt_feasible": "已验证有"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；评分器reward未报告DAG列出的角点、层序、轮廓、高度、位置、材料、静置及净空数值，native_metrics均留null。log step 62和后续会话测试的指标是agent自行计算的初态或测试结果，不能当作评分末态指标。规划根因由本次会话脚本的局部修补策略、测试结果和成功参考路径比较推断；参考视频不是本次运行证据，不能给本次节点增加进度，也不能据此断言展开重折是唯一解或已在本次运行验证。现有证据不足以证实agent自述的不可修复或环境不可解。"
+ },
+ "summary_zh": "评分轨迹中机器人全程保持初始姿态，毛毯左侧卷折从视频 0.0 s 保留至视频 10.0 s，毛毯对折节点始终未达成，最终0/1。断点为毛毯对折首步前，现象为没尝试；会话脚本持续局限于左侧局部换层修补，而成功参考运行展示了整块展开后重折的可行替代，故根因推断为认知·推理/规划，依据是策略选择而非交付静止基线这一停止行为。无状态日志及评分末态几何指标，不能量化层序和毫米级误差，也不能认定环境无解。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标注（节点未达成、断点 blanket_folded/首步前、没尝试、全程静止 0–10 s）与视频、log 一致。问题在根因：仅记‘控制’笼统类，但 agent 的 15 次试验全是在原位上局部修补左侧，从未尝试整块展开再重折；成功参考视频正是展开整块再重折，说明存在可行替代方案，根因应考虑规划而非泛泛的控制。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "WHERE 标注（毛毯对折未达成、断点首步前、没尝试、视频 0–10 s 机器人静止）与视频及 log step 323/336/411 一致。根因认知·推理/规划有 log 中局部修补策略、测试退化及成功参考视频的展开重折路径作依据，并非仅由停止反推（FAIL-22），可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:42:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--568efwf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--568efwf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--568efwf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--568efwf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "41bf4d0045dd97a6ee8861666d2f5abf125e240a64bb816deced6fa3f0ce9faf",
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+   "video_choice": "HF replay.mp4"
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+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--f7qrqmg.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--f7qrqmg",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
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+  "source": "catalog",
+  "raw": {
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+   "agent_sim_steps": 13710,
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+   "resource_host_oom_kills": 0,
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--f7qrqmg/replay.mp4",
+  "duration_s": 0.6,
+  "fps": 15.0,
+  "frames": 9,
+  "sha256": "e48a90740c426f8c19ff7f9aeb07e24331d21b65be5b2a0261e0531ccf640e06"
+ },
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+ "progress": {
+  "method": "visual",
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+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的俯视与低视角显示毛毯已有双层外观，但左侧存在向内卷折及局部隆起，近边左段网格弯曲；两夹爪均悬在毛毯外侧。初态不能视为角边对齐、平贴桌面的目标布叠。"
+     },
+     {
+      "t": 0.533333,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.000、0.067、0.133、0.200、0.267、0.333、0.400、0.467、0.533 s，机器人双臂及夹爪保持原位，没有接近、夹持或搬动毛毯；左侧卷折持续到最后一帧。对照成功参考视频 21.000 s 可见较平整、角边齐整的布叠，本次未出现对应的修整结果。"
+     },
+     {
+      "t": null,
+      "log_step": 200,
+      "text_zh": "推断：log step 71 的脚本先录制 hold(20) 并保存轨迹，log step 200 的运行输出仍显示“Saving initial hold trajectory”；评分器 reward 的 submitted_actions=20、sim_steps=20、sim_time_s=0.5、strict_goal_reached=0，与视频全程保持初态一致。日志中的后续抓取、展开和重折属于独立测试，不计为受评节点进度；本节点全程未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
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+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
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+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
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+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
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+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
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+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
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+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
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+  {
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+   "unit": "mm",
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+   "direction": "lower_better",
+   "value": null
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+  {
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+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
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+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
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+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
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+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 0.0,
+   "log_step": 200,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.000—0.533 s 的全部9帧中，机器人双臂始终悬停在毛毯外，毛毯左侧初始卷折未被修整，折叠工作没有启动。log step 200 显示脚本先保存初始保持轨迹，评分器仅重放20个动作且 strict_goal_reached=0；断点为“毛毯对折”的首步前，视频 0.000 s 作为导航锚点。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 200,
+    "evidence_zh": "观察：视频 0.000—0.533 s 中机器人没有向毛毯伸手、闭爪、拉动或翻折，双臂一直保持初始悬停姿态；初态左侧卷折也一直存在。log step 71 的脚本写有先保存 hold(20) 的保持轨迹，log step 200 显示该保存阶段，评分器的20个提交动作与录像一致。受评轨迹未开始折叠；会话测试不属于此现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，无法逐项核对内部材料层序、粒子运动及毫米级净空；评分器未报告DAG列出的连续指标，native_metrics 的 value 均为 null。log step 205、621 记录的独立测试未通过，但这些测试不在受评录像中；现有日志没有建立某一具体控制、规划或保存错误导致最终保持轨迹留作交付的明确因果链，故根因留空，不从“没尝试”或会话耗时反推原因。该节点在受评轨迹中从未被操作，故不填 contact_actual。"
+ },
+ "summary_zh": "受评视频 0.000—0.533 s 的全部9帧仅显示机器人双臂悬停，毛毯左侧初始卷折未被修整，“毛毯对折”全程未达成，最终0/1。断点是该步骤的首步前，现象为没尝试；评分器重放的20个动作与日志中的初始保持轨迹一致，会话内的抓取和重折测试不计入进度。没有状态日志或原生连续指标，且现有证据不能确定保持轨迹最终留作交付的具体根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频仅9帧（0–0.533 s），双臂悬停、毛毯保持初态，与评分器20个动作一致；日志 step 71 的脚本只保存了 hold(20) 作为交付，之后无覆盖保存。blanket_folded 未达成、断点首步前、现象没尝试符合所交付轨迹（未含任何操作），根因留空并写明缺口也符合“不从缺交付反推根因”。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": "2026-10-30T23:23:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--f7qrqmg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--f7qrqmg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--gxcyuhd.json

@@ -0,0 +1,296 @@
+{
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+   "sim_time_s": 1.4999999999999987,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
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+ },
+ "video": {
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+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--gxcyuhd/replay.mp4",
+  "duration_s": 1.6,
+  "fps": 15.0,
+  "frames": 24,
+  "sha256": "911797813b1cc4836e1ec5956d86b4095275d81452e7e75af3ffe5fac8e64461"
+ },
+ "state": null,
+ "progress": {
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+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：评分视频 0.00 s 的蓝色网格毛毯虽呈半折长方形，左侧仍有斜向卷入的布角和凸起，未成为角边对齐的平整双层布叠；两只夹爪悬在布外上方。"
+     },
+     {
+      "t": 1.533,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查评分视频 0.00—1.53 s 的全部24帧，包括视频最后一秒，双臂没有靠近、夹持或移动毛毯，左侧卷角始终保留；对照成功参考视频 20.80 s 的整齐平铺布叠，本次未出现该形态。该节点从未满足。"
+     },
+     {
+      "t": null,
+      "log_step": 61,
+      "text_zh": "观察：log step 18 的脚本只录制 hold(60)，log step 25 输出 placeholder saved (60, 14)；log step 61 检查最终交付文件仍为 (60, 14)，log step 65 的 agent 最终报告也明确称其为保持初态的占位轨迹。评分器字段 n_actions=60、strict_goal_reached=0，与评分视频未操控毛毯一致。"
+     }
+    ]
+   }
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+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 0,
+   "log_step": 60,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.00—1.53 s 中双臂始终停在毛毯外上方，未启动修角或翻折，毛毯初始左侧卷角没有变化。log step 60 将生成器默认设为 hold，log step 61 确认提交文件仍为60行，log step 65 的 agent 自述交付的是占位保持轨迹；因此断在毛毯对折开始之前。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0,
+    "log_step": 18,
+    "evidence_zh": "观察：log step 18 的交付录制代码仅执行 hold(60)；评分视频全部24帧（视频 0.00—1.53 s）显示机器人既未接触毛毯，也未执行展开、修角或翻折，初始缺陷保持到结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 57,
+    "source_zh": "日志",
+    "evidence_zh": "推断：未替换占位轨迹与会话中的操控方案持续失败有关：log step 54 的会话试验在双手牵拉后由 agent 脚本调用任务验收函数，输出 folded=False、material_intact=False；log step 56、59 的两次展开再重折试验均输出 M3 L: None、M3 R: None，表示重抓时未建立辅助持物。log step 57 的 agent 自述铺下的布皱缩、重抓失败，log step 60 随后保留 hold 交付。证据支持操控未能完成修整，但不足以区分接触设计、轨迹或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器 reward 未报告 DAG 中各项几何、材料及静置指标的数值，因此 native_metrics 全部保留 null；log step 32、54 等的自算指标属于会话试验，不能当作交付轨迹终值。控制根因取自会话试验输出及 agent 随后的交付选择，无法直接由静止的评分视频确定具体控制子类；不把会话中的拉扯、重抓失败计为本次评分的现象或接触。"
+ },
+ "summary_zh": "评分轨迹只保持初态，毛毯左侧卷角从视频 0.00 s 一直保留到视频 1.53 s，毛毯对折节点最终为0/1；机器人未接触毛毯，断点为首步前，现象为没尝试。会话日志显示多次操控修整失败后，agent 保留了60步占位轨迹，支持宽泛的控制根因。缺少状态日志及交付轨迹的原生几何指标，无法进一步确定控制子类或各数值误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频仅 1.6 s，双臂静止、毛毯左侧卷角不变，blanket_folded 从未满足（0/1）；断点首步前、没尝试，与交付的 hold(60) 占位轨迹（log step 18、25、61、65）一致。控制根因明确标为推断并来自会话试验，范围宽泛，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": "2026-10-30T23:28:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--gxcyuhd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--gxcyuhd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dac4091d44e97a19ce7f6d69d7cc6d37b369af7691ea9b5a2a0b8890de02952f",
+   "video_sha256": "911797813b1cc4836e1ec5956d86b4095275d81452e7e75af3ffe5fac8e64461",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--xqsalaq.json

@@ -0,0 +1,311 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--xqsalaq",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1660,
+   "submitted_actions": 1660,
+   "sim_steps": 1660,
+   "physics_steps": 16600,
+   "sim_time_s": 41.499999999998714,
+   "final_reward": 0.0,
+   "replay_wall_s": 1585.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 18,
+   "agent_sim_steps": 0,
+   "agent_records": 53,
+   "agent_replays": 10,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.639,
+   "peak_memory_gb": 2.159,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.251,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--xqsalaq/replay.mp4",
+  "duration_s": 41.6,
+  "fps": 15.0,
+  "frames": 624,
+  "sha256": "aacb0943c0cb28c9c872e47baa6325f43439a71efea7b1343c322559386f93dc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 毛毯虽已呈双层长条，但左侧有明显内卷和隆起，并非平整的目标布叠；不能把初始双层外观计为完成。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.3–12.7 s 机器人左右二指夹爪分别夹住布边的两处布片，同时抬起并向远侧翻开，布料随两夹爪移动；视频 14.7–24.0 s 展开后的左近角仍向内折入，俯视外轮廓缺一个三角角部。"
+     },
+     {
+      "t": 34.0,
+      "log_step": 337,
+      "text_zh": "观察：视频 26.0–33.3 s 机器人双夹爪抬起远边并翻到近侧；视频 33.7–35.0 s 夹爪张开、布边落下后，左侧仍有明显鼓包，低视角可见局部高出其余布面。视频 40.53–41.53 s 逐帧检查仍见该隆起，没有恢复为平贴桌面的布叠。"
+     },
+     {
+      "t": 41.53,
+      "log_step": 350,
+      "text_zh": "观察：log step 340、343 将展开段与重折段、静置段保存为 1660 步；log step 350 明确丢弃此后的 118 步局部夹取测试，最终交付仍为该 1660 步轨迹。评分器报告 n_actions=1660、strict_goal_reached=0、success=0，与视频末态的可见缺陷一致；后续测试不计入本节点。"
+     },
+     {
+      "t": 41.53,
+      "log_step": null,
+      "text_zh": "推断：与成功参考视频 20.8 s 的平整长方形布叠对照，本次视频 34.0–41.53 s 的左侧鼓包不满足节点可见平整判据；结合此前持布翻折过程及初始缺陷，未发现节点成立区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.3–8.0 s 机器人先由右夹爪、再由左夹爪在近侧布边闭合；视频 9.3–12.7 s 两只二指夹爪各夹住一处布片共同展开毛毯。视频 24.0–26.0 s 两夹爪在远边重新闭合，随后共同抬起并翻折至近侧，视频 33.7–34.3 s 先后张开释放。布片夹在各自两指之间且随夹爪运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 34.0,
+   "log_step": 337,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 33.7–34.3 s 机器人在重折结束时张开两夹爪，布片落下后左侧仍鼓起，视频 41.53 s 该缺陷仍在。视频 14.7–24.0 s 展开布面的左近角已向内折入，机器人随后直接夹远边重折，没有在交付轨迹中把该角拉出铺平；毛毯对折步骤始终未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 34.0,
+    "log_step": 337,
+    "evidence_zh": "观察：视频 33.0–33.7 s 松手前布叠已呈卷曲、隆起形态；视频 34.0–41.53 s 松手后左侧仍有持续鼓包，低视角清楚显示该处没有平贴桌面。缺陷在松手前已存在，并非达标放置后才发生倾倒或滚走。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 315,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 14.7–24.0 s 展开后的左近角仍呈向内折入的三角形，视频 24.0–33.3 s 机器人却直接重新抓远边作整体翻折，局部内折未被展开修正，最终留下左侧隆起。log step 233 的 openacts 只安排双手向远侧展开、松手及撤离；log step 315 选择重放该段，log step 328、331、337 的续段只安排远边抓取、整体翻折和高处释放，未安排修复近左角的动作。这支持提交方案未处理局部内折便重新覆盖的策略缺陷。"
+   }
+  ],
+  "gap_zh": "输入有完整评分视频和运行日志，但没有状态日志；评分器也未报告 DAG 所列各项原生数值，故 native_metrics 全部为 null，不能确定角点、内部层序、平整高度、净空等分别超出阈值的幅度。规划根因是根据交付动作与可见内折残留作出的推断，无法从粒子轨迹独立确认鼓包内部的材料对应关系。",
+  "unmet": {
+   "blanket_folded": false
+  }
+ },
+ "summary_zh": "机器人双夹爪完成了展开、远边重新抓取、翻折和释放，但唯一的“毛毯对折”节点全程未达标，最终为 0/1。视频 34.0–41.53 s 左侧持续鼓起；推断提交方案在左近角仍内折时直接重新覆盖，未修复局部折叠。没有状态日志和各项原生数值，无法细分全部未通过的验收条件；log step 350 明确丢弃的后续测试未计入评分轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点 blanket_folded 未达成、final=false 与视频末态（41.5 s 左侧仍有鼓包）及评分器 success=0 一致；断点、位姿不准现象和推理/规划根因均有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:23:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--xqsalaq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--xqsalaq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "81da565501d0a8542ef90faaff25014d8ea056d72c2a011b8bad4ff32546194a",
+   "video_sha256": "aacb0943c0cb28c9c872e47baa6325f43439a71efea7b1343c322559386f93dc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--ykujri6.json

@@ -0,0 +1,286 @@
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+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
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+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
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+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 840,
+   "submitted_actions": 1440,
+   "sim_steps": 840,
+   "physics_steps": 8400,
+   "sim_time_s": 20.999999999999876,
+   "final_reward": 1.0,
+   "replay_wall_s": 648.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 840,
+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 16,
+   "agent_sim_steps": 2520,
+   "agent_records": 4,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--ykujri6/replay.mp4",
+  "duration_s": 21.067,
+  "fps": 15.0,
+  "frames": 316,
+  "sha256": "1e64f0aabb20b342ad4f531b5884a98391c7811d0ec6b55bb4c8b9ca0461c135"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 22,
+      "text_zh": "观察：视频 0.0 s 毛毯虽已呈双层，但左侧有斜向卷入的布角；log step 22 的初态诊断为 fold.ok=False，材料角 LN 误差181.6毫米、stacking_all=0.828，故不把初始双层外观计为完成。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–5.6 s 左右夹爪各夹住上层布边的一处，布边随两爪同步抬起并向远侧翻开；视频 5.8–6.4 s 两爪放开，摊开的毛毯左侧仍有三角形内折。"
+     },
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–10.6 s 左夹爪夹住左侧内折角，抬起并向近左侧翻出，松开后该角铺回桌面；视频 11.8–13.6 s 两爪夹住布片并协同小幅平移毛毯。"
+     },
+     {
+      "t": 18.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8–17.9 s 两只夹爪各捏住远侧边的一处，将远半幅抬起后翻铺到近半幅；视频 18.2–18.7 s 略向近侧拉齐，视频 18.73–19.07 s 张爪并向上撤离，低视角显示夹爪与布面分离。逐帧检查的视频 20.0–21.0 s 中，布叠保持长方形和平贴桌面的外观，没有再次散开。"
+     },
+     {
+      "t": 21.0,
+      "log_step": 132,
+      "text_zh": "推断：log step 117 保存1440行动行，log step 126 指定该交付文件重放；log step 132 的两次官方重放均在控制步840成功且strict_goal=[1,840]，run.json.reward也给出strict_goal_reached=1、strict_goal_row=840、sim_time_s=21.0、deterministic=1。按840步/21.0仿真秒=40 Hz映射控制步到视频；log step 115 所述控制步729仍抓着已铺下的布边，对应729/40=视频18.225 s，与视频18.2 s核对一致，随后释放和撤离也与视频18.73–19.07 s一致。因此把包括连续0.5秒联合确认的节点达成锚定在840/40=视频21.0 s，不再另加确认时长；毫米级几何、粒子速度及净空以严格成功判定为依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左右二指夹爪分别夹住毛毯的不同布片，视频1.8–5.6 s协同展开上层、视频11.8–13.6 s协同平移、视频15.8–18.7 s协同抬起远边并翻折拉齐；每只夹爪均捏住自己的布片。其间视频7.6–10.6 s由左夹爪单独抓握并翻出内折角，属于同一步中的先后接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.LF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement.offset_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先展开上层并修复左侧内折角，调整毛毯位置后双爪协同翻折，约视频18.7–19.1 s释放撤离，最终完成毛毯对折节点（1/1）。交付文件的两次官方重放均严格成功，控制步840对应视频约21.0 s，未见随后散开，故无失败断点。没有状态日志，内部材料层序、粒子速度和毫米级净空不能由画面独立复核，联合确认依严格评分结果；评分器reward未报告DAG所列原生指标数值，均留null，同一运行的oracle不作独立参考。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功运行：视频0.0 s初态为双层但有卷角，21.0 s末帧为平贴的长方形双层布叠，夹爪已离开，严格重放在控制步840成功，节点锚定在视频21.0 s合理；接触标注（双臂协作+抓握）与画面一致，无失败断点，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:19:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--ykujri6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--ykujri6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7eafd847a559e546190c19c52ba8cb5d47b3ecb566c4e6d5db089020998416dc",
+   "video_sha256": "1e64f0aabb20b342ad4f531b5884a98391c7811d0ec6b55bb4c8b9ca0461c135",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--2vdvqb2.json

@@ -0,0 +1,311 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--2vdvqb2",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 18339,
+   "live_rows": 18339,
+   "sim_steps": 18339,
+   "physics_steps": 183390,
+   "steps": 4773,
+   "elapsed_s": 10227.9,
+   "replay_wall_s": 7151.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.364,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.107,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--2vdvqb2/replay.mp4",
+  "duration_s": 458.533,
+  "fps": 15.0,
+  "frames": 6878,
+  "sha256": "87fb56eb12c33f5229c92d51087df395080010f41763ca17a7169205041c0956"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 39,
+      "text_zh": "观察：视频0–1 s两夹爪未触毯，毛毯虽已有双层长方形外轮廓，近左部仍有斜向卷折和隆起；log step 39中机器人服务在原地观察1.5秒后返回done=False。视频26–31 s双臂退开时该斜折仍在，不能把初始双层外观计为完成。"
+     },
+     {
+      "t": 57.0,
+      "log_step": 113,
+      "text_zh": "观察：视频54–55 s左夹爪接近毛毯中左部，视频56–60 s低位向近左方扫动，毛毯多处随之平移、转动并堆起长褶；视频67–70 s夹爪退开后，毛毯留在原位置近侧，轮廓已呈不规则多边形。log step 112–113记录同一单臂扫动脚本及其执行。"
+     },
+     {
+      "t": 375.0,
+      "log_step": null,
+      "text_zh": "观察：视频70–355 s的后续单臂修整中毛毯保持不规则外缘和中央褶皱；视频371–379 s低视角可见右夹爪夹住一小片布料并将其提起，随后左右臂继续操作，仍未出现角边对齐的平整双层长方形。"
+     },
+     {
+      "t": 458.4,
+      "log_step": 249,
+      "text_zh": "观察：视频435 s和视频457.4–458.4 s双臂已退开，毛毯仍为偏转的不规则窄布堆，中央有斜褶、上缘卷起，未恢复目标位置和形状。参考成功示范视频20.9 s仅用于外观比较，其布叠呈平整长方形；本次reward字段live_success=0、replay_success=0、live_matches_replay=1，log step 249的服务状态仍为done=False。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频56–60 s左夹爪贴近桌面向近左方扫推蓝色毛毯，多个布层一起移走并堆皱；之后左右夹爪依次进行多轮低位推扫，视频428–431 s右夹爪仍在扫动布堆。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频371–379 s低视角可见右二指夹爪捏住毛毯右侧局部布片，布片随夹爪升起呈尖顶，余下布料留在桌上；此时左夹爪在布料之外。未把日志中其他闭爪命令一律视为已抓住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.LF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement.offset_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 57.0,
+   "log_step": 113,
+   "where": "操作中",
+   "evidence_zh": "观察：视频56–60 s机器人左夹爪在修整毛毯时低位向近左方扫动，毛毯整体被带离原位置，出现大幅褶皱和错层；视频67–70 s撤爪后该形态保留，后续操作直至视频458.4 s均未恢复合格对折。log step 112–113的扫动方向与画面相符；这是单次实时episode，reward记录resumes=0且live_matches_replay=1。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 57.0,
+    "log_step": 113,
+    "evidence_zh": "观察：视频56–60 s左夹爪扫动后，毛毯从横向近长方形变为近侧偏位、边角参差且中间隆起的布堆；视频457.4–458.4 s撤爪后仍有斜褶和卷边，布叠长轴明显偏转，没有到达目标位置及对齐姿态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 57.0,
+    "log_step": 112,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 112定义的sweep先降爪、闭爪，再令单个接触点从(-0.13,-0.02)米向(-0.33,-0.22)米低位扫动，另一只夹爪没有固定另一半布料；log step 113实际执行。视频56–60 s显示该接触把多层布料一同拖推、堆起，未将卷折的局部面片与其余布料分离，说明本次修整所用的接触布局不适配局部展角目的。后续推扫和局部提拉也未修复折叠；没有在本次受扰布形上验证可行替代接触方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐帧核对内部材料层序、四个材料角点、粒子速度和毫米级净空；reward也未报告DAG所列各项原生几何指标，native_metrics均保留null。log step 249及最终报告中的覆盖率、位置和高度是agent脚本从图像自行估算的量，不作为评分器指标。节点未完成由可见的卷折、偏位和最终不规则布形判定；断点时间为视频目测近似值。"
+ },
+ "summary_zh": "本次单次实时轨迹始终未完成“毛毯对折”，最终节点为0/1；初始虽已有双层外观，但近左卷折未消除。视频约57 s左夹爪低位扫动使多层毛毯一起移位并堆皱，后续局部抓取及多轮推扫均未修复，根因指向局部修整的抓取和接触设计。视频458.4 s双臂已退开而布形仍明显不合格；缺少状态日志及评分器分项数值，无法量化内部层序等精细条件。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "未完成判定、断点（视频约57 s左夹爪扫动使毛毯被拖皱）、位姿不准现象和抓取和接触设计根因与视频一致；视频最后帧布堆仍不规则，与成功示范的平整长方形不同。未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:29:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--2vdvqb2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--2vdvqb2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "87fb56eb12c33f5229c92d51087df395080010f41763ca17a7169205041c0956",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--c3rdk7k.json

@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--c3rdk7k",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
+   "review_events": 0,
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+   "forcing_events": 0,
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+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 9107,
+   "live_rows": 9107,
+   "sim_steps": 9107,
+   "physics_steps": 91070,
+   "steps": 1754,
+   "elapsed_s": 10850.9,
+   "replay_wall_s": 3418.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
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+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.306,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.065,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--c3rdk7k/replay.mp4",
+  "duration_s": 227.733,
+  "fps": 15.0,
+  "frames": 3416,
+  "sha256": "a43a9db88fc8aab605e491ea244471301bec38408e132ed6a543e402d3b1f400"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 毛毯虽已有长方形双层外观，但左侧有从远左部斜向近边的内折和隆起，近左轮廓未形成示范终态那样的平整矩形；不能把初始折叠外观计为完成。"
+     },
+     {
+      "t": 28.0,
+      "log_step": 136,
+      "text_zh": "观察：视频 27.0–32.0 s 左夹爪在左侧褶皱处闭合后，腕部视图显示布料夹在指间并随其移动，低视角可见局部尖峰；右夹爪在旁未携带布片。视频 33.0–36.0 s 左夹爪撤高后斜褶仍在。"
+     },
+     {
+      "t": 58.0,
+      "log_step": 265,
+      "text_zh": "观察：视频 49.0–57.0 s 左夹爪再次捏拉左侧布片，视频 58.0–59.0 s 撤高后布叠仍有左侧斜褶；视频 65.0–95.0 s 右夹爪多次调整、下探、撤回，未见布面由它带起或斜褶被消除。"
+     },
+     {
+      "t": 126.0,
+      "log_step": 396,
+      "text_zh": "观察：视频 121.0–125.0 s 左夹爪操作远左布边，视频 126.0–131.0 s 撤开后布叠转斜、左边内缩并出现多处波折；视频 138.0–146.0 s 左夹爪继续处理这部分布料，未得到边角对齐的平整布叠。"
+     },
+     {
+      "t": 149.0,
+      "log_step": 455,
+      "text_zh": "观察：视频 148.0–155.0 s 左夹爪上抬时布料随之形成高起的帐篷，视频 160.0–166.0 s 再降下后左部仍堆皱。成功参考视频 20.9 s 的低视角显示布叠平贴桌面，仅作完成形态对照，不作为本次运行达标的证据。"
+     },
+     {
+      "t": 227.6,
+      "log_step": 678,
+      "text_zh": "观察：视频 225.4–226.6 s 两臂上撤时，左侧布片随左夹爪抬高；视频 226.8–227.6 s 向外撤离后仍相连，低视角明确显示高起的三角帐篷，未满足平贴和完全脱离。log step 678 服务仍报告 done=false；评分器 live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 227.6,
+      "log_step": 30,
+      "text_zh": "推断：log step 30 的机器人服务说明首次成功即结束这一局；本次无重置或恢复，评分器 sim_startups=1、resumes=0，直至末尾仍未成功，且所查视频始终有未整平的左部或持续接触，因此毛毯对折的联合验收没有达到，intervals 为空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 27.0–32.0 s、49.0–57.0 s 及 138.0–146.0 s，左二指夹爪夹住左侧褶皱、布边或布片并牵拉、抬降；视频 155.0–163.0 s 又夹持高起布片下放。视频 8.0–11.2 s 双爪曾同时在近边两端闭合试夹，之后右爪亦多次试夹，但未见右侧布片随其抬离桌面；可确认带动布料的抓握来自左夹爪。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 224.0–225.0 s 左夹爪沿布面斜向扫动，推动左侧布料并聚起褶皱，对应 log step 666 的表面扫动命令；随后撤手仍挂带布片。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 225.4,
+   "log_step": 670,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人一直在修整毛毯对折，未完成此节点。视频 225.4–226.6 s 最后一次释放撤手使左侧布料随左夹爪上升，视频 227.6 s 仍被带起；log step 670 的脚本给双爪打开命令并上撤，log step 672 服务报告左爪实际开口仅约14.2毫米、done=false，后续外撤仍未解除接触。断点锚定这次未修复的撤离失败。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 126.0,
+    "log_step": 396,
+    "evidence_zh": "观察：视频 126.0–131.0 s 左夹爪撤开后，毛毯左侧轮廓内缩、呈波折，布叠转斜；视频 186.0–188.0 s 仍有左部斜褶及不齐边缘，随后操作也未形成平整、边角重合的矩形双层布叠。此形态偏差在末尾撤离挂布之前已经存在。"
+   },
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 225.4,
+    "log_step": 672,
+    "evidence_zh": "观察：视频 225.4–227.6 s 左夹爪上抬并向外移动时，布片持续跟随，在低视角中形成帐篷，左夹爪没有与布料脱离。log step 670、675、677 均发出打开并撤离的动作；log step 672、678 服务测得左爪开口约14.2和15.7毫米，末帧仍挂带布片。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：左夹爪的释放及撤离控制未实现解除布料接触。log step 670 的动作行给左爪0.0369米的原生打开目标，但 log step 674 服务报告测量原生位置约0.01549米、实际指间开口约0.01422米；视频 226.0–227.6 s 布料仍随爪运动。log step 675、677 的外撤路径又因逆解分支跳变约3.72和3.75弧度分别只生成4行和2行动作，log step 678 后仍未脱离。证据支持操作控制失败，尚不足以可靠细分子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；输入视频和运行日志均已检查，但评分器未报告DAG列出的角点、层序、轮廓、粒子速度、材料伸长和净空数值，故全部原生指标 value 保留 null。多视角足以判定可见形态与末尾未脱离，无法判定左爪未充分张开的内部机制，或将挂布责任进一步分到接触几何、辅助抓取状态和执行跟踪。"
+ },
+ "summary_zh": "机器人多次试夹、牵拉和修整左侧布料，但毛毯对折节点从未达到联合验收，最终完成0/1。左侧斜褶和不齐轮廓未消除，最后释放撤离又挂带布片形成帐篷；打开目标与测量开口不符，外撤逆解路径也被��短，根因保留在控制层级。缺少状态日志及原生几何指标，不能精确核对材料层序和毫米级阈值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 0、30、120、190、224、226、227.5 s 及 log step 666–678：节点 blanket_folded 未达成、末尾左夹爪挂带布片形成帐篷、左爪测量开口约14–16 mm 与 37 mm 打开目标不符，均与标注一致；断点、现象与根因未发现可证伪之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:33:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--c3rdk7k/03_label"
+   },
+   {
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+    "ok": true,
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+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c62c3881748daaee9328f6ad96d76ff1220956088c624cae524942b884b0271f",
+   "video_sha256": "a43a9db88fc8aab605e491ea244471301bec38408e132ed6a543e402d3b1f400",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--kdylgsj.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--kdylgsj",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 7766,
+   "live_rows": 7766,
+   "sim_steps": 7766,
+   "physics_steps": 77660,
+   "steps": 1865,
+   "elapsed_s": 5949.8,
+   "replay_wall_s": 3251.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.25,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.488,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--kdylgsj/replay.mp4",
+  "duration_s": 194.2,
+  "fps": 15.0,
+  "frames": 2913,
+  "sha256": "904b00e20603246b236cda03802ef1785cfe25c1ec438dccb7c75565c69972d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 18,
+      "text_zh": "观察：本次视频 0.0–1.0 s 毛毯虽已呈双层长条，近左部仍有明显内卷、斜折和局部隆起，不能将初始双层外观算作完成；log step 18 中机器人服务静观后仍为 done=false。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 33,
+      "text_zh": "观察：本次视频 14.0–23.7 s 两夹爪抓起局部布片并向内下放，布边没有叠齐，形成斜折、突出布角和隆起；视频 23.7–33.0 s 夹爪撤回时布料还随手悬起，没有形成释放后平贴桌面的目标布叠。log step 33 的脚本执行了下放、张爪和抬手。"
+     },
+     {
+      "t": 52.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 48.0–55.0 s 毛毯一度铺成斜放的大幅单层，随后视频 58.0–71.0 s 重新提拉、下放及松手后仍为长轴明显偏转且一侧卷起的布形，不符合目标位置的横向平整双层长方形。"
+     },
+     {
+      "t": 112.5,
+      "log_step": null,
+      "text_zh": "观察：本次视频 82.0–112.5 s 反复提拉后布料有明显弯曲、错边和隆起；视频 122.5–187.5 s 又多次抓取布堆或悬垂布片，均未见目标布叠。"
+     },
+     {
+      "t": 194.133,
+      "log_step": 140,
+      "text_zh": "观察：本次视频 193.0–194.133 s 两夹爪已张开并撤离，毛毯留在桌中央，左部鼓起、前边卷曲、整体斜放且角边未对齐；log step 140 的服务输出也显示双爪已全开并归位。评分器 live_success=0、replay_success=0，且 live_matches_replay=1，与最终布形不达标相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–10.0 s 及 17.0–24.0 s，左右二指夹爪各夹住毛毯不同布片，布料随双手提拉、翻动和下放；后续也反复双手抓取。其间单爪重抓、另一爪保持夹持，视频 187.5–191.0 s 可见右爪单独夹起布片后释放。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 35.0–46.0 s 右夹爪仍夹着抬高的布角，左夹爪以闭合指端压住桌面上的布片并向近侧拖动，布料在两作用点之间被拉开；此处左指端对布面的按压、拖擦按压/擦记录，不当作左手抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 20.0,
+   "log_step": 33,
+   "where": "操作中",
+   "evidence_zh": "观察：本次视频 18.0–21.7 s，机器人将提起的局部布片向内下放时，毛毯形成斜折和堆皱，布边、布角没有叠齐；随后视频 22.0–33.0 s 布料仍随撤回的夹爪悬起。后续虽再次铺展、重抓和翻折，本次视频 194.133 s 的最终毛毯仍鼓起且错边，毛毯对折节点始终未完成。log step 33 为这次下放及释放脚本，log step 34 的 agent 自述该动作使布料皱在中间。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 20.0,
+    "log_step": 33,
+    "evidence_zh": "观察：本次视频 18.0–21.7 s 双夹爪下放布片后，毛毯出现斜向褶皱和伸出的角，远近边未叠齐，低视角可见隆起；后来本次视频 64.0 s 的松手布形仍长轴偏转、一边卷起，最终视频 194.133 s 是不平整的斜放布堆。下放时就未到达目标折叠形态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：抓取、下放和释放的控制未能把布片稳定铺到目标几何。依据是本次视频 18.0–24.0 s 布料在下放时堆皱、撤手时仍被带起；log step 33 已发出张爪，log step 36 的机器人服务读数却显示左右开口仅约23.4和8.1毫米、驱动力约34.0和35.0牛，且视频 24.0–33.0 s 布料仍挂手；后续视频 66.0–71.0 s 双爪闭合、抬起时布料仍留在桌面，log step 69 的执行记录也列出闭爪后的抬升而 agent 自述两手均未抓住。多次接触控制未获得所需布形，尚不足以细分为特定控制子类。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，评分器只给出成功及运行结果，没有报告DAG所列角点、层序、轮廓、平整度、位姿、材料和释放静置的原生数值，故全部native_metrics.value保留null。画面足以确认可见形态未达标，但无法量化内部材料层序、每点速度和毫米级净空；也不足以将控制根因进一步区分为接触设计、跟踪或逆解问题。agent 在 log step 143 将展开后失去材料朝向判断称为主要失误，但缺乏材料点真值来独立验证，未据此追加认知根因。"
+ },
+ "summary_zh": "本次实时尝试反复抓取、展开和翻折毛毯，但初态卷角未达标，后续也未形成目标位置的平整双层布叠，最终完成0/1个节点。视频约20.0 s 的下放已出现斜折和堆皱，之后反复抓放仍未修好，最终视频194.133 s 双爪虽已撤离，毛毯仍鼓起、错边，证据支持控制层面的失败。无状态日志及原生几何指标，不能进一步确定材料层序误差或更细的控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频相符：毛毯对折节点全程未达成，最终布形鼓起、斜放、错边，评分器 live_success=0。断点、现象与根因均有视频证据支持，未发现须修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:27:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--kdylgsj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--kdylgsj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54f3f5e60808cfa6c9262db5dc8ed3151ccf415ae416b2865ceca4aed9cacb3c",
+   "video_sha256": "904b00e20603246b236cda03802ef1785cfe25c1ec438dccb7c75565c69972d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--sktrwrp.json

@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--sktrwrp",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 0,
+   "live_rows": 0,
+   "sim_steps": 0,
+   "physics_steps": 0,
+   "steps": 0,
+   "elapsed_s": 1964.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--sktrwrp/replay.mp4",
+  "duration_s": 0.067,
+  "fps": 15.0,
+  "frames": 1,
+  "sha256": "862392b5d3e7bd4dfeb7cd70b2c71be2581abec1a5d8632e60c79a56e28449aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频仅有视频 0.0 s 一帧（全长0.067秒）；主俯视图中蓝色毛毯左侧存在明显斜向褶皱，上层左角向内收，边角没有形成整齐的双层矩形；低视角同样可见左侧隆起。左右夹爪均悬在毛毯上方，没有夹住或移动布料。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 24,
+      "text_zh": "观察：log step 4 的机器人服务状态为 control_steps=0、calls=0；log step 8—24 中 agent 的脚本只获取初态图像、分割和计算点云，最后一句仍在讨论辨认左侧三角区域，没有运动提交。评分器字段 n_actions=0、live_rows=0、sim_steps=0、physics_steps=0、live_success=0，与视频初态一致。"
+     },
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：本次视频 0.0 s 可见的左侧卷角和错层，与成功参考视频 20.8 s 的整齐、平坦矩形布叠不同；结合本次评分器零动作、零仿真步记录，节点全程未成立。成功参考只用于对照外观，不作为本次执行证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 0.0,
+   "log_step": 24,
+   "where": "首步前",
+   "evidence_zh": "观察：本次视频 0.0 s 是唯一一帧，机器人双夹爪悬空，毛毯左侧仍有卷角和斜褶。log step 24 的 agent 最后发言是继续辨认初态纹理，未调用运动工具；评分器记录 n_actions=0、sim_steps=0。毛毯对折的物理操作没有启动。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 24,
+    "evidence_zh": "观察：本次视频 0.0 s 的机器人未接触毛毯；log step 4—24 只有连接服务、取图和分析初态的记录，没有提交动作。评分器 n_actions=0、live_rows=0、physics_steps=0，评分局保留未达标初态。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "本次录像只有初态一帧，无状态日志；无法核对材料角点、内部层序及其他数值验收指标，故所有原生指标值留空。完整运行记录结束于 log step 24 的初态纹理分析，没有明确停止理由、最终完成声明或外部错误记录，无法确定为何未继续执行；不能仅凭零动作或缺交付推定规划、感知、控制或交付根因，根因层留空。"
+ },
+ "summary_zh": "本次评分局没有执行任何机器人动作，毛毯保持带有左侧斜褶和卷角的初态，毛毯对折节点未达到，最终进度0/1。断点位于毛毯对折首步前，现象为没尝试；日志截至 log step 24 仍在分析初态，未说明运行结束原因，因此根因留空。录像仅有视频 0.0 s 一帧且没有状态日志，毫米级验收指标未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：评分局 n_actions=0、control_steps=0，视频仅 0.0 s 一帧，夹爪悬空、毛毯未被触碰；节点未达成、断点首步前/没尝试、根因留空并说明原因，均符合 FAIL-22 与 D23。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:41:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--sktrwrp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--sktrwrp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dd21ff9b7c8279b615cae10dbc5f698de6abfd8df26ea6019ae89a2e6d5def83",
+   "video_sha256": "862392b5d3e7bd4dfeb7cd70b2c71be2581abec1a5d8632e60c79a56e28449aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--viw3a2x.json

@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--viw3a2x",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
+   "review_events": 0,
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+   "forcing_events": 0,
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+   "replays": 0,
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+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2196,
+   "live_rows": 2196,
+   "sim_steps": 2196,
+   "physics_steps": 21960,
+   "steps": 549,
+   "elapsed_s": 10728.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--viw3a2x/replay.mp4",
+  "duration_s": 55.0,
+  "fps": 15.0,
+  "frames": 825,
+  "sha256": "acdbfd47af881b29b9df33b76f17dfadcd8db6111eda980bf66d1fd373f143cb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，毛毯虽已叠成条状，左侧仍有斜向卷入和凹陷；低视角可见左部隆起，并非角边对齐的平整布叠。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 96,
+      "text_zh": "观察：视频 10.0—12.8 s，左夹爪把先前提起的布片向近侧铺下并张开撤离；视频 12.8—14.0 s，左部留下斜折和拱起，上层边缘与下层近边明显分离。log step 96 的脚本是这次铺放、松手及撤臂动作。"
+     },
+     {
+      "t": 20.8,
+      "log_step": 126,
+      "text_zh": "观察：视频 16.0—20.4 s，两夹爪同时夹取、搬动并铺下左右布片；视频 20.6—23.0 s，右爪撤离，而左爪撤臂时仍牵起左侧布料，形成高起的斜面。log step 126 的实时服务读数为左爪命令 0.037、实际 0.024151，右爪实际 0.037。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 189,
+      "text_zh": "观察：视频 36.0—38.0 s，两臂已撤回，桌上的毛毯仍呈弯曲窄条，中央有长条卷折，左右布层伸出量不一致；尚未形成平整、角边重合的长方形。"
+     },
+     {
+      "t": 44.0,
+      "log_step": 222,
+      "text_zh": "观察：视频 40.0—43.6 s，两爪再次夹取并搬动布料；视频 43.8—46.0 s，右爪先脱离，左爪仍把布料向上牵起，卷折和错层保留。log step 222 的服务读数为左爪命令 0.03690、实际 0.01943，右爪实际 0.03690。"
+     },
+     {
+      "t": 54.93,
+      "log_step": 239,
+      "text_zh": "观察：视频 54.0、54.2、54.4、54.6、54.8 及 54.93 s，毛毯仍有横贯上部的卷折、左侧堆皱及右侧边角错位，低视角也可见隆起；log step 239 记录两爪已张开至约 0.0369。成功示范视频 20.93 s 显示同一视角下平直、边角齐整的长方形布叠，仅用于形态比较；本回合评分器 reward.success=0、live_success=0，与可见未完成形态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 16.0—20.4 s 及视频 40.0—43.6 s，左右二指夹爪分别夹住毛毯左右布片，同时提拉、搬折和铺放。其余修角主要由左夹爪单独夹住局部布片完成，包括视频 3.0—12.8 s 的提起铺下及视频 24.0—36.0 s、视频 47.0—53.0 s 的放低和脱离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 12.8,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 10.0—12.8 s，机器人左爪执行铺放和撤离后，布片未对齐近侧布层，左侧仍拱起且留有斜折（log step 96 为所执行脚本）。后续双臂及左爪继续修整，视频 38.0 s 和视频 54.93 s 仍见卷折、错层；这一步始终没有完成。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.8,
+    "log_step": 96,
+    "evidence_zh": "观察：视频 12.8—14.0 s，左爪松手后的布叠左侧有拱起斜折，上层近边停在下层内部；视频 36.0—38.0 s 及视频 54.0—54.93 s，布叠仍有长条卷折和边角错位，未成为目标要求的平整、两层角边重合长方形。偏差在铺放时已存在，后续也未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：布料铺放与夹爪脱离的控制未能保持目标形态。log step 120 的已执行脚本在铺放后命令两爪张开至 0.037 并撤臂，但 log step 126 的实时服务读数显示左爪实际仅 0.024151、驱动力读数 25.648489；视频 20.6—23.0 s 同时显示左爪撤离时仍牵起布料。第二次双臂调整后，log step 222 再次记录左爪命令 0.03690、实际 0.01943，而视频 43.8—46.0 s 又见布料被左爪拉起。最后虽经 log step 235 的放低、张爪及退出动作脱离，视频 54.93 s 仍残留卷折和错层；这些证据支持材料操作的控制问题，但不足以区分接触几何与跟踪控制的具体贡献。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器 reward 未报告 DAG 所列的角点、材料层序、轮廓、平整度、静置与净空等原生指标，故 native_metrics 的值均为 null。可见卷折和错层足以判定节点未达，但不能从录像精确测出内部层序、粒子速度和毫米级阈值；现有指令与夹爪读数也不足以可靠细分控制根因。"
+ },
+ "summary_zh": "机器人完成了局部夹取、双臂搬折和多次修角，但首次铺放后仍有斜折和拱起（视频 12.8 s），后续直至视频 54.93 s 仍有长条卷折与边角错位，毛毯对折节点始终未达，最终为 0/1。撤臂时左爪反复牵起布料（视频 20.6—23.0 s 和视频 43.8—46.0 s），结合日志中的张爪命令与实际夹爪读数差异，支持控制层面的铺放和脱离问题。无状态日志及评分器原生几何指标，无法精确核验内部材料层序和毫米级条件，也无法可靠细分控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毛毯对折节点始终未达（初态视频 0 s 与终帧 54.9 s 均为未折叠的卷折布片，对比成功示范 20.93 s 的平整双层），final=false、0/1 正确；断点、位姿不准现象和控制根因均有帧与服务读数支持，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:30:59Z",
+  "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/roboarc-blanket-fold-03-i01-standard--viw3a2x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--viw3a2x/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1df66991285f1129c8669549af1008946ef0e5f3ffca9d313bb54c547863ca8b",
+   "video_sha256": "acdbfd47af881b29b9df33b76f17dfadcd8db6111eda980bf66d1fd373f143cb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--w5kngqw.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--w5kngqw",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 11238,
+   "live_rows": 11238,
+   "sim_steps": 11238,
+   "physics_steps": 112380,
+   "steps": 2562,
+   "elapsed_s": 10756.2,
+   "replay_wall_s": 6041.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--w5kngqw/replay.mp4",
+  "duration_s": 281.0,
+  "fps": 15.0,
+  "frames": 4215,
+  "sha256": "a203c2be7f34a63776eb4c44266d06119eba5d75816b5a78d5e2261f47d3b92c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s 毛毯已呈窄布叠，但左侧有斜向卷折和鼓起，未呈目标要求的平整对齐双层矩形；log step 15 中 agent 也自述初态左侧有褶皱。初态双层外观不计完成。"
+     },
+     {
+      "t": 220.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0—280 s 的全程粗查及视频 190—236 s 的加密检查显示，机器人反复抓取、提起及放回毛毯；视频 194—204 s 双手离开后仍有右侧外伸布角和中部隆起，视频 220—234 s 两夹爪同时夹住远侧不同布片并提起整幅布料，尚未完成平贴、角边对齐的目标对折。"
+     },
+     {
+      "t": 263.0,
+      "log_step": 292,
+      "text_zh": "观察：视频 257.3—260.0 s 左侧布料随左夹爪提起，右夹爪抬高时右侧布角仍留在桌面；视频 263—266 s 左侧已翻向近边，右侧仍向远侧展开，形成斜置的上层。log step 292 的机器人脚本执行双臂翻折弧线；不能把 log step 290 中 agent 自述“两角均已提起”当作双侧抓稳的证明。"
+     },
+     {
+      "t": 280.4,
+      "log_step": 308,
+      "text_zh": "观察：视频 268—275 s 右夹爪重新提起右侧布角并带向近边，视频 276—280.7 s 双夹爪张开、抬离毛毯后，近左角仍卷曲，左部有斜向褶皱，右侧上下层边缘呈台阶状错开；视频 280.0、280.4、280.7 s 均未消除。log step 308 的服务输出记录释放及撤离动作返回 done=false。"
+     },
+     {
+      "t": 280.7,
+      "log_step": null,
+      "text_zh": "推断：结合全程可见的卷折、悬提或未对齐状态，以及评分器 live_success=0、replay_success=0、live_matches_replay=1，毛毯对折节点没有可确认的达标区间，终态为 false。成功示范视频 21.0 s 的布叠边角平齐且低视角平整，仅用于辨认可见目标形态；本次各项内部数值未报告，不能确定具体哪项阈值未过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 220—234 s 左右二指夹爪各夹住毛毯远边不同布片，同时提起、展开毛毯；双手分别夹持布片，属于双臂协作抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 257.3—266 s 左夹爪夹住左侧布片，提起并单侧翻向近边；右侧布料仍留在桌面，没有随右夹爪一起提起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 263.0,
+   "log_step": 292,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 263—266 s 机器人执行翻折时，左侧布片已被带到近侧，右侧布片仍留在远侧，折叠上层斜跨下层，未能同步对齐。视频 268—275 s 的右侧补抓及翻折后，直到视频 280.7 s 仍有左侧卷角、褶皱及边缘错层，毛毯对折步骤未完成；log step 308 服务返回 done=false，评分器实时与重放成功字段均为 0。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 275.0,
+    "log_step": 306,
+    "evidence_zh": "观察：视频 263—266 s 左侧翻到近边时右侧尚未跟随，布层斜置；视频 273—275 s 机器人把右侧布角补放到近侧后，上下层边缘仍未齐平，近左部保留卷角和斜向褶皱。视频 280.4 s 双手已经离开，右侧边缘仍错层，低视角仍可见左部起伏；这些是放下时已有的折叠形态偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 290、292 的机器人脚本以两侧夹持点共同执行抬升和翻折轨迹，但视频 257.3—260.0 s 只有左侧布料明显随手提起，视频 263—266 s 遂形成左右不同步的斜折。log step 296、304 的脚本随后补抓、搬动右角，视频 269—275 s 可见该补抓确实带起布料，却仍留下最终卷角、错层，说明抓取与布料运动控制未能实现目标几何；缺少材料抓取保持及接触状态记录，无法可靠细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，服务输出及评分器 reward 没有报告 DAG 所列角点误差、层序、轮廓、平整度、位移、伸长、速度、漂移或净空的终值，全部原生指标保留 null；无法指认失败的具体数值门槛。log step 293 中 agent 自述“右角滑落”，但视频 253—260 s 未清楚显示右角曾被稳定提起，因此不据此标“没保持住”，也无法区分抓取保持、接触设计与轨迹跟踪的具体贡献。"
+ },
+ "summary_zh": "机器人多次单手及双手夹持、展开并重新翻折毛毯，最后张开双夹爪并撤离，但唯一的毛毯对折节点未达标，终态为 0/1。视频 263—266 s 的左右不同步翻折及后续补抓未消除卷角、褶皱和边缘错层，现象为位姿不准，根因依据实际布料运动与脚本目标的差异归为控制。没有状态日志或逐项验收数值，无法判断具体未过的几何门槛，也不能确认右角是否曾抓稳后滑脱。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毛毯对折节点终态 false 与帧（视频 0、227、259、264、280.7 s）和评分器 0 一致；接触、断点、现象（位姿不准）与根因（控制，未细分）有视频证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:22:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--w5kngqw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--w5kngqw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bdaec2c16935b905755584d180aabb21330398a747bbbf0c0910b2ebd17db894",
+   "video_sha256": "a203c2be7f34a63776eb4c44266d06119eba5d75816b5a78d5e2261f47d3b92c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--y74kzwb.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--y74kzwb",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 15146,
+   "live_rows": 15146,
+   "sim_steps": 15146,
+   "physics_steps": 151460,
+   "steps": 5782,
+   "elapsed_s": 10766.5,
+   "replay_wall_s": 4959.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--y74kzwb/replay.mp4",
+  "duration_s": 378.733,
+  "fps": 15.0,
+  "frames": 5681,
+  "sha256": "7ad1e5b908e6dd0a4bd4359bc534b525e35780a2356cbfa1d9ee79ed2b245083"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 毛毯已有双层长条外观，但左侧有向内卷折和隆起，并非角边对齐的平整布叠。"
+     },
+     {
+      "t": 14.2,
+      "log_step": 98,
+      "text_zh": "观察：视频 12.2—15.7 s 左夹爪从桌面附近撤起时仍带着布片，左半幅被牵成高起的三角斜褶；log step 98 的脚本将这段动作写为放角、张爪、抬升及回撤。"
+     },
+     {
+      "t": 66.9,
+      "log_step": null,
+      "text_zh": "观察：视频 66.9 s 左夹爪已与布料分离，但左侧仍有一大片斜向折入的布片及鼓包；视频 136.9—194.9 s 的多次修角后，上下层边缘仍错开，布面保留褶脊，未形成目标的平整长方形。"
+     },
+     {
+      "t": 276.9,
+      "log_step": null,
+      "text_zh": "观察：视频 124.9—134.9 s、274.9—278.9 s 两夹爪同时夹住不同布片并牵拉；后续视频 280.9—374.9 s 反复修整仍留下不规则轮廓、局部卷叠和隆起。"
+     },
+     {
+      "t": 378.667,
+      "log_step": null,
+      "text_zh": "观察：视频 377.7—378.667 s（含最后一秒及末帧）布叠左侧为明显斜边，中部有贯穿布面的斜褶、远侧还有卷起布片，两夹爪仍在布边附近操作，未呈现角边重合、平贴桌面且完全脱离的目标状态。"
+     },
+     {
+      "t": null,
+      "log_step": 16,
+      "text_zh": "推断：log step 16 的基准服务说明首次成功即结束回合；评分器 reward 的 live_success=0、replay_success=0、live_matches_replay=1、deterministic=1、resumes=0，与全段画面中的持续错折一致，故本实时评分回合未达到完整验收节点。仅以画面判断形态，不把 agent 自编深度评估当作原生验收指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.2—15.7 s、40.9—64.9 s 等，左二指夹爪夹住毛毯局部布片，布片随夹爪上升及横移；后续也有右夹爪单独捏边牵拉。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 124.9—134.9 s 左夹爪夹住左侧布片、右夹爪夹住另一处布片并向右牵拉；视频 274.9—278.9 s 两夹爪又同时捏住两端调整布叠。每只夹爪均夹住各自的布片。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 348.9—354.9 s 左夹爪捏住左侧布尖牵拉时，右夹爪张开并从上方抵压右侧布角；此项记录右夹爪的按压，与左夹爪的抓握配合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 14.2,
+   "log_step": 98,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.2—15.7 s 左臂在首次放角并回撤时仍牵起布料，使左半幅形成高起的斜向帐篷；随后虽有释放及反复修角，视频 66.9 s 仍有折入的布片，直到视频 378.667 s 也未修成目标布叠。失败步骤始终是毛毯对折。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 14.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.2—15.7 s 机器人撤臂后布角悬高、左半幅斜向起皱；视频 66.9 s 放下后仍有大块布片折入中部，视频 136.9 s 层边错开。视频 377.7—378.667 s 最后修整仍留下斜边、中央褶脊及卷角，没有形成目标的对齐双层长方形。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：张爪、放下与撤臂的实际接触控制未稳定实现。log step 98 的脚本连续执行张爪、抬升和回撤，中间没有核验实际释放；视频 12.2—15.7 s 可见布片随回撤继续上升。log step 131 记录左爪张开命令为 0.035、实际原生位置仅 0.01539、驱动力为 35；log step 142 再次记录实际原生位置 0.01674 而命令为 0.035。视频 40.9—64.9 s 的反复放下及抬臂仍持续把布片牵成帐篷，后续视频 204.9—208.9 s、328.9—330.9 s、356.9—374.9 s 也出现撤臂带起布片，妨碍布面平铺和保持对齐。证据支持控制困难，尚不能区分接触几何、轨迹与反馈的具体贡献。"
+   }
+  ],
+  "gap_zh": "输入无状态日志；评分器未报告 DAG 所列角点误差、层序匹配、轮廓、平整度、材料伸长、净空与静置指标，因此这些 native_metrics 均填 null。相机可确认错折和隆起，但无法核验内部材料点身份与毫米级阈值，也不足以确定张爪受阻的具体接触机制；根因保留在控制层级。"
+ },
+ "summary_zh": "机器人完成了多次单爪和双爪捏布、牵拉及修角，但“毛毯对折”始终未达到，最终为 0/1。首次放角回撤已把布片牵成斜向帐篷，后续控制多次带起布片且未恢复角边对齐的平整布叠；视频 378.667 s 末帧仍有明显斜褶和卷角。无状态日志及原生几何验收数值，不能进一步细分接触控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧显示毛毯始终未形成平整对齐的双层布叠（0 s 左侧卷折、14 s 帐篷斜褶、66/130/200 s 错折、378 s 末帧斜边），final=false 与 reward 0 一致；接触、断点、证据与时钟未发现需改动的错误。根因“控制”证据保守且与 log step 98/131/142 一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:30:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--y74kzwb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--y74kzwb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "74ade560b60eb5b30fedd19c46bb4aeee78c1c233d36cae702a0fc689529dbae",
+   "video_sha256": "7ad1e5b908e6dd0a4bd4359bc534b525e35780a2356cbfa1d9ee79ed2b245083",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--yy2q8ay.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--yy2q8ay",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 12643,
+   "live_rows": 12643,
+   "sim_steps": 12643,
+   "physics_steps": 126430,
+   "steps": 3071,
+   "elapsed_s": 10157.3,
+   "replay_wall_s": 8182.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-standard--yy2q8ay/replay.mp4",
+  "duration_s": 316.133,
+  "fps": 15.0,
+  "frames": 4742,
+  "sha256": "8c261e1b8c1801c8106713ff1935c5f4908a5f292fbc6a61cea3af29bab382b6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的蓝色毛毯已叠在桌面上，但左侧有明显斜向卷褶，近左角未伸展到布叠外角；不是角边对齐的目标布叠，不能由初始双层外观计为完成。"
+     },
+     {
+      "t": 93.0,
+      "log_step": null,
+      "text_zh": "观察：视频87.8—91.5 s两夹爪在毛毯近边落下并合拢，视频92.0—96.5 s夹爪上提、离开布面；毛毯主体仍留在原处，左侧卷褶未展开，未出现完整展开再对折的布料运动。"
+     },
+     {
+      "t": 264.0,
+      "log_step": null,
+      "text_zh": "观察：视频257.0—280.0 s左夹爪分点下降按压毛毯左侧，随后还有按压；可见局部布面形变，但左侧斜向卷褶和内收角部仍在。成功参考视频18.0—20.8 s的布叠则已展开该角部、形成较齐整的长方形；参考仅用于识别目标形态。"
+     },
+     {
+      "t": 315.2,
+      "log_step": 213,
+      "text_zh": "观察：视频311.5—315.5 s两夹爪已张开并退到毛毯上方，毛毯静止留在桌面，左侧仍有卷入的斜褶及不齐的近边；log step 213服务状态为done=False，评分器live_success=0、replay_success=0、live_matches_replay=1。可见形态缺陷始终未修好，毛毯对折节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频87.8—92.0 s及后续双臂尝试中，左右二指夹爪同时落到毛毯不同位置，指端压住布面并合拢尝试夹取；没有可确认的持续夹持带布运动，按可见按压接触记录。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人随后由单只夹爪依次修整，视频257.0—280.0 s及视频288.0—304.0 s主要是左夹爪以张开的指端下压毛毯左侧不同布片，桌面承托其余毛毯；右夹爪悬空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.LF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RN",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "named_points_mm.RF",
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stacking_all",
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "stacking_covered",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "outline_iou_fitted",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dz_max_mm",
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "over_target_mm",
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "placement.offset_mm",
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 93.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频87.8—96.5 s机器人双爪在近边合拢后上提，毛毯没有随之展开，左侧卷角和斜褶仍留在桌面；视频104.0—160.0 s的重试及视频257.0 s以后的按压也未消除该缺陷，视频315.2 s撤手后仍未形成角边对齐的目标双层布叠。这是毛毯对折操作未完成，先前未达成过该节点。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 93.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频93.0—96.5 s两夹爪升离毛毯，侧视图可见指端与布面之间的空隙，未见布片随爪悬挂或从爪间回落；毛毯近左角仍内收、左侧仍有斜向卷入。视频315.5 s最后撤手后该角部仍未展开到目标外角，近边不齐，未得到角边重合、铺平的长方形布叠。这里的位姿不准指布角及布边未到目标位置，不由抓取是否成功推定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 83写出的goto_tcp默认grip=0.037，内部把此值传给两爪；goto_both默认grip=(0.037,0.037)，同样直接写入动作。log step 127先用move_kin(...,grip=(0.002,0.002))闭爪，紧接着的抬升goto_both及log step 129的拖动调用都未传grip，因而重新下发张爪命令；log step 149、153、175的夹取后抬升或拖动也沿用该默认值。这种控制指令未保留抓取状态，与视频92.0—96.5 s及视频157.0—160.0 s夹爪离布而毛毯未被带走一致，阻止了展开修角和重折；不能据agent在log step 156、214将失效归于仿真器的自述认定环境故障。 log step 136、156中agent自述夹爪在拖动时释放，这只是会话中的解释，不是服务端辅助抓取状态读数；未验证保持闭爪后的替代轨迹能否完成任务，alt_feasible为未知。",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "观察：inputs/有本次完整视频和运行记录、成功参考视频，没有状态日志；评分器未报告DAG列出的原生几何、层序、速度、漂移或净空指标，native_metrics均留null。视频94.0、95.0 s腕部视图中的蓝布投影看似进入指间，但同步侧视图显示夹爪悬空、布料留在桌面；视频315.5 s已撤手时腕部视图也有类似投影，不能据此确认布片被夹住并随爪抬起。没有原生辅助抓取开关或持物读数，不能排除合爪阶段极短的局部夹持，也不能确定其建立、解除的时刻，故不另标没建立接触或没保持住。log step 127、153的抓握成功表述来自agent自述，不是服务端抓取状态；log step 136、202、214的图像IoU与深度统计是agent自行计算，不能替代原生验收，也不能据其“平整度已修复”的自述判节点完成。"
+ },
+ "summary_zh": "机器人反复双臂夹取、尝试展开毛毯并以单爪按压修整，最后已撤手，但视频315.5 s仍可见左侧卷角和斜褶，毛毯对折节点全程未达成，最终0/1。日志中的抬升和拖动函数默认张爪，调用时未保持闭合，与视频中布料留在桌面一致，支持控制根因；agent关于抓起后释放的自述不作为现象证据。没有状态日志或原生细项指标，且多视角仍不能排除极短的局部夹持，为保留对审查重大抓握争议的这项不确定性，conf由7降为6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点 blanket_folded=false、最终0/1 与断点（blanket_folded，操作中）可接受；但 contact_actual 把视频87.8—96 s 的双臂接触标为“压/擦”，而腕部相机帧显示布边被夹爪夹住并随之抬起；相应地现象“位姿不准”也应与抓起后又松开（没保持住）一致，根因仍为控制（默认张爪）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "blanket_folded=false、最终0/1、断点（blanket_folded，操作中）与帧一致；视频91与95 s的俯视、侧视和腕部画面中布仍留在桌面、夹爪上提未带布，按压/擦的接触标注和位姿不准现象有证据；控制根因标为推断并注明alt_feasible未知，可接受。第1轮已被反驳并核实的要点无新证据，不重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:43:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--yy2q8ay/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--yy2q8ay/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--yy2q8ay/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--yy2q8ay/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "72fc0ec31816bc5ed24660f82d570e2ca46e4138f49bcb1f2d03c3549160a0ae",
+   "video_sha256": "8c261e1b8c1801c8106713ff1935c5f4908a5f292fbc6a61cea3af29bab382b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--3xwq8py.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--3xwq8py",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1000,
+   "submitted_actions": 1000,
+   "sim_steps": 1000,
+   "physics_steps": 10000,
+   "sim_time_s": 24.99999999999965,
+   "final_reward": 0.0,
+   "replay_wall_s": 104.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
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+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 10,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.92,
+   "peak_memory_gb": 29.868,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.282,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 1,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_oom": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-privileged--3xwq8py/replay.mp4",
+  "duration_s": 25.067,
+  "fps": 15.0,
+  "frames": 376,
+  "sha256": "053caba07ef6012c635c3cf730276b3116d55dd2b14958017099e1af1803a387"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 高位视图中金、银方框件分开放在桌面，未形成同一组件。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 216,
+      "text_zh": "观察：视频 6.5 s 左夹爪两指夹住银件侧部；视频 8.0–14.0 s 银件离开原位并随左夹爪抬升、转动，金件留在原处。log step 216 的录制执行输出也报告左手 in_hand=coil_silver。"
+     },
+     {
+      "t": 24.8,
+      "log_step": 236,
+      "text_zh": "观察：视频 24.0–25.0 s 逐帧检查及视频 24.8 s 高位、腕部视图显示银件仍在左夹爪内，与桌面金件之间有明显间隔，二者没有嵌合。log step 236 对已保存的 1000 行交付文件重放，返回 success=False、左手仍持 coil_silver；评分字段 strict_goal_reached=0，与画面一致。"
+     },
+     {
+      "t": 24.8,
+      "log_step": null,
+      "text_zh": "推断：本运行两件从未形成成功参考视频 764.7 s 所示的金银轮廓对齐组件，且末尾银件未释放，因此装配节点全程为假；此判断不依赖毫米级视觉测量，也不只依据零分。参考视频仅用于识别达标外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.5 s 起左二指夹爪从两侧夹住银色线圈，随后持件抬升和转动，并持续夹持至视频 25.0 s；右夹爪未操作金件，金件留在桌面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 21.0,
+   "log_step": 217,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 19.0–21.0 s 左夹爪持银件完成一段转动后仍停在金件旁上方，随后靠近也未使两件嵌合；视频 24.8 s 银件仍倾斜、与金件分离且被夹持。log step 217 是提交录像的录制续段，转动后报告目标朝向误差 31.45°，悬停伺服返回 False；log steps 218–222 将这段 1000 行动作保存提交，后续未以成功装配段替换。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.0,
+    "log_step": 217,
+    "evidence_zh": "观察：视频 14.0–21.0 s 机器人左手持银件转动，银件没有转到与金件匹配的朝向；视频 24.8 s 两件仍明显错开。log step 217 的已录制执行以目标 Rz90 测得转动后仍差 31.45°，随后向装配位置上方悬停的伺服返回 False、位置残差约 0.1005 m、朝向残差约 0.4376 rad。该现象指已执行的转动和靠近未到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 217,
+    "t": 21.0,
+    "source_zh": "日志",
+    "evidence_zh": "推断：录制续段 log step 217 的脚本尝试补抬升、分段转腕并伺服到悬停目标，但实际转后朝向残差仍为 31.45°，悬停返回 False 并留下约 100 mm 位置残差；视频 19.0–24.8 s 可见持件调整后仍错开。因此已有预装配指令的执行未能到位；现有记录不足以进一步区分逆解、跟踪或参数问题。"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 215,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 214 的轴向对接检查报告多处重叠后，agent 在 log step 215 自述轴向对接也被挡、仍需旋转搜索，并选择抓取、抬升、转腕和保持悬停的备用交付。该步生成的脚本本身只包含这些动作，没有嵌合或释放指令；log steps 216–217 执行并录制，log steps 218–222 保存为 1000 行交付。因此交付所采用的任务计划缺少完成装配所需的嵌合和释放动作；视频 24.8 s 银件仍被左夹爪夹持、与金件分离，与此一致。log step 239 的搜索使用 dz 网格末端却将其注释为最高点，返回 start=False、BFS 仅展开 1 个节点；该搜索发生在交付保存及 log step 236 重放之后，只说明后续封闭结论的验证有缺陷，不能作为此前交付缺少嵌合和释放动作的原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器未报告 DAG 所列三个原生误差指标，故 native_metrics 的值均为 null，无法独立量测毫米级装配误差、机器人包围盒间隙及半秒确认漂移。已录制转动和靠近的残差有日志依据，但控制失配的具体机制未确定；agent 关于搜索空间封闭的结论仅是其会话推断，不能证明任务无解。"
+ },
+ "summary_zh": "机器人左夹爪抓住并抬转银件，金件保持在桌面；至视频 24.8 s 两件仍分离，银件未释放，金银线圈组装节点全程未达成，最终 0/1。已录制转动和悬停存在执行残差；交付前选择的备用计划只含抓取、抬升、转腕和悬停，没有嵌合与释放动作，最终交付止于持件靠近。没有状态日志，三个原生几何指标也未报告，无法精确复核毫米级阈值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点 coils_assembled 全程为假、contact_actual、断点 ref 与视频一致（视频 24.8 s 银件仍被夹持、与金件分开）。问题在根因：规划根因的证据引用了交付保存之后才执行的 log step 239，因果与时间顺序不成立；应改引交付前 log step 214–215 的放弃装配决定。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "coils_assembled 全程为假、contact_actual（左夹爪抓握）、断点 ref 与视频一致；第 1 轮指出的规划根因证据已改为交付前 log step 214–215 的备用交付决定，因果与时序成立。未发现需要修改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-30T23:41:38Z",
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+  ],
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+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--9k9ofan.json

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+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-privileged--9k9ofan/replay.mp4",
+  "duration_s": 37.333,
+  "fps": 15.0,
+  "frames": 560,
+  "sha256": "67e82c08bd9d5a49d09d5f0cd8c09254bcf6b6a66c2e07e68b4be902e0aba5be"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的高位视图中，银色线圈在左侧、金色线圈在其右前方，两件分开，初始装配关系不成立。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 99,
+      "text_zh": "观察：视频 3.0–5.5 s 左夹爪合拢在银件的一段竖杆两侧；视频 6.5–11.0 s 银件离开原位、随左夹爪抬起并转动，金件留在原处。log step 99 的最终录制输出报告 grasp: hand=coil_silver，与可见持件运动一致。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 97,
+      "text_zh": "观察：视频 15.0–20.0 s 左夹爪持银件平移至金件旁边，两个轮廓仍分离；视频约 20.0–24.0 s 银件随夹爪往回移动，未形成共同组件。log step 97 的最终脚本在去程后按反向路点返回，随后转回并下降，没有进入装配位置的动作。"
+     },
+     {
+      "t": 37.267,
+      "log_step": 102,
+      "text_zh": "观察：视频 32.0–35.0 s 左夹爪张开并退出，视频 36.4、36.8、37.2 和末帧 37.267 s 金银件仍分置桌面，未嵌合。成功参考视频 758.0–764.8 s 的同类视图则可见金银轮廓合成同一方框组件，仅用于辨认完成外观；本次 log step 102 的交付文件双重重放均 success=false，评分器 strict_goal_reached=0，与本次画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–5.5 s 左臂二指夹爪闭合夹住银色线圈的竖杆；视频 6.5–31.0 s 持银件抬起、转动并往返平移，视频约 32.0–35.0 s 张开并撤离。右夹爪未操作金件，金件保持在桌面上；实际为单夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 20.0,
+   "log_step": 97,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 20.0 s 左夹爪仍持银件，金银件之间仍有可见间隔；随后视频 20.0–24.0 s 机器人将银件往原位方向搬回，视频 32.0–35.0 s 松手退出，至视频 37.267 s 两件始终未嵌合。log step 97 的提交脚本明确在去程后反向搬回、恢复原朝向并放下，未补做装配。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：提交的运动策略只执行保持两件分离的往返搬运，不能建立任务要求的互锁关系。依据为 log step 97 的最终脚本：固定金件坐标系中的 DY=140.789 mm，去程只改另一平移坐标，随后遍历反向路点、转回原朝向、下降并释放，完全没有向装配框架对齐或进入互锁区的路段；log step 99 记录该脚本保存 1489 个动作，log step 102 确认此交付文件重放失败，视频约 20.0–35.0 s 可见返回和释放。agent 在 log step 103 明确认可失败并将此交付称为 grasp-and-carry demonstration，说明这是选定的替代路线，而非执行中的意外偏移。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整评分视频和运行日志，但没有状态日志；评分器未报告 DAG 所列的三个原生几何指标，故其数值均为 null，毫米级误差、速度与确认漂移不能独立复核。视频及 log step 97 只显示预定的往返搬运，没有实际互锁插入动作，未见可归因于插入的卡住、碰撞、滑脱或对准后偏离；因此失败现象层留空，不将未执行的插入标成接触失败或位姿不准。agent 在 log step 103 所称已证明路径不可行仅为其自述，有限网格搜索不能排除所有合法方案，未据此标任务或环境根因。"
+ },
+ "summary_zh": "机器人左夹爪确实抓起、转动并往返搬运银件，但金银件全程保持分离，唯一节点“金银线圈组装”从未达到，最终为 0/1。断点取视频约 20.0 s 持件开始返回处：提交脚本选择保持分离的往返路线并放回银件，没有包含互锁装配路段，根因为推理/规划。没有状态日志或最终几何指标，且交付中没有实际插入失败事件，故不补造物理失败现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成（金银件全程分离）、接触（左夹爪单手抓握）、断点和根因（推理/规划：agent 选择只搬运不装配的路线，且其“腔体封闭”的结论与成功参考录像相悖）均与视频和 log 一致；现象层留空并有 gap_zh，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:35:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--9k9ofan/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--9k9ofan/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "05dadaab0661b48af17cda29f065e4ce7512890a7d670023cde2cd5d279e9acd",
+   "video_sha256": "67e82c08bd9d5a49d09d5f0cd8c09254bcf6b6a66c2e07e68b4be902e0aba5be",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--jiahw5z.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--jiahw5z",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 30595,
+   "submitted_actions": 30595,
+   "sim_steps": 30595,
+   "physics_steps": 305942,
+   "sim_time_s": 764.8549999995782,
+   "final_reward": 1.0,
+   "replay_wall_s": 3531.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 30595,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 10,
+   "agent_sim_steps": 13567,
+   "agent_records": 40,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-privileged--jiahw5z/replay.mp4",
+  "duration_s": 764.933,
+  "fps": 15.0,
+  "frames": 11474,
+  "sha256": "cf310c23890b413a2d0ac844711155431cb6016081fea7b344509bedfbe3b6d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      764.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金色件与银色件各自立在桌面不同位置，尚未嵌合，装配节点初始不成立。"
+     },
+     {
+      "t": 37.5,
+      "log_step": 138,
+      "text_zh": "观察：视频 27.5、32.5、37.5、42.5 s，机器人左右夹爪分别抵住金色件的不同外缘，推动其在桌面上转动；腕部视图显示夹爪作为推头接触外缘，没有各自夹住一块零件。log step 138 的双臂角点推转脚本与该可见动作一致。"
+     },
+     {
+      "t": 147.5,
+      "log_step": 176,
+      "text_zh": "观察：视频 132.5、137.5、142.5 s 左夹爪接近并夹住银色件上部；视频 147.5 s 银色件已离开原来的桌面位置并随左夹爪抬起，金色件留在桌上。随后视频 170–750 s 的抽帧显示左臂持银色件进行相对平移和转动，右臂在旁退出。"
+     },
+     {
+      "t": 764.333,
+      "log_step": null,
+      "text_zh": "观察：视频 750.25–763.75 s 的半秒抽帧中两件方框轮廓已逐渐对齐，但左夹爪仍在银色件抓持位置；逐帧检查视频 763.8–764.867 s，可见左夹爪在末段向外撤离，两件保持在桌面上，视频 764.867 s 的高位视图可见夹爪与装配件之间出现间隙。"
+     },
+     {
+      "t": 764.867,
+      "log_step": 283,
+      "text_zh": "观察：log step 283 输出任务判定函数 evaluate_state 的 FINAL_METRICS 为 True，relative_position_error_m=0.0007504102705340666、relative_rotation_error_rad=0.00003213518944523864、minimum_table_gap_m=-0.0000011961369763557883，released、quiet、near_table 均为 True；同一日志记录 SAVED 30595。log step 322–323 的交付文件开环重放验证返回成功且终态哈希一致。"
+     },
+     {
+      "t": 764.8,
+      "log_step": 323,
+      "text_zh": "推断：评分器字段 success=1、all_success=1、strict_goal_reached=1、strict_goal_row=30595、submitted_actions=30595、replay_hold_steps=0，结合视频末段撤离及 log step 322–323 对同一 30595 行交付的重放验证，装配、释放、间隙及半秒稳定确认在视频结束前共同通过；将首次达成标在视频约 764.8 s，时间精度约半秒。没有状态日志，毫米级几何、速度和确认漂移依赖任务判定及评分结果，不能从画面独立量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 7.5–12.5 s，左夹爪以合拢的指端推倒金色件；视频约 77.5–112.5 s，右夹爪继续推动、转动桌上的金色件。这里的合拢指端充当推头，没有夹持金色件。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "���/扫",
+      "note_zh": "视频约 27.5–47.5 s，左右夹爪同时抵住金色件两个角部，沿桌面配合推转；金色件由桌面承托，双手不包夹抓住它。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "在前述推转阶段之后，视频约 137.5–764 s 左二指夹爪夹住银色件上部，抬离原位并控制插入、转动和对齐；金色件留在桌面，右夹爪退出。视频末段左夹爪释放并撤离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "value": 0.0007504102705340666,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "value": 3.213518944523864e-05,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "value": -1.1961369763557883e-06,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先以夹爪推倒、双臂协同推转及单臂推动调整金色件，再由左夹爪抓持银色件完成互锁，视频约 764.8 s 达成唯一装配节点，终态为 1/1。末段画面显示两件留在桌面、左夹爪撤离；评分器 success=1、strict_goal_reached=1、review_events=0，交付重放验证终态一致，未标失败。没有状态日志，毫米级间隙、速度与半秒确认不能仅凭视频独立核实；原生指标取自 log step 283 的任务判定函数 FINAL_METRICS，达成时间约有半秒不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点标注与视频、评分器字段一致：初始分离，末段两件嵌合并在约 764.8 s 达成，final=1；contact_actual 与画面相符（推/扫、双臂协作推转、单夹爪抓握银件）。未发现需改动处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:36:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--jiahw5z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--jiahw5z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "59b6335ecf50478918974444efc81cc41a080301140c0982bae700368ceb1731",
+   "video_sha256": "cf310c23890b413a2d0ac844711155431cb6016081fea7b344509bedfbe3b6d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--mjwandk.json

@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--mjwandk",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 704,
+   "submitted_actions": 704,
+   "sim_steps": 704,
+   "physics_steps": 7040,
+   "sim_time_s": 17.60000000000007,
+   "final_reward": 0.0,
+   "replay_wall_s": 78.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 28,
+   "agent_resets": 72,
+   "agent_sim_steps": 69142,
+   "agent_records": 1032,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.83,
+   "peak_memory_gb": 9.101,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.119,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-privileged--mjwandk/replay.mp4",
+  "duration_s": 17.667,
+  "fps": 15.0,
+  "frames": 265,
+  "sha256": "b60a78808f39e75beb2298d7b4264e8fca98240c8fa2ef5e9a062cf5270ee744"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 高位画面中金、银线圈分开放在桌面，未形成互锁组件。"
+     },
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s 银件已离开原来的桌面位置，随机器人左夹爪抬起；随后视频 6.0–12.0 s 左臂转动并将银件搬到金件附近，右臂未抓金件。"
+     },
+     {
+      "t": 15.9,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–15.8 s 银件仍被左夹爪夹住，位于金件侧上方，两个方框轮廓没有对齐嵌合；视频约 15.9 s 左夹爪开始张开，随后银件向桌面落下。"
+     },
+     {
+      "t": 17.6,
+      "log_step": 271,
+      "text_zh": "观察：视频 16.6–17.6 s 左夹爪已退出，银件平躺于直立金件旁边，二者清楚分离；log step 271 对交付的 704 行动作进行评分重放，返回 success=false、deterministic=true；inputs/run.json 的 reward.strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.5 s 左侧二指夹爪夹住银色线圈并将其抬离桌面，随后持件旋转、搬运并下降至金件附近；视频约 15.9 s 张开释放。右夹爪未参与持件，金件留在桌面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 15.9,
+   "log_step": 252,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.0–15.8 s 机器人左夹爪将银件保持在金件侧上方，两件未对齐嵌合；视频约 15.9 s 夹爪开始张开，至视频 16.6 s 银件已经平躺于金件旁，后续未修复。log step 252 保存了 704 行单臂动作，log step 271 重放的也是该 704 行文件；会话中另行进行的双臂测试不在这段交付视频中。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 15.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 12.0–15.8 s 银件与金件的方框朝向和位置明显不匹配，银件停在金件侧上方；视频约 15.9 s 左夹爪张开时二���仍未嵌合，视频 16.6–17.6 s 银件落在金件旁边，未形成共同组件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 250 的生成脚本先给左腕关节增加 pi/2，再读取银件的实际朝向 R_now；随后的全部搬运和下降路点均使用 R_now，只改变位置，未将朝向插值到金件的 gR。log step 252 仅修改抓取序列后重跑该脚本，打印释放前相对转角 2.9596 rad、位置差 0.06295 m，并保存 704 行文件；log step 271 确认交付文件为 704 行且确定性重放失败。结合视频 12.0–15.9 s 可见的错位，这一固定错误朝向后继续平移并释放的动作方案无法消除装配转角误差。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有 states.jsonl，本次评分器 reward 未报告 DAG 的三个原生误差指标，故 native_metrics.value 均为 null；log step 252 的数值是生成脚本在释放前自行计算的读数，不作为评分器终态指标。没有逐物理步接触或位姿记录，无法独立复核毫米级阈值、碰撞间隙及静止确认过程；视频中的分离终态足以判定装配未完成。agent 在 log step 274 声称单臂路径受几何封闭限制，该排除所有合法方案的结论未经独立验证，不据此归因任务或环境。"
+ },
+ "summary_zh": "观察：交付视频中机器人左夹爪抓起银色线圈，旋转并搬到金件附近后释放；视频 17.6 s 银件平躺于金件旁，金银线圈组装始终未达成，最终 0/1。推断：断点在视频约 15.9 s 的错位释放，生成脚本固定腕部旋转后的错误朝向并仅作平移、下降，未规划消除装配转角误差。观察：无状态日志，评分器未报告三个原生误差值，不能独立量测精确接触和确认阈值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（视频约15.9 s 错位释放）、位姿不准现象和时间均与视频及log step 252/271一致；根因推理/规划有log读数（旋转误差2.9596 rad）支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:30:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--mjwandk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--mjwandk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1c32981fe539e847e4a26e299726f0c6040bde3127df0af581ae1ba00233a651",
+   "video_sha256": "b60a78808f39e75beb2298d7b4264e8fca98240c8fa2ef5e9a062cf5270ee744",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--pizytgc.json

@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--pizytgc",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2727,
+   "submitted_actions": 2727,
+   "sim_steps": 2727,
+   "physics_steps": 27270,
+   "sim_time_s": 68.17499999999838,
+   "final_reward": 0.0,
+   "replay_wall_s": 361.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 30,
+   "agent_sim_steps": 0,
+   "agent_records": 56,
+   "agent_replays": 15,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.513,
+   "peak_memory_gb": 1.462,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.86,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-privileged--pizytgc/replay.mp4",
+  "duration_s": 68.267,
+  "fps": 15.0,
+  "frames": 1024,
+  "sha256": "07f85c408317268992d2f53d88d03386377249e2687873aecdc8f4419e4d7d06"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金、银线圈分开放在桌面，尚未嵌合。"
+     },
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5 s 左夹爪夹住银件，银件随夹爪抬离原处；视频 5.5–9.0 s 左臂把银件转为竖直并移至金件上方，金件留在桌面，右臂未参与操作。"
+     },
+     {
+      "t": 61.9,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–61.9 s 银件仍由左夹爪保持，位于竖直金件上方，两个轮廓呈上下叠放而非对齐的同一组件，释放条件未成立。成功参考视频 754.0–764.5 s 的高位及腕部视图显示金银框嵌合为紧凑、轮廓对齐的组件，此处仅作外观比较。"
+     },
+     {
+      "t": 62.5,
+      "log_step": 438,
+      "text_zh": "观察：视频约 62.25 s 左夹爪张开，视频 62.5–63.0 s 银件从金件顶端向前下方倾倒，金件也改变朝向；视频 67.3–68.2 s 两件已静止但仍错位，未恢复装配。log step 438 记录最终保存 2727 行动作且 success=False，与末段释放撤臂后的失败结果一致。"
+     },
+     {
+      "t": 68.2,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.strict_goal_reached=0、success=0，deterministic=1、review_events=0、infra_error=0；结合视频末帧的明显错位，金银线圈组装终态不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.5–61.9 s 左臂二指夹爪夹住并搬动、转动银线圈，借桌面支承金线圈尝试装配；视频约 62.25 s 左夹爪松开银件并撤离。右臂在本次评分录像中保持原位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 62.3,
+   "log_step": 438,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 61.9 s 左夹爪仍把银件竖直叠在金件顶端，尚无轮廓对齐的嵌合；视频约 62.25–63.0 s 机器人开爪后银件倾倒、金件转动，直到视频 68.2 s 均未修复。log step 434、436 重放 cand 后，log step 438 将该前缀与开爪、撤臂、静置动作拼接保存为最终交付，输出 success=False。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 62.3,
+    "log_step": 438,
+    "evidence_zh": "观察：视频 61.9 s 银件位于金件之上，两件竖直框的轮廓没有互相嵌合对齐；视频 62.25–63.0 s 机器人从该错位堆叠姿态松手后，两件倾倒分离，视频 68.2 s 银件在金件前方且朝向不同。松手前就未到正确装配位姿。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 335,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 采用了未验证的装配构型假设。log step 313 用二维初始位置推算相对偏移，log step 314 保留约 93.44 mm 的竖直堆叠偏移；log step 334 的实测银件位置接近该命令目标但仍被持有、success=False，log step 335 将其称为预测的配合位姿并保存为 cand。agent 后来在 log step 363 自述“93 mm vertical offset was the wrong assembly hypothesis”，但 log step 434、436、438 最终仍重放并交付 cand 加释放动作。视频 61.9–63.0 s 对应的上下错位堆叠及释放后倾倒，支持错误装配终点假设导致失败。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立量测毫米级装配框误差、全机器人包围盒间隙或确认漂移；评分器 reward 未报告 DAG 的三个原生指标数值，故均填 null。根因根据提交前缀的代码、实测输出及 agent 对构型假设的修正记录推断，无法仅凭录像还原完整正确的配合变换。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "机器人用左夹爪抓起银线圈，移到由桌面支承的金线圈上方，但唯一节点“金银线圈组装”始终未达成，最终为 0/1。视频约 62.3 s 从错位堆叠姿态松手后两件倾倒且未恢复；日志表明最终交付沿用了由未经验证的竖直偏移假设生成的轨迹。无状态日志及原生误差数值，精确几何验收无法独立复核。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频和日志一致：左夹爪夹银件竖直叠在金件上，约 62.3 s（视频时钟）松手后倾倒，组装未成立；断点、位姿不准、推理/规划根因均有帧和 log step 313/314/334/335/363/438 支持。未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:30:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--pizytgc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--pizytgc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4528677742c02c00adfdb6a52845c315b5fade4bf3b3acf7436988af21170e4a",
+   "video_sha256": "07f85c408317268992d2f53d88d03386377249e2687873aecdc8f4419e4d7d06",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--btdp5ut.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--btdp5ut",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10355,
+   "live_rows": 10355,
+   "sim_steps": 10355,
+   "physics_steps": 103550,
+   "steps": 3877,
+   "elapsed_s": 10761.4,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.687,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.335,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--btdp5ut/replay.mp4",
+  "duration_s": 258.933,
+  "fps": 15.0,
+  "frames": 3884,
+  "sha256": "302568ccb66e6b797e413bdb0696a75de1dbab8665817178c27f2bd907aeeadf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的高位视图中，银色线圈在左后方、金色线圈在右前方，两件分别立在桌面上，未相互嵌合。"
+     },
+     {
+      "t": 102.6,
+      "log_step": 85,
+      "text_zh": "推断：log step 85 的服务状态 control_steps=4105，按 log step 8 的 control_hz=40 映射到视频 102.625 s，取视频约 102.6 s 为该调用结束的定位锚点，已在视频 98–105 s 帧核对。观察：视频 66–75 s 左臂接近银件，视频 72、75 s 夹爪仍张开；视频 98–105 s 左夹爪停在银件前侧，银件未离开桌面原位；log step 85 的执行脚本输出三次闭合尝试、抬升检测均约 0.1 mm 和 NOT WELDED。闭合尝试由日志支持，不将视频 68.5–74.3 s 描述为空合阶段。"
+     },
+     {
+      "t": 135.1,
+      "log_step": 95,
+      "text_zh": "推断：log step 95 的服务状态 control_steps=5402，按 40 Hz 对应视频 135.05 s，取视频约 135.1 s 为该调用结束的定位锚点；这不是脚本中 WELDED 字样的精确发生时刻。观察：已核对视频 120–151 s 帧，视频 123–128.8 s 左臂接近银件后抬起而银件仍立在原处，视频 130–151 s 左臂空手转动时，高位视图仍能看到桌面原位的银件。log step 95 中 agent 的点云配准脚本输出 lift test dz 41.9 和 WELDED，log step 96 进一步自述银件仍被左手辅助抓取；这些持件判断与画面不符，不据此计入抓取或装配进展。"
+     },
+     {
+      "t": 196.0,
+      "log_step": 125,
+      "text_zh": "观察：视频 174.0–214.0 s 左夹爪反复在银件旁闭合和抬升，金、银两件仍分开放在桌面，未出现相互嵌合；log step 125 的脚本输出 tcp at grasp, pos err vs target 42.5 mm，最终输出 NOT WELDED。"
+     },
+     {
+      "t": 258.87,
+      "log_step": 173,
+      "text_zh": "观察：视频 257.93–258.87 s 逐帧检查及视频 258.87 s 终帧均显示两件仍分开、银件仍在初始桌面位置，左夹爪在其上方为空；log step 173 的最终执行脚本输出 chain to pre blocked，评分器 reward.live_success=0、graded_by_live=1。装配关系本身未成立，故本节点 final=false，并非仅由零分反推。"
+     },
+     {
+      "t": 68.6,
+      "log_step": 37,
+      "text_zh": "推断：这是唯一现场评分回合，reward.sim_startups=1、resumes=0、graded_by_live=1。log step 8 的服务规格给出 control_hz=40；log step 37 的扫描结束 control_steps=2745 对应视频约 68.63 s，已与视频 68.5–69.0 s 从扫描转入左臂抓取接近的动作核对，最终 log step 173 的 10355/40=258.875 s 也与视频末尾吻合。此映射只用于定位现场调用，未使用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 123.0–127.5 s、174.0–214.0 s 可辨机器人左二指夹��在银色线圈附近接近、闭合并撤开；但爪尖与银件的细小相接区域同色且被爪体部分遮挡，各视图不能确认是否发生短暂擦碰或压靠，没有可确认的对向夹持和持件移动，因此实际接触配对保留未知。右臂早期移动腕部相机观察金件，未见两手同时持件协作；不照搬 DAG 的双臂抓握方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 102.6,
+   "log_step": 85,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 85 的 control_steps=4105，按 40 Hz 对应视频约 102.6 s，已核对视频 98–105 s，并以此调用结束作为首次失败抓取的粗略锚点。观察：视频 66–75 s 左臂仍在接近银件，视频 72、75 s 夹爪张开；视频 98–105 s 左夹爪停在银件前侧，银件未被带起，log step 85 的脚本输出三次尝试后 NOT WELDED。视频 123–151 s 和视频 174–214 s 的后续动作仍未带走银件，视频 258.87 s 两件保持分离。推断：最早未修复的失败属于金银线圈组装这一步中的抓取操作，未进入完成装配后的终态验收。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 102.6,
+    "log_step": 85,
+    "evidence_zh": "观察：视频 98–105 s 左夹爪停在银件前方，银件未离开原位；log step 85 的脚本记录三次闭合尝试及 NOT WELDED。视频 123–128.8 s 左臂再次接近并抬起后银件仍留在桌面，视频 130–151 s 左臂转动时手中无银件；视频 174–214 s 重试也未形成带件运动。推断：时间锚点来自 log step 85 control_steps 4105/40=视频 102.625 s，已核对视频 98–105 s；装配所需的有效抓持接触始终未建立，不排除未能辨认的短暂擦碰，也没有证据标成已持住后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 102.6,
+    "log_step": 85,
+    "source_zh": "日志",
+    "evidence_zh": "推断：抓取执行脚本未使左夹爪到达设定的接近/抓取姿态，却继续闭合与抬升检测，导致有效抓持未建立。log step 84 的脚本设定预抓取点为银件中心加 [0,-0.14,0]，log step 85 输出中心 [-0.1329,0.2143,0.0781] 和 pre-grasp done [-0.159,0.063,0.157]，两者与设定预抓取点不符；log step 86 的“偏差 8 cm”仅为 agent 自述，不作为独立测量。观察：视频 98–105 s 银件未动，log step 85 输出 NOT WELDED；log step 87 的后续诊断脚本报告预抓取 TCP 误差 167.8–187.6 mm；log step 88、91 的机器人服务分别明确拒绝 2.21、2.20 rad 的逆解分支跳变，因超过每行 0.5 rad 的保护范围而保持该臂。推断：这些后续拒绝说明修复调用仍有逆解分支/轨迹处理问题，不能倒推为首次失败的直接服务反馈，更不能配到视频 70–74 s。log step 125 的脚本又报告抓取 TCP 误差 42.5 mm，log step 132、135、173 在接近航点阶段退出。证据支持控制层面的执行问题，但未区分脚本调用、逆解轨迹与反馈跟踪的贡献；log step 91 单独调用 ik 返回 ok=True，也不足以证明完整抓取方案可行，不能认定服务有 bug 或所有合法方案均不可达。",
+    "alt_feasible": "未知",
+    "note_zh": "候选：控制脚本异常/逆解。未核实完整抓取方案是否可行，不能在轨迹或逆解与反馈控制之间确定子类，故保留“控制”；是否存在可行替代：未知。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 135.1,
+    "log_step": 95,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 脚本误估银件的抬升和持件状态，随后以错误的持件位姿执行空手扫描，妨碍了抓取修复。定位锚点为 log step 95 结束时服务 control_steps 5402/40=视频 135.05 s，取视频约 135.1 s，并非 WELDED 输出的精确时刻；已核对视频 120–151 s。观察：log step 95 的点云配准脚本输出抬升 41.9 mm 和 WELDED，log step 96 自述银件仍被左手辅助抓取并安排重新扫描，log step 97 继续输出所谓 held scan；视频 130–151 s 银件一直立在桌面原处，左臂撤开及转动均未带走银件。推断：这是有画面对照的物体状态估计错误，不把脚本自己的 WELDED 字样当成服务确认。"
+   }
+  ],
+  "gap_zh": "没有状态日志；各相机可见两件始终分离，足以判定装配未达成，但爪体遮挡和灰色表面重叠使短暂擦碰的接触对、压力及辅助抓取绑定无法独立确认，故 contact_actual 保留未知。评分器 reward 未报告 relative_position_error_m、relative_rotation_error_rad、minimum_table_gap_m，三项 native_metrics.value 均为 null；也无法从视频量测毫米级误差、全机器人间隙和确认漂移。log step 149 的 120° 姿态误差属于 agent 自己的 FK 校验输出，尚不能区分其计算/调用问题与服务内部问题，故不归因任务或环境。"
+ },
+ "summary_zh": "本次现场回合反复尝试抓取银色线圈，但视频未见银件离开桌面原位，金银两件始终分离，金银线圈组装节点全程未达成，最终为 0/1。断点在装配操作中的有效抓持未建立：抓取运动未到预期姿态，脚本又曾把原位银件误估为已抬起，随后执行空手扫描；后续重试仍未修复。缺少状态日志及接触细节，无法确认短暂擦碰方式或复核精确几何指标，未将 agent 的辅助抓取自述当成事实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "核心结论（装配全程未达成、银件始终留在桌面、final=false）与视频一致。但证据把 log step 85/95 的服务 control_steps 读数配到了错误的视频时间：按 N6 映射 4105/40=102.6 s、5402/40=135 s，而文件写成 68.5–74.3 s 和 123–128.8 s，断点 t/log_step 与根因时序因此互相矛盾。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第一轮修正后，时钟映射（40 Hz、4105→102.6 s、5402→135.1 s）与视频一致；银件在 101、134、200、258 s 帧均留在桌面原位，金银始终分离，final=false、断点 coils_assembled/操作中、没建立接触均有视频与 log 支持；控制根因与感知根因措辞谨慎，alt_feasible=未知，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:44:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--btdp5ut/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--btdp5ut/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--btdp5ut/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--btdp5ut/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ed15fb3be2e4c7671749a81464df2024fb0024fcde074b98ed2c63bfe676229",
+   "video_sha256": "302568ccb66e6b797e413bdb0696a75de1dbab8665817178c27f2bd907aeeadf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--mu2oog8.json

@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--mu2oog8",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 5,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 16500,
+   "live_rows": 16500,
+   "sim_steps": 16500,
+   "physics_steps": 165000,
+   "steps": 2244,
+   "elapsed_s": 8979.1,
+   "replay_wall_s": 1290.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--mu2oog8/replay.mp4",
+  "duration_s": 412.6,
+  "fps": 15.0,
+  "frames": 6189,
+  "sha256": "8862d210a3d634ff574cad19371df8c6ef1742e5f59087273b14c0d7a8132aa2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的高位视图中，银件在左、金件在右，两件各自立在桌面上，彼此分开，开局没有装配关系。"
+     },
+     {
+      "t": 269.3,
+      "log_step": 456,
+      "text_zh": "观察：视频约 266.8–269.0 s，右夹爪闭合夹住金件并带其升离桌面；视频约 269.3–269.5 s，右臂转开时金件落回桌面，仍与银件分开。agent 在 log step 456 也承认金件已落回桌面。"
+     },
+     {
+      "t": 292.0,
+      "log_step": 460,
+      "text_zh": "观察：视频约 272–292 s，左夹爪夹住银件，银件随左手移动、转动和升高；右侧金件仍单独留在桌面。log step 460 的现场服务状态为 done=False、resumes=0；这是机器人服务返回的回合状态。"
+     },
+     {
+      "t": 405.5,
+      "log_step": 525,
+      "text_zh": "观察：视频约 405.0–407.5 s，右夹爪从金件上方升起并移向银件，金件没有跟随，仍留在桌面原处；不能把 log step 525 脚本打印的“gold lifted”或“nest”当作成功拿起或嵌合。"
+     },
+     {
+      "t": 412.53,
+      "log_step": 529,
+      "text_zh": "观察：视频 411.5–412.53 s（含末帧）金、银件仍在桌面两个分离的位置，没有出现轮廓对齐的共同组件；log step 529 的现场服务仍返回 done=False。成功参考视频约 754–764.5 s 则清楚显示金银件合为同一个方框组件，此处仅用于辨认完成外观；本次 reward.success=0、live_matches_replay=1 与本次画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 266.8–269.0 s 右侧二指夹爪夹住并抬升金件；视频约 272–292 s 左侧二指夹爪夹住银件并带其移动、转动。两爪先后处理各自零件，未观察到两手同时持住两件完成对合；左夹爪在视频约 269.5 s 后还先推拨银件，之后夹持调整。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 269.3,
+   "log_step": 456,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 269.3 s，在为装配调整两件的过程中，右夹爪失去刚抬起的金件，金件落回桌面。此后机器人继续调银件、重新夹取及尝试搬运，但视频约 405–407.5 s 的末次搬运仍为空手移向银件，直到视频 412.53 s 两件也未嵌合；该装配步骤始终未完成。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 269.3,
+    "log_step": 456,
+    "evidence_zh": "观察：视频约 266.8–269.0 s 金件确实随右夹爪升起，视频约 269.3–269.5 s 金件与右夹爪分离并落回桌面，发生在送往银件和计划装配释放之前。log step 456 的 agent 自述也记录“Gold dropped back to the table”；这不是目标位置松手后的不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 360 展示 agent 的 goto_tcp 辅助函数：把当前活动手的实测夹爪驱动值 g 同时写入左右两爪命令，而没有保留另一手原来的闭合命令；log step 454 操作左臂时仍调用该函数，并继续用实测 n[6]、n[13] 构造持位动作。任务文本规定很小的张开命令即可解除辅助抓取，因此这些持位指令可能破坏右手既有抓取；视频约 269.3 s 金件正是在左臂开始调整银件时掉下，log step 456 亦发现右臂已回到另一位置。后续 log steps 505、520 多次返回 IKFAIL，末次 log step 525 虽打印已抬起金件，视频约 405–407.5 s 却显示空手搬运。证据支持控制指令及持物状态处理未能可靠维持抓取和转移，具体失效机制不再细分。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志；现场日志虽有安全监测摘要，却没有逐时刻的辅助抓取绑定、完整接触对和抓取解除原因，无法精确区分金件因张开命令、受力或位姿漂移而脱离。评分器未报告三个原生几何指标，故其值均为 null；画面也不能量测毫米级间隙、速度及确认漂移，但两件始终分离足以判定装配未达成。"
+ },
+ "summary_zh": "观察：机器人先后夹取、抬升金件并推拨、夹持调整银件，但金件曾在调整过程中落回桌面，末次搬运时也未随夹爪移动；视频 412.53 s 末帧两件仍分离，金银线圈组装为 0/1。推断：失败发生在装配操作中的持物与转移控制，日志中的夹爪命令构造问题和逆解失败支持这一归因；缺少逐时刻抓取绑定与接触记录，不能确定每次持件失效的具体触发机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "coils_assembled 未达成、末帧 412.53 s 两件仍分离、断点在 269.3 s 金件从右爪掉落，均与视频和 log step 454-460 一致；根因停在“控制”并标为推断，合理。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:21:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--mu2oog8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--mu2oog8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "006fc23eed289e4806e8ba2cb3f4b57395577921fe5828e44c69961e73428d99",
+   "video_sha256": "8862d210a3d634ff574cad19371df8c6ef1742e5f59087273b14c0d7a8132aa2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--my3ckww.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--my3ckww",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 44742,
+   "live_rows": 44742,
+   "sim_steps": 44742,
+   "physics_steps": 447420,
+   "steps": 10727,
+   "elapsed_s": 8352.8,
+   "replay_wall_s": 3311.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.692,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.074,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--my3ckww/replay.mp4",
+  "duration_s": 1118.6,
+  "fps": 15.0,
+  "frames": 16779,
+  "sha256": "12797ca42f004d59d454db45ee5b1b19f7c7553b6cc9692ebce89ca2d8fd33fe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开局金、银线圈各自直立在桌面不同位置，未嵌合；全程约每 10 s 的多视角粗查及操作段加密检查均未见两件形成同一对齐组件。"
+     },
+     {
+      "t": 222.0,
+      "log_step": 54,
+      "text_zh": "观察：视频 218–226 s，机器人右夹爪夹住金件并将其提离桌面，银件仍在旁边原处；这是实际抓取，但不是完成装配。"
+     },
+     {
+      "t": 1113.6,
+      "log_step": 216,
+      "text_zh": "观察：视频 1107–1114 s，机器人左夹爪夹着银件边框上提，银件相对夹爪下滑并在约视频 1113.6 s 脱出回落，随后夹爪空手撤离；金件仍留在旁边。log step 216 的脚本将左夹爪闭合命令保持为 0.002，并继续抬升，工具返回 opening 0.0。"
+     },
+     {
+      "t": 1118.5,
+      "log_step": 221,
+      "text_zh": "观察：视频 1117.5、1118.0、1118.5 s，两臂已撤回，银件斜放于金件左侧，两件方框轮廓明显错开，未形成参考成功录像中可见的重合组件。评分器字段 live_success=0、success=0；agent 在 log step 221 也自述未组装完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪在视频 218–226 s 夹起金件；左二指夹爪反复夹住银件边框进行抬升和转动，包括视频 1107–1113 s 的末次夹持。两臂先后操作；期间还出现以夹爪拨动、翻转银件的接触，未见两手同时各持一件进行嵌合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 1113.6,
+   "log_step": 216,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人一直在为组装抓取、转动和搬动零件；视频 1107–1114 s 的末次搬动中，银件从左夹爪滑出，约视频 1113.6 s 回到桌上。此后机器人撤臂，视频 1118.5 s 两件仍错开分放；该装配节点从未完成。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 1113.6,
+    "log_step": 216,
+    "evidence_zh": "观察：视频 1107–1114 s，银件起初随左夹爪边框夹持而抬起、倾转，随后相对手指下滑，约视频 1113.6 s 脱离夹爪，空夹爪继续上升；银件落回金件旁的桌面。log step 216 的抬升调用使用 grip=0.002，未命令计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 1113.6,
+    "log_step": 216,
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：所用边框夹持不能在继续抬升时稳定承载银件。视频 1107–1114 s 可见银件在手指间转动、下滑直至脱出；log step 214–216 的脚本先闭合再抬高，并在抬升中维持闭合命令，故不是到达装配目标后的主动放置。log step 215 返回夹爪测量值由约 0.0209 变为 0.022，log step 216 返回 0.0，与夹持物脱出相符；agent 在 log step 221 自述摩擦夹持会摆动、滑落且未得到可靠的辅助锁定。当前证据支持夹持承载不稳，但没有验证本次姿态下的可行替代抓点。"
+   }
+  ],
+  "gap_zh": "没有状态日志，画面不能量测毫米级装配框架误差、接触力、机器人包围盒间隙或辅助抓取绑定；评分器也未报告 DAG 所列三个原生误差/间隙指标，故其值均为 null。两件明显分开足以判定节点未达；辅助抓取未锁定的具体触发原因及替代抓点可行性仍不明。log step 221 关于零件重量、锁定区域及规划路径可行性的说法未获独立验证，未据此归因环境或规划。"
+ },
+ "summary_zh": "机器人先后抓起、转动金银线圈并多次调整银件，但没有完成唯一的金银线圈组装节点，终态为 0/1。末次抬升在约视频 1113.6 s 再现银件从闭合夹爪滑出的失败，抓取承载不稳阻止了后续嵌合，机器人随后撤回。无状态日志及精确装配指标，无法核实辅助抓取为何未锁定，但视频 1118.5 s 两件明显错开，未完成关系本身可直接判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达（金银件始终分开，视频 1118.5 s 错开）、断点在 coils_assembled 操作中、末次银件从左夹爪滑落（视频约 1113.6 s）与帧一致；没保持住 + 抓取和接触设计 有视频与日志支撑且已标明推断，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:22:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--my3ckww/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--my3ckww/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5117cb0b73d23fc424b277b3f7149afeaa87f2c2560551868e2a9b241a83936d",
+   "video_sha256": "12797ca42f004d59d454db45ee5b1b19f7c7553b6cc9692ebce89ca2d8fd33fe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--r9ajbjf.json

@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--r9ajbjf",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 6,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 8773,
+   "live_rows": 8773,
+   "sim_steps": 8773,
+   "physics_steps": 87730,
+   "steps": 6460,
+   "elapsed_s": 10795.6,
+   "replay_wall_s": 554.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 6.542,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.387,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--r9ajbjf/replay.mp4",
+  "duration_s": 219.4,
+  "fps": 15.0,
+  "frames": 3291,
+  "sha256": "7f05673279a0e0f9e3ffd630d5f2081c3652080c5b1e70b0fd91612bf1cf8846"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 高位相机可见银件在左、金件在右，两件分离，装配关系初始不成立。"
+     },
+     {
+      "t": 48.5,
+      "log_step": 447,
+      "text_zh": "观察：视频 47.5 s 左夹爪夹持银件、右夹爪夹持金件；视频 48.5–49.5 s 金件转落桌面，银件仍由左夹爪夹着，两件未互锁。log step 441、447 的转向和插入动作均将双爪闭合目标保持为 0.002 m。"
+     },
+     {
+      "t": 51.5,
+      "log_step": 452,
+      "text_zh": "推断：本回合服务在 log step 12 报告控制频率 40 Hz，log step 452 的 control_steps=2078 对应视频约 51.95 s；已用视频 51.5–52.0 s 银件仍在左爪、金件平躺分开的姿态核对。log step 447 的“插入完成”是脚本阶段文字，画面未显示装配完成。"
+     },
+     {
+      "t": 92.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.0–70.5 s 机器人再次抬起金件并让两件靠近；视频 91.0–94.0 s 双爪退出后，银件平放、金件竖立在其旁边，仍未嵌合。"
+     },
+     {
+      "t": 219.33,
+      "log_step": 1539,
+      "text_zh": "观察：视频 180.0–218.0 s 的后续抓取、合拢动作没有使两件离开各自桌面位置形成组件；视频 218.4 s 和 219.33 s 高位及腕部画面仍见金银两个分开的方框。log step 1539 虽打印“both held”，同时记录双爪开度均为 0.0 mm；该脚本文字不构成持件证据。评分器 reward.success=0、live_matches_replay=1，与未装配的画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 43.0–47.5 s 左二指夹爪夹住银件、右二指夹爪夹住金件，两臂持不同零件转向并靠拢；视频 62.0–70.5 s 又同时持件尝试对合。夹持由各夹爪的相对两指完成；其间也有单臂重新抓取，底座未移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 48.5,
+   "log_step": 447,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 47.5 s 两臂各持一件转向靠拢，视频约 48.5–49.5 s 金件从右爪脱离并落在桌面，左爪仍持银件。log step 441、447 对应的动作保持双爪闭合而非计划松手；后续重抓和合拢始终未完成本装配节点���视频 219.33 s 两件仍分开。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 48.5,
+    "log_step": 447,
+    "evidence_zh": "观察：视频 43.0–47.5 s 金件随右夹爪运动，视频 48.5–49.5 s 金件转落桌面并与右爪分离；银件仍由左爪夹住。log step 441、447 的转向、靠拢动作持续给右爪 0.002 m 的闭合目标，未安排此次释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 441、447 的脚本在双爪保持闭合的设定下直接执行转向、预插入及插入关节轨迹；视频 47.5–51.5 s 却显示金件脱离右爪后，机器人继续执行两件对合动作。动作执行未维持所需持件关系，导致装配落空，支持控制层面的失效；现有证据不足以细分握持设计、轨迹负载或辅助抓取释放机制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "输入没有状态日志；视频能确认持件丢失及最终两件分离，但不能确定该次脱离的接触力、辅助抓取绑定状态或失效机制，因此根因只标到控制。评分器未报告三项原生几何误差指标，均记 null；毫米级对位、机器人间隙及半秒确认过程无法独立量测，未用成功参考运行替代本回合证据。"
+ },
+ "summary_zh": "机器人曾以左爪持银件、右爪持金件并反复转向、靠拢，但金银线圈组装节点始终未达到，最终为 0/1。视频约 48.5 s 金件在闭爪转向、靠拢动作中脱离右爪，后续重试未修复装配结果，视频 219.33 s 两件仍分开放在桌面。失败支持控制层面的持件维持问题；没有状态日志和逐时接触力，不能进一步确定具体控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（视频约 48.5 s 金件脱离右爪）、接触（双臂协作·抓握）和控制根因均与视频一致；终帧两件仍分开。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:35:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--r9ajbjf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--r9ajbjf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "06492275dd2aab4bffa428623ecfd7d77bbb23735ad914e6edd311a0040d9b77",
+   "video_sha256": "7f05673279a0e0f9e3ffd630d5f2081c3652080c5b1e70b0fd91612bf1cf8846",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--sjbaxtp.json

@@ -0,0 +1,238 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--sjbaxtp",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 20233,
+   "live_rows": 20233,
+   "sim_steps": 20233,
+   "physics_steps": 202330,
+   "steps": 4762,
+   "elapsed_s": 8862.1,
+   "replay_wall_s": 1390.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--sjbaxtp/replay.mp4",
+  "duration_s": 505.933,
+  "fps": 15.0,
+  "frames": 7589,
+  "sha256": "b8e04d1990fb33e07cc7356f6fa0fca85a5a133aaa5edd0a88850c572e34527a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金件、银件分开放在桌面上，未形成相互嵌合的组件。"
+     },
+     {
+      "t": 36.5,
+      "log_step": 199,
+      "text_zh": "观察：视频 33.0–36.5 s 左夹爪在金件侧边闭合夹压并上提，金件仍留在桌面；视频约 37.5–38.5 s 换姿的左夹爪碰动金件，使其翻倒。log step 197、199 分别记录闭爪和上提操作，未见成功搬运。"
+     },
+     {
+      "t": 438.0,
+      "log_step": null,
+      "text_zh": "观察：视频 420.0–449.0 s 左夹爪接触、推移桌上的零件，金银件位置改变，但两件仍各有独立轮廓，没有嵌合成同一组件。"
+     },
+     {
+      "t": 505.8,
+      "log_step": 330,
+      "text_zh": "观察：视频 504.9 s、505.8 s 金件在画面右侧、银件在左侧，二者明显分离；log step 330 服务状态为 done=false，评分字段 live_success=0、replay_success=0。成功参考录像的参考视频 754.0–764.0 s 可见金银方框重合成组件，本次终态没有该轮廓；参考仅用于辨认完成形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 33.0–36.5 s 左二指夹爪在金件侧边闭合，形成对向夹压；随后上提时未保持住金件。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：在前述侧夹之后，视频 50.0–58.0 s 左夹爪进入平躺金件的窗口并向外张指顶压内壁，尝试借摩擦提起金件。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：在夹取尝试之后，视频 420.0–449.0 s 左夹爪在桌面接触并拨动银件、金件，零件随接触发生平移或转动；未见双手同时各持一件完成装配。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 36.5,
+   "log_step": 199,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 36.5 s 左夹爪侧夹金件后的上提未带走金件，视频约 37.5–38.5 s 换姿又将金件碰倒；后续反复接触和桌面推移仍未使两件互锁，视频 505.8 s 两件仍分离。log step 197、199 对应首次闭爪和上提，log step 333 agent 最终也报告未组装成功。推断：失败发生在金银线��装配的操作中，最早未修复的夹持失效用视频约 36.5 s 作导航锚点。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 36.5,
+    "log_step": 199,
+    "evidence_zh": "观察：视频 35.5 s 左夹爪已夹压金件侧边，视频约 36.0–36.5 s 夹爪上移而金件仍在桌面，未能随爪搬运。log step 197 服务返回的夹爪开度停在约 0.02313 m；log step 199 上提后接触读数归零。后续视频 57.5–60.5 s 窗内外撑后的上提也留下金件在桌上。推断：接触建立后未能在上提时维持夹持。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 37.5,
+    "log_step": 210,
+    "evidence_zh": "观察：视频约 37.5–38.5 s 左夹爪从侧夹姿态转向俯抓姿态时接触金件，金件随夹爪运动翻倒并滑到旁边；这是夹取失效后的另一段碰动目标物动作。log step 210 的关节换姿调用前已打印多处路径高度问题，随后执行该换姿；视频中金件从直立变成平躺。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 240,
+    "evidence_zh": "推断：所选侧边夹压及窗口内外撑接触未提供可维持的承载，导致上提时失去金件，装配一直无法推进。观察：视频 35.5–36.5 s 的侧夹及视频 50.0–60.5 s 的窗内外撑都留下金件在桌上；log step 240 脚本向张开方向驱动手指顶住窗口，服务返回夹爪开度约 0.01767 m、驱动 effort=35.00；log step 242 上提时开度扩大到约 0.05739 m，双指接触穿透读数归零；log step 255 重复慢速上提也丢失接触。这里脚本打印的 held 来自 held_finger_contact_mm 的最大穿透深度，不能当作辅助抓取绑定标志或法向力；没有据此断言零件过重或所有抓法不可行。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立量测装配框架误差、全机器人 5 mm 间隙或静置漂移；评分字段也没有报告三个原生指标，故其 value 均为 null。画面足以确定两件未嵌合，节点不需要留未知。辅助抓取绑定、质量及摩擦参数未被直接观测，具体承载失效机制和本次可执行的替代抓法未获验证；不将 agent 在 log step 333 的“太重”等解释作为已证实事实。"
+ },
+ "summary_zh": "机器人尝试侧夹、窗口内外撑和桌面推移，但金银线圈装配始终未达到，最终为 0/1。视频约 36.5 s 首次上提未保持住金件，随后换姿碰倒金件，后续接触方案仍未完成搬运与嵌合，视频 505.8 s 两件仍明显分离。没有状态日志或原生误差读数，承载失效的具体物理机制及可行替代抓法尚未核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频 0–60 s 与 90–505 s 全程：初始分离、33–37 s 左夹爪侧夹上提未带走金件、随后金件被碰倒平躺、50–60 s 窗内外撑仍留在桌上、终态两件分离，均与标注一致；未达成节点、断点（装配，操作中，约 36.5 s 视频时钟）、现象与根因均有证据支持，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": "2026-10-30T23:33:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--sjbaxtp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--sjbaxtp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "426ebf792e8cf2974f5d3a9ddb839dd56bdba5aa0346296fcaf310bdff3d22d2",
+   "video_sha256": "b8e04d1990fb33e07cc7356f6fa0fca85a5a133aaa5edd0a88850c572e34527a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--spvchwk.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--spvchwk",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 1556,
+   "live_rows": 1556,
+   "sim_steps": 1556,
+   "physics_steps": 15560,
+   "steps": 389,
+   "elapsed_s": 10791.2,
+   "replay_wall_s": 225.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--spvchwk/replay.mp4",
+  "duration_s": 39.0,
+  "fps": 15.0,
+  "frames": 585,
+  "sha256": "36ad6f12f982a8250bb6f04ec3a3719affc7d3e33499f9fb784089bad4c62f6a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 高位视图中金、银线圈分开放在桌面上，初始装配关系不成立。"
+     },
+     {
+      "t": 16.75,
+      "log_step": null,
+      "text_zh": "观察：视频 14.75–16.75 s，右二指夹爪闭合夹住金件，随后金件随夹爪上移、离开原来的桌面位置；银件留在桌面。视频 20.0–23.75 s，机器人将金件送到银件旁，仍保持抓握，未形成轮廓对齐的组件。"
+     },
+     {
+      "t": 32.5,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–33.5 s，右臂持金件在银件旁进行转动调整，金件与银件仍明显错开；视频 34.0–38.93 s 继续调整后，金件仍在银件上方并被右夹爪夹住，没有完成嵌合、释放和退出。"
+     },
+     {
+      "t": 38.93,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0、38.25、38.5、38.75 和 38.93 s 均未出现已松手的对齐组件；inputs/run.json 的评分器字段 success=0、live_matches_replay=1、review_events=0。参考成功录像的视频 764.0 s 可见金银件形成同一方框轮廓，此处仅用于比较外观，不作为本回合进度证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 15.0–16.75 s，右二指夹爪从两侧夹住金色线圈并将其提起，随后携金件靠近桌面上的银件，持续夹持并调节相对位置和朝向直到视频 38.93 s。左夹爪保持张开，在附近变换观察位置；未见其夹持银件或与右手共同持件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 32.5,
+   "log_step": 298,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 31.0–33.5 s，右臂持金件转动尝试嵌合，金件仍高于并错开银件；随后的视频 34.0–38.93 s 调整也未完成装配，右夹爪始终未释放。log step 298 的脚本执行金件 0–20° 转动，log step 313 又提交修正转动；两次之后均继续诊断，最后的 agent 自述仍在等待配准计算（log step 365），没有成功完成报告。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 32.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 31.0–33.5 s ���高位视图中，机器人转动金件后，两件方框的上下边和轮廓仍不对齐；视频 38.93 s 金件仍明显位于银件上方、被右夹爪持住，未形成可放下松手的完整组件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 32.5,
+    "log_step": 316,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的脚本在 log step 298、313 将从先前观测取得的关节命令与实测差值加到新的逆解上作补偿；log step 303 的正运动学诊断给出期望末端高度 0.1165 m、补偿命令高度 0.1553 m、实测高度 0.1316 m；第二次调整后的 log step 316 给出期望高度 0.1178 m、实测高度 0.1491 m，仍高出约 31 mm。结合视频 31.0–38.93 s 金件始终悬在银件上方而未对齐，说明执行与补偿未能将持件末端稳定送到所需装配位姿，支持控制根因；这些数值是本次现场回合的关节观测经 agent 脚本计算的结果，不是评分器的装配误差。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器未报告三项原生几何指标，故 value 均为 null。画面足以确认未嵌合且未释放，但不能精测毫米级装配误差、接触力、辅助抓取状态和确认漂移。日志中的点云配准多次修正且不是独立真值，无法据此可靠区分具体通路几何、持件滑移与跟踪补偿各自的贡献，因此根因仅保留“控制”，不细分，也不另推定感知或规划错误。"
+ },
+ "summary_zh": "机器人用右夹爪抓起金件，搬到桌面银件旁并尝试滑入和转动，但“金银线圈组装”始终未达成，终态为 0/1。视频约 31.0–38.93 s 两件仍错位，金件一直被夹持；日志中的期望与实测末端位置偏差支持控制根因。没有状态日志及评分器原生几何测量，具体接触和控制子因仍无法精确拆分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、终态 0/1、右夹爪全程持金件、左夹爪张开、断点在装配操作中，均与视频和评分器字段一致；位姿不准现象有帧证据，控制根因已标为推断并说明其来源，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:23:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--spvchwk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--spvchwk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6d55c44ed83346d29c824f793e3d99cc45be36bb10396ae08812c3e5e6166618",
+   "video_sha256": "36ad6f12f982a8250bb6f04ec3a3719affc7d3e33499f9fb784089bad4c62f6a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--xswbsop.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--xswbsop",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 28511,
+   "live_rows": 28511,
+   "sim_steps": 28511,
+   "physics_steps": 285110,
+   "steps": 5783,
+   "elapsed_s": 10814.7,
+   "replay_wall_s": 2103.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-04-i01-standard--xswbsop/replay.mp4",
+  "duration_s": 712.867,
+  "fps": 15.0,
+  "frames": 10693,
+  "sha256": "13d53c3d5a1b69f6b1ee3b576cba8be1319eed9b58ab58792988d1a686166306"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金、银线圈分别直立于桌面不同位置，开局没有嵌合。"
+     },
+     {
+      "t": 100,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0 s，左二指夹爪夹持银件、右二指夹爪夹持金件，两件已离开原桌面位置；视频 120.0 s，双臂持件靠近，但两件轮廓仍未对齐，且仍被夹持。"
+     },
+     {
+      "t": 660,
+      "log_step": null,
+      "text_zh": "观察：视频 540.0 s、570.0 s，右夹爪夹持银件从后侧靠近桌面上的金件；视频 654.0–677.0 s 的逐秒画面显示两件局部重叠，右夹爪反复小幅移动，银件停在金件开口边缘，未形成轮廓对齐的组件。"
+     },
+     {
+      "t": 705,
+      "log_step": 360,
+      "text_zh": "观察：视频 695.0–701.5 s，两件仍在夹爪下错位；视频约 702.0–705.0 s，右夹爪张开并向上退出，银件留在金件左侧、两者仅部分交叠。log step 358–360 记录机器人执行松手、上撤和静置，服务返回 DONE False；这里只核对动作顺序，不将 agent 时间换算为视频时间。"
+     },
+     {
+      "t": 712.8,
+      "log_step": null,
+      "text_zh": "观察：视频 711.8、712.0、712.4、712.8 s，两件停在桌面上，两个方框的中心和边线仍明显错开、朝向不同，没有组成同一轮廓。成功参考视频 754.0、762.0、764.8 s 的两件则形成对齐的同一方框组件；参考仅用于辨认完成外观。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=0、live_success=0、review_events=0、infra_error=0，且 live_matches_replay=1、resumes=0。推断：结合末帧可见的装配错位，本节点最终为 false，而非仅凭零分判定未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 100.0–120.0 s，左二指夹爪夹住银件、右二指夹爪夹住金件，双臂各持一件配合靠近。后续多次松手和换握；视频 540.0–700.0 s 主要由右二指夹爪夹持银件，借桌面支承金件进行平移和转动，视频约 702.0 s 松手后上撤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 660,
+   "log_step": 336,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 654.0–677.0 s，机器人右夹爪持银件进入金件开口边缘后反复微调，两件局部相接但没有滑入对齐位置；视频 690.0–701.5 s 继续转动仍错位，视频约 702.0 s 松手退出，直到视频 712.8 s 也未修复装配关系。agent 在 log step 336 自述滑动受阻，在 log step 358 自述最终就位仍受阻；这些自述与可见的动作顺序一致，断点视频时刻为粗略导航锚点。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 660,
+    "log_step": 337,
+    "evidence_zh": "观察：视频 654.0–677.0 s，右夹爪夹住银件，银件边缘与金件开口附近相接，反复小幅调整仍停在局部交叠位置；视频 690.0–700.0 s 仍未穿入对齐。log step 337、339 的机器人服务安全监测分别返回最大压力 36.7 N、52.5 N，agent 的控制脚本因此暂停该段命令；log step 357 最终就位仍返回压力 37.9 N。推断：可见的边缘接触与持续受载、未推进相互支持，属于装配途中接触阻挡；未把其最终错位重复计为第二现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 357,
+    "evidence_zh": "推断：log step 323 的控制脚本根据机器人服务 TCP 反馈报告位置滞后约 2.68 mm，log step 331 报告约 10.16 mm；log step 357 的最终就位命令虽获得 IK 解，服务却记录 15 次 right/forearm_roll 关节限位裁剪，并在 37.9 N 压力下被脚本暂停。结合视频 654.0–700.0 s 持件局部受阻、反复调整仍未对齐，控制执行未能在接触下实现要求的相对运动。现有证据不能确认接触布局、路径几何与跟踪误差各自的贡献，故保留在控制大类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有评分器报告的三个原生几何指标，无法独立量测毫米级装配误差、全机器人包围盒间隙与半秒确认漂移；但最终明显错位在高位和腕部视图均可见，节点可判为 false。日志未提供末段各次动作的 control_steps，本文不把 agent 时间映射到视频时间；压力读数仅作为同一连续回合末段受阻的旁证。缺少实际接触对与可靠几何轨迹，不能进一步区分具体控制子类。"
+ },
+ "summary_zh": "机器人完成了双臂持件、多次换握及桌面支承下的单臂插入尝试，但金银线圈装配节点始终未达到，最终为 0/1。末段银件在金件开口附近受阻，控制调整伴随位置滞后及关节限位裁剪；松手退出后，视频 712.8 s 两件仍明显错位。无状态日志与原生误差指标，精确接触机制和控制子类无法独立确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 coils_assembled 全程未达成、末帧（视频 712 s）两件明显错位，与评分器 success=0 一致；断点、被挡/碰撞现象与控制根因均有视频和 log（服务压力读数 36.7/52.5/37.9 N、关节限位裁剪 15 次）支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:37:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--xswbsop/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--xswbsop/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9254c50e36f42067c0845cf2d03831028eda5deb65bc6b5e5559b9a43598b8e7",
+   "video_sha256": "13d53c3d5a1b69f6b1ee3b576cba8be1319eed9b58ab58792988d1a686166306",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--9hgjghq.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--9hgjghq",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1436,
+   "submitted_actions": 1436,
+   "sim_steps": 1436,
+   "physics_steps": 14360,
+   "sim_time_s": 35.89999999999903,
+   "final_reward": 0.0,
+   "replay_wall_s": 181.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 246,
+   "agent_resets": 220,
+   "agent_sim_steps": 126305,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.57,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.099,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 1,
+   "session_log_from_monitor": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--9hgjghq/replay.mp4",
+  "duration_s": 36.0,
+  "fps": 15.0,
+  "frames": 540,
+  "sha256": "1573b6767b186c3c3c9e4378513d061d1b2458d8b3524e612a9ad2e7ec06fa84"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金件与银件分别立在桌面两处，尚未嵌合。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.0 s 右夹爪夹住金件并将其抬离桌面，左夹爪随后也将银件抬离原位置；视频 12.0–24.2 s 双臂各持一件，左臂旋转银件并向右臂持有的金件靠近，尚未形成四层对齐整体。"
+     },
+     {
+      "t": 24.6,
+      "log_step": null,
+      "text_zh": "观察：视频 24.4–24.8 s 银件从左夹爪下方落到桌面并侧倒，左夹爪留在上方，右夹爪仍持金件；视频 25.0–33.0 s 银件未被重新抓起。"
+     },
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：视频 33.3 s 左右夹爪已张开并上撤，金件落在银件旁；视频 35.0、35.5、35.8 s 两件仍明显分离，银件侧倒，没有金银交替的紧凑四层装配整体。评分器 reward.strict_goal_reached=0，与可见的未装配终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.0–10.0 s 左右二指夹爪分别夹住银件和金件并抬起；随后右夹爪持金件，左夹爪持银件转动和靠近，双臂共同尝试嵌合。视频约 24.6 s 左夹爪失去银件，右夹爪继续持金件至视频约 33.3 s 张开释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 24.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.2 s 左夹爪仍在金件旁带动银件转动，视频 24.4–24.8 s 银件脱离夹爪并落到桌面，右夹爪继续持金件；直到视频 35.8 s 银件未被重新抓取，金银两件没有装成整体。该失误发生在双臂持件嵌合过程中，后续释放和撤臂未修复装配。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 24.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 10.0–23.8 s 银件随左夹爪离桌移动和转动，已建立抓持；视频 24.4–24.8 s 银件突然向下离开左夹爪并落在桌面，而左夹爪仍悬在上方。此时右夹爪仍夹住金件，双臂之后继续动作，预定的两件共同释放直到视频约 33.3 s 才出现。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 189,
+    "evidence_zh": "推断：抓持维持与失败恢复控制不足。视频 24.4–24.8 s 左臂转动持件时失去银件，视频 25.0–33.3 s 双臂仍继续合拢、下降和释放，没有重新抓取银件。与该动作顺序相符的生成脚本运行输出（log step 189）已打印空中相对位置误差236.609毫米、角误差1.6217弧度，随后仍进入下降，并在桌面误差138.952毫米、1.6070弧度时进入释放；log step 551 所示脚本仅打印这些误差而继续录制下降、释放、撤臂。上述日志用于解释控制流程，不据此给节点计时或填入评分指标。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "无法从现有证据区分脱手的接触几何、载荷及轨迹跟踪因素，保留控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐帧核实抓持辅助解除原因、接触力及毫米级装配误差；日志中部分生成脚本及后台输出被截断，未见1436行最终提交文件的完整保存回执。以评分视频为本次轨迹依据，后续独立测试不计入节点进展；原生三项数值未在评分器reward中报告，均填null。"
+ },
+ "summary_zh": "机器人双臂分别抓起金、银两件并尝试在空中嵌合，但银件在视频约 24.6 s 脱手落到桌面，之后未重新抓取，装配节点始终未达到，最终为0/1。视频约 33.3 s 释放金件后，两件直到视频 35.8 s 仍分离；控制流程未修复抓持丢失和明显装配偏差，评分器strict_goal_reached=0。缺少状态日志及完整保存回执，脱手机理和精确数值不能进一步核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "银件在视频约24.4–24.8 s脱离左夹爪落桌，之后未重抓，装配节点未达成；节点值、断点、接触与现象与帧一致。根因“控制”为保守的推断标注，证据不足以改判。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:14:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--9hgjghq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--9hgjghq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d5d2334590fa5ff549d3713bf1587339d881a867f42fd1deff51c83bb7d977b",
+   "video_sha256": "1573b6767b186c3c3c9e4378513d061d1b2458d8b3524e612a9ad2e7ec06fa84",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--jyqhpmh.json

@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--jyqhpmh",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1631,
+   "submitted_actions": 1631,
+   "sim_steps": 1631,
+   "physics_steps": 16301,
+   "sim_time_s": 40.752499999998754,
+   "final_reward": 1.0,
+   "replay_wall_s": 202.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1631,
+   "strict_replay_required": 0,
+   "agent_sessions": 3,
+   "agent_resets": 8,
+   "agent_sim_steps": 6524,
+   "agent_records": 2,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--jyqhpmh/replay.mp4",
+  "duration_s": 40.867,
+  "fps": 15.0,
+  "frames": 613,
+  "sha256": "3c3f9c5dc03bfcd5f171f4b879b45266a43ea9cf82af991f63990747209ad202"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      40.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金件和银件分别立在桌面两处，尚未嵌合；左夹爪停在银件旁，右夹爪位于金件旁。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7–4.8 s 右夹爪从上方夹住金件并将其移离原位、搬到两件之间的暂放位置；视频 7.5–9.6 s 右夹爪松开、抬起并转为水平接近，金件留在桌面。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频 11.7–12.8 s 右夹爪从侧面夹住金件，视频 13.3–14.4 s 金件随右夹爪升高并移向银件，原暂放处已空；左臂保持原姿态。"
+     },
+     {
+      "t": 35.2,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–28.8 s 右夹爪持金件逐步下降至银件层片之间，随后侧移；视频 32.0–39.7 s 两件呈紧凑的金银交替四层，但右夹爪仍围住金件，此时不能按已释放装配计完成。"
+     },
+     {
+      "t": 40.8,
+      "log_step": null,
+      "text_zh": "观察：视频 39.9–40.3 s 右夹爪张开并向右退离金件，视频 40.3–40.8 s 右夹爪继续撤离、抬升，金银四层装配体留在桌面，未见散开或明显位移；已检查至视频最后一帧 40.8 s。"
+     },
+     {
+      "t": 40.8,
+      "log_step": 31,
+      "text_zh": "观察：log step 30 的生成脚本完成独立录制并保存 1631 行轨迹，log step 31 将该轨迹选为最终提交文件，官方回放输出两次 success=true、all_success=true、deterministic=true、strict_goal=[1,1631]；inputs/run.json 的 reward 同时记录 success=1、strict_goal_reached=1、review_events=0。"
+     },
+     {
+      "t": 40.8,
+      "log_step": 31,
+      "text_zh": "推断：结合视频 40.3–40.8 s 的释放撤离及稳定装配外观，与最终提交的评分成功及 strict_goal_reached=1，将包含连续确认的完整装配节点记为视频约 40.8 s 达成并保持至结束，时间精度约半秒。毫米级相对误差、全机器人净距和速度漂移不能从画面独立测量，依本次实际评分规则判为满足；未把早先调试轨迹的读数作为本段视频的测量值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.7–7.5 s 右二指夹爪从上方夹住金件并搬移暂放；视频 11.7–39.7 s 右夹爪从侧面夹住金件，抬起、搬到银件上方、下降并侧移嵌合，最后张开撤离。银件由桌面承托，左臂停在原位，未见其夹持目标或参与协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "右夹爪先将金件搬到暂放位并水平换握，再从银件上方下降、侧移嵌合，最终松开并撤离；唯一装配节点在视频约 40.8 s 完成，最终为 1/1。最终提交在 log step 31 的两次官方回放均成功且一致，评分字段 strict_goal_reached=1、review_events=0，无失败断点。缺少状态日志和三个原生误差/间隙指标的最终评分数值，毫米级对齐、净距与连续确认依评分结果判定，完成时间为视觉近似值；本次 strict_replay_required=0，按该次运行实际规则标注。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 coils_assembled 在视频约 40.8 s 达成（右夹爪松开撤离、四层装配体留桌面），final=1 与评分 strict_goal_reached=1、strict_goal_row=1631 一致；contact_actual 为右夹爪抓握，与画面相符；无失败断点，合同校验通过。",
+    "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": "2026-10-30T23:19:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--jyqhpmh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--jyqhpmh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b12e27973d11310a5d77a95f6465ddbe8aad7fefe7eaed5c7dc7b8eea4ccc95e",
+   "video_sha256": "3c3f9c5dc03bfcd5f171f4b879b45266a43ea9cf82af991f63990747209ad202",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pqy2qlp.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--pqy2qlp",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 824,
+   "submitted_actions": 824,
+   "sim_steps": 824,
+   "physics_steps": 8233,
+   "sim_time_s": 20.5824999999999,
+   "final_reward": 1.0,
+   "replay_wall_s": 156.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 824,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 19,
+   "agent_sim_steps": 1648,
+   "agent_records": 2,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--pqy2qlp/replay.mp4",
+  "duration_s": 20.667,
+  "fps": 15.0,
+  "frames": 310,
+  "sha256": "250c520c296f0580c40714fd046618dbc24b5b3e4e12636e2eee85427c35bb62"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始画面中，银色框片与金色框片分别立在桌面左右两处，彼此分离，尚未形成装配整体。"
+     },
+     {
+      "t": 5.333,
+      "log_step": null,
+      "text_zh": "观察：视频 3.3–6.0 s，机器人左右二指夹爪分别闭合在银件与金件的外侧横梁处；视频 5.3–7.0 s 两件随各自夹爪离开原位并向中央移动，右夹爪将金件抬至银件上方。"
+     },
+     {
+      "t": 14.333,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–11.7 s，机器人左夹爪保持银件，右夹爪将金件向下降入银件之间；视频 13.0–15.0 s 继续侧向调整，形成金银交替的紧凑四层外观。此时两夹爪仍夹住零件，尚不满足释放验收。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "观察：视频 18.9–19.7 s，机器人双夹爪张开并分别向外退出；视频 19.6–20.6 s 的逐帧画面显示，装配体留在桌面附近直立，双爪继续向外、向上退离，金银层片未见散开或明显漂移。末帧外观与参考视频 40.6 s 的完成装配形态一致；参考只用于外观比较。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward 报告 success=1、all_success=1、strict_goal_reached=1、strict_goal_row=824、submitted_actions=824、replays=2、deterministic=1、success_in_hold_only=0，且没有待复核事件。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频 19.6–20.6 s 的释放、退离和稳定外观，以及评分器在提交轨迹内通过严格目标的结果，将含连续确认的联合验收达成锚定在视频约 20.6 s，并保持至结束。无状态日志，无法从画面独立测定毫米级相对误差、机器人包围盒间距及连续确认首次触发时刻；此时间为末段近似定位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.3–18.9 s，机器人左二指夹爪夹持银件外侧横梁，右二指夹爪夹持金件外侧横梁；左臂保持并调整银件，右臂抬高、下降和侧移金件完成嵌合，两臂共同将装配体降至桌面附近，随后松爪撤离。每只夹爪各自夹住一件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双臂分别抓持银件和金件，通过抬高金件、下降嵌入及侧移对齐完成装配，再共同降低、松爪并退离；唯一节点在视频约 20.6 s 达成，最终为 1/1。评分器报告两次回放均成功且提交轨迹内达到严格目标，与视频末段释放后保持紧凑四层整体的画面一致。无状态日志，精确误差、间距与连续确认时刻依赖评分器结果；三个原生指标未在 reward 中报告，均保留 null，未采用 log step 65 中 agent 自述的数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，唯一节点 coils_assembled 在视频约 20.6 s 达成（评分器 strict_goal_row=824 为末步），帧显示双爪释放退离、装配体直立；contact_actual 双臂协作+抓握正确；无失败层，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:16:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--pqy2qlp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--pqy2qlp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dc9d57e86bc2cea59f6c6eae30f32f28d8b49450e28451979c18cc3d88b71255",
+   "video_sha256": "250c520c296f0580c40714fd046618dbc24b5b3e4e12636e2eee85427c35bb62",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--qdcdkjz.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--qdcdkjz",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
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+   "infra_error": 0,
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+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
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+   "n_actions": 1853,
+   "submitted_actions": 1853,
+   "sim_steps": 1853,
+   "physics_steps": 18530,
+   "sim_time_s": 46.32499999999844,
+   "final_reward": 0.0,
+   "replay_wall_s": 234.9,
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+   "agent_sessions": 1,
+   "agent_resets": 22,
+   "agent_sim_steps": 0,
+   "agent_records": 24,
+   "agent_replays": 16,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.507,
+   "peak_memory_gb": 1.698,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.853,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--qdcdkjz/replay.mp4",
+  "duration_s": 46.4,
+  "fps": 15.0,
+  "frames": 696,
+  "sha256": "4e614dc0f6a3a33414af122d989b85467b255d172adfd0856171d732f81a33a0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金件与银件分别立在桌面左右两处，尚未嵌合。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–5.0 s 左夹爪夹住银件后将其抬离原处；视频 5.0 s、28.0 s 银件仍被左爪持于高处，金件留在桌面原处，未形成装配整体。"
+     },
+     {
+      "t": 44.467,
+      "log_step": null,
+      "text_zh": "观察：视频 43.0–44.467 s 左夹爪张开，银件降到金件左侧；视频 45.467–46.333 s 双爪撤开后，两件仍明显分离。成功参考视频 40.7 s 同一外部视角可见金银交替的紧凑四层整体，本次没有该外观。"
+     },
+     {
+      "t": 46.333,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward.strict_goal_reached=0、success=0、deterministic=1、n_actions=1853，与视频末帧两件未嵌合一致；本节点未曾达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–5.0 s 左二指夹爪夹住银件并抬起，随后持银件移动，至视频约 44.0 s 张开释放；右爪向金件上方下降，但视频没有显示金件被提离桌面，不以会话中双手各持一件的记录代替本次实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 44.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 44.0 s 左爪释放银件时，银件位于金件左侧，尚未嵌入金件；视频 44.467–46.333 s 两件分别站在桌上，机器人撤开后仍没有形成四层整体，装配步骤未被修复。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 44.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 43.0–44.467 s 左爪张开后，银件落在金件左侧，金银框片没有交替嵌合；视频 46.333 s 两件之间仍有明显间隔。银件在释放前就未到达配合位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 396,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 95 将 acts_ab 定义为仅含初始接近和抓取的 158 行前缀；log step 379 用 acts_ab 加当前录制保存了 19788 行 acts_trial，随后重新 record_start。log step 396 最终又用 acts_ab 加这次新录制覆盖 acts_trial 并保存，log step 397 返回仅 1853 行，与评分器 submitted_actions=1853 一致；其间没有把此前的 19788 行拼回。推断：最终交付遗漏了中间搬运、金件抓取及对齐动作，将为双件已在高处而录制的末段直接接到初始银件抓取之后；这解释了视频 5.0 s 银件高举、金件仍在原处，以及视频末尾分别释放而未嵌合的结果。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，评分器也未报告 DAG 所列三个原生误差/间隙指标，不能量化毫米级装配误差、接触深度或连续确认时长；右爪与金件局部接触被爪体遮挡，未据会话抓持读数认定本次双手抓握。两件在视频末尾明显分离，足以判断装配未完成。"
+ },
+ "summary_zh": "评分轨迹中左爪抓起并移动银件，随后在金件左侧释放；截至视频 46.333 s 两件仍分离，金银线圈装配节点始终未达到，最终为 0/1。释放时配合位姿未到位，日志显示最终保存把 158 行抓取前缀直接接上末段新录制，遗漏此前的搬运与对齐动作；会话中的双件抓持与接近结果不计入本次进度。无状态日志及精确原生指标，但可见分离状态足以确定节点失败。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点未达成、断点、位姿不准现象和交付操作出错根因均有视频与日志支持；视频中银件被左爪抬起、金件始终留在桌面，与日志中最终仅保存 1853 行（acts_ab+末段新录制）一致，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:15:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--qdcdkjz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--qdcdkjz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "68f5eb87f78ce5f266e07916f78e30dbefbcb7d584f4733fe2221b9c4bf8c3ec",
+   "video_sha256": "4e614dc0f6a3a33414af122d989b85467b255d172adfd0856171d732f81a33a0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--tq68vkr.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--tq68vkr",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 611,
+   "submitted_actions": 611,
+   "sim_steps": 611,
+   "physics_steps": 6110,
+   "sim_time_s": 15.27500000000015,
+   "final_reward": 0.0,
+   "replay_wall_s": 69.3,
+   "replays": 2,
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+   "video_rendered": 1,
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+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 6,
+   "agent_resets": 19,
+   "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": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--tq68vkr/replay.mp4",
+  "duration_s": 15.333,
+  "fps": 15.0,
+  "frames": 230,
+  "sha256": "e3b8efe7e5c559b2b6ff21fb8dc94536c9ab39f5f0ea19b5d1d2d83d783f987e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的外部视角中，银件在左、金件在右，两件分离放在桌面上，尚无装配关系。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 127,
+      "text_zh": "观察：视频约 6.0–8.0 s 右二指夹爪合拢在金件上；视频 9.0–11.0 s 金件离开原桌面位置，随右夹爪抬起并向银件搬运，银件仍留在原处。log step 127 保存记录只包含抓金件、抬升、横向搬运和保持，共 611 动作，工具返回 success=False。"
+     },
+     {
+      "t": 15.267,
+      "log_step": 163,
+      "text_zh": "观察：视频 12.0–15.267 s（含最后一秒）的外部及低位视角中，金件始终被右夹爪夹住，停在银件上方，尚未嵌成紧凑四层整体，也未释放和撤离。参考成功视频 40.6 s 可见桌面上的银金银金四层整体及已退开的夹爪；本次缺少这些可见特征。log step 163 核对最终文件仍为 611×14 动作；评分器字段 strict_goal_reached=0，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.0–8.0 s 右二指平行夹爪夹住金件，视频 9.0–15.267 s 持金件抬起并搬向桌上的银件，直至结束仍未松开；左臂未参与该搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 14.5,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.0–15.267 s，右夹爪持金件停在银件上方，未进行完整嵌合、释放和撤离。log step 127 的录制代码在抬升、横向搬运及保持后直接保存基线；log step 163 确认交付仍为该 611 动作文件，log step 166 的 agent 最终报告也明确称仅完成抓取和接近、装配未成功。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 162,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 后续对齐控制未能生成可替换基线的完整装配轨迹。会话测试的 log step 154 记录多次修正后位置/姿态误差增大并 align failed；log step 160 仍对齐失败；log step 161 的新录制脚本规定仅 success 时覆盖交付，而 log step 162 中该测试旋转误差初值约 0.532 rad，修正后仍失败，未走到保存。log step 163 因此仍检查到原 611 动作基线。这些是会话中的控制失败证据，用于解释为何装配动作未交付，不作为评分视频里的碰撞、滑脱或位姿失准现象；没有足够证据进一步指定控制子类。"
+   }
+  ],
+  "gap_zh": "评分视频中的基线有抓取和搬运，但按 log step 127 的代码在接近阶段即主动录制结束，未交付后续嵌合动作；无法据此确认一次嵌合执行具体发生了何种物理失败，故现象层留空（CASES.md FAIL-23），也不把会话测试中的卡住、滑脱或对齐失败搬到评分轨迹。没有状态日志，评分器未报告三个原生误差指标，无法量化毫米级误差、速度和漂移；这些缺口不影响由明显未嵌合且仍被夹持判定节点为 false。根因仅由会话测试推断，具体控制子类及 agent 所称腕部饱和未独立核实。"
+ },
+ "summary_zh": "评分轨迹中右夹爪成功抓起金件并搬到银件上方，但视频 15.267 s 结束时仍持金件悬置，未形成金银交替四层整体，唯一节点始终未完成，最终 0/1。断点为金银线圈装配的操作中；log step 127 保存的接近基线一直保留到交付，后续会话对齐测试反复失败，支持控制层根因。提交没有后续嵌合动作，不能指定该动作的失败现象；无状态日志及原生误差数值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 coils_assembled 为 false 与画面一致：视频 15.2 s 右夹爪仍夹着金件悬在银件处，无释放、撤离及紧凑四层整体；断点 coils_assembled（操作中）合理；现象层留空并附 gap_zh 符合 FAIL-23（交付基线只含抓取与搬运），根因 控制 仅由会话测试推断且已如实标注。未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:13:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--tq68vkr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--tq68vkr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cfeffbde383b780fbac252b46bcc1b4f9735329228d6529fb062315b0bb85e1a",
+   "video_sha256": "e3b8efe7e5c559b2b6ff21fb8dc94536c9ab39f5f0ea19b5d1d2d83d783f987e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--wjjsber.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--wjjsber",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 4211,
+   "submitted_actions": 4211,
+   "sim_steps": 4211,
+   "physics_steps": 42109,
+   "sim_time_s": 105.2725000000068,
+   "final_reward": 1.0,
+   "replay_wall_s": 378.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 4211,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 8,
+   "agent_resets": 19,
+   "agent_sim_steps": 30190,
+   "agent_records": 5,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.005,
+   "peak_memory_gb": 1.962,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.339,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--wjjsber/replay.mp4",
+  "duration_s": 105.333,
+  "fps": 15.0,
+  "frames": 1580,
+  "sha256": "a74d5896dadf81dcfacb2e78108cdfb32d20274cc2318099008e0660b736c1c0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      105.267,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头金件在右、银件在左，两个双层框片分开直立在桌面上，尚未形成交替四层整体。"
+     },
+     {
+      "t": 10.733,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–9.8 s 机器人右侧二指夹爪从侧面合拢在金件横杆处；视频 10.733–14.0 s 金件随右夹爪升起，原来的桌面位置空出，银件仍留在桌面，左臂未参与搬运。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 18–87 s 右夹爪持金件在银件上方逐段下降；视频 88–99 s 两件逐渐侧向对齐成金银交替的紧凑整体，但右夹爪仍围在金件横杆处，尚不能按释放与撤离条件计为完成。"
+     },
+     {
+      "t": 105.267,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 104.267–105.267 s，右夹爪张开并向右退离，两件留在桌面上，没有随夹爪移动或重新散开；视频 105.267 s 的主视角和低位外部视角可见对齐的金银交替四层整体，外观与参考视频 40.6 s 的完成态一致。"
+     },
+     {
+      "t": 105.267,
+      "log_step": 79,
+      "text_zh": "推断：结合视频末帧已释放、撤离且整体站稳的外观，以及 log step 79 官方回放输出两次 success=true、all_success=true、deterministic=true、strict_goal=[1,4211]，将包含连续确认的节点达成锚定在视频 105.267 s，时刻精度约半秒。run.json 评分器字段 strict_goal_reached=1、strict_goal_row=4211、replay_hold_steps=0、success_in_hold_only=0，支持全部验收条件在提交轨迹内满足；没有把会话测试或脚本工作秒数换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.4–14.0 s 右侧二指平行夹爪夹住金件横杆并将其提离原处，之后持续持金件下降及侧移，与留在桌面上的银件嵌合，视频末尾松开并退离；左臂保持原位，未见参与抓持或固定银件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用右夹爪抓起金件，搬至桌面上的银件上方，经逐段下降和侧移嵌合，随后松开并退离，唯一装配节点在视频约 105.267 s 达成，最终为 1/1。末帧交替四层整体与成功参考一致，评分器两次严格回放均成功且未使用额外保持步，无失败断点。缺少状态日志，毫米级位姿、速度、间隙和连续确认条件不能逐帧独立量测，最终达成依据画面与严格评分结果共同判断；评分器未报告三个原生误差指标的数值，均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，唯一节点 coils_assembled 在视频末尾约 105.267 s 达成，final=1/1，与评分器严格回放（strict_goal_row=4211，sim_time 105.27 s）一致；抓握接触标注与画面相符，无失败断点，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:18:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--wjjsber/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--wjjsber/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e3f7e9dae9b16fcacf5883c55b52918f90c4875d5c5e96f7c4496f1460c1cd03",
+   "video_sha256": "a74d5896dadf81dcfacb2e78108cdfb32d20274cc2318099008e0660b736c1c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--ynmqccz.json

@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--ynmqccz",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 460,
+   "submitted_actions": 460,
+   "sim_steps": 460,
+   "physics_steps": 4600,
+   "sim_time_s": 11.500000000000096,
+   "final_reward": 0.0,
+   "replay_wall_s": 50.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 85,
+   "agent_resets": 273,
+   "agent_sim_steps": 52920,
+   "agent_records": 0,
+   "agent_replays": 20,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.953,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.982,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-privileged--ynmqccz/replay.mp4",
+  "duration_s": 11.6,
+  "fps": 15.0,
+  "frames": 174,
+  "sha256": "f876732bbd2f41df73f27e83a8210d8fbd4e7b619842c2a4e61ca8d840c9ab78"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始外部视角中，银件在左、金件在右，两件独立站在桌面上，中间有明显间隔，尚未嵌合。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 378,
+      "text_zh": "观察：视频约4.4–5.2 s，机器人左夹爪降到银件横杆附近后保持张开，银件没有被带离原位；视频约5.3 s起右臂才开始接近金件。log step 378的最终生成代码只执行两臂依次接近，夹爪命令保持0.037，没有合爪、搬运或嵌合段。"
+     },
+     {
+      "t": 11.53,
+      "log_step": 378,
+      "text_zh": "观察：视频10.5–11.53 s的外部和腕部视角显示两夹爪仍张开，金、银件仍各在原处，未形成成功参考视频40.6 s可见的金银交替紧凑四层整体。log step 378确认所保存并回放的是460行轨迹，success=False、progress=0.0，两件回放位置仍分别为[-0.04,0.0675,1.0589]和[-0.37,0.0675,1.0589]；评分器strict_goal_reached=0与所见一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约4.8 s左夹爪张开接近银件横杆，约10.5 s右夹爪张开接近金件横杆，均未合拢夹持或带动物体。推断：这些视角无法分辨指尖是否发生极轻微擦碰；没有接触对日志，log step 378的总接触深度最大值0.019毫米不能定位到夹爪与零件，故实际接触方式记未知，不据典型方案填写抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 4.8,
+   "log_step": 378,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约4.8 s左夹爪张开停在银件横杆附近，此后右夹爪也只张爪接近金件；至视频11.53 s，两件仍在原位且彼此分离。log step 378最终代码仅含双臂依次接近和保持姿态，接近段夹爪命令恒为0.037，没有合爪、搬运或嵌合段。推断：交付的是从不开始装配操作的接近基线，按03 Step 3.1记首步前；视频4.8 s仅作接近段导航锚点。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 4.8,
+    "log_step": 378,
+    "evidence_zh": "观察：视频4.4–5.2 s左夹爪及视频9.8–11.53 s右夹爪只张开接近各自零件，两件没有被提起、搬运或嵌合。log step 378交付代码在接近段持续使用夹爪命令0.037，随后保持姿态，未编入合爪与装配动作。推断：评分轨迹未启动装配操作，按03 Step 3.2记没尝试，而非已尝试夹持却没建立接触；不排除指尖轻微擦碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 374,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent未能把已尝试的抓持、搬运与相对装配路径实现为可靠控制，最终只交付接近段。会话测试log step 364先报告双手持物成立，开始路径后即报告inhand None，并出现末端位置误差0.0642米；log step 374在逆解位置误差打印为0时仍有末端跟踪误差0.3479米、inhand None，回放装配失败；随后log step 378替换为无合爪和搬运段的460行动作，log step 379明确说明选择交付该简化轨迹。上述测试只用于追溯控制能力问题，不把其持物丢失或碰撞记作评分视频中的现象；证据不足以进一步区分接触设计、轨迹逆解与反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志及逐对接触记录；视频足以确认两件始终分离和未建立夹持，但不能分辨张开指尖是否轻触横杆。评分字段未报告relative_position_error_m、relative_rotation_error_rad及minimum_table_gap_m，原生指标均置null；根因只由会话控制测试及交付选择追溯到控制大类，无法验证agent在log step 379所称的特定可达性限制，也不将其视为本次视频的够不着现象。"
+ },
+ "summary_zh": "评分轨迹仅有双臂依次张爪接近金、银件，视频0–11.53 s两件始终分离，唯一装配节点从未达成，最终0/1；交付基线未启动装配，断点为首步前，现象为没尝试。根因保留为由会话测试中持物丢失及轨迹跟踪误差支持的控制大类推断，不将这些测试记作评分局的物理失败，也不把agent停止或选择简化交付当作根因。没有状态日志、逐对接触和精确验收指标，且会话测试的控制问题与最终交付选择之间的因果联系仍不能完全排除规划因素，故置信度由7降至5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "进度侧正确：视频0–11.5 s两件始终在原位，节点未达，contact_actual记未知合理。但断点与失败层有误：交付轨迹是明知只含接近段的基线（夹爪指令始终张开0.037，无合爪/搬运/装配段），装配步骤的操作从未启动，应为首步前+没尝试；根因“控制”完全建立在会话测试（log step 364/374）和agent自述上，而评分轨迹是agent主动选择交付的简化轨迹，不是评分局中的控制失败。",
+    "n_issues": 3,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮复核：节点未达、视频0–11.5 s两件始终分离且夹爪张开，首步前+没尝试与log step 378交付代码（夹爪恒0.037、无合爪段）一致；根因“控制”依据会话测试log step 364/374，符合CASES FAIL-22允许的由会话证据追溯，已标推断并说明不确定，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:40:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--ynmqccz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--ynmqccz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--ynmqccz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--ynmqccz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd8978bfd1c04cfd79cbf850e5445188a72991ea99ed1a161e9d62f004225c9e",
+   "video_sha256": "f876732bbd2f41df73f27e83a8210d8fbd4e7b619842c2a4e61ca8d840c9ab78",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--aqcptzx.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--aqcptzx",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 7,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 24144,
+   "live_rows": 24144,
+   "sim_steps": 24144,
+   "physics_steps": 241440,
+   "steps": 20590,
+   "elapsed_s": 8323.6,
+   "replay_wall_s": 2252.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
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+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--aqcptzx/replay.mp4",
+  "duration_s": 603.667,
+  "fps": 15.0,
+  "frames": 9055,
+  "sha256": "943e00d41791f5839439f1614781544678693e5cd820141bfc8136ec0ec9c29e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "观察：视频 0.0 s 金件和银件分别立在桌面两侧，明显分离。"
+     },
+     {
+      "t": 24.8,
+      "log_step": 198,
+      "text_zh": "观察：视频 20.0–24.8 s 右夹爪闭合在金件突出销附近，金件随夹爪保持悬起；视频约 25.3–26.0 s 松爪后金件转落桌面，仍远离银件，抓起和暂放均未形成装配。"
+     },
+     {
+      "t": 136.0,
+      "log_step": 320,
+      "text_zh": "观察：视频 132.0–136.0 s 左夹爪从银件上部侧面向金件方向推移，银件偏转、倾斜；右夹爪位于金件一侧。两件靠近但层片没有交替嵌成整体。"
+     },
+     {
+      "t": 211.0,
+      "log_step": null,
+      "text_zh": "观察：视频 209.0–211.0 s 银件进一步转为侧躺；视频 220.0–540.0 s 的逐段抽帧中，两件一直保持明显错层、相邻而未嵌合的外观。"
+     },
+     {
+      "t": 603.6,
+      "log_step": 401,
+      "text_zh": "观察：视频 580.0–596.0 s 右夹爪再次靠近金件、闭合并抬起，但金件没有随之离开原处；视频 602.7–603.6 s 双爪已退开，银件仍侧躺、金件立在旁边。成功参考视频 40.6 s 可清楚看到的金银交替紧凑四层整体，在本次末态不存在。"
+     },
+     {
+      "t": null,
+      "log_step": 408,
+      "text_zh": "观察：评分器 reward 的 live_success=0、replay_success=0、live_matches_replay=1、resumes=0；agent 在 log step 408 明确自述未完成嵌合。节点未达由可见分离及错位判定，并非仅根据零分推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0–24.8 s，右二指夹爪闭合夹住金件突出销附近并使金件悬起，随后松开暂放。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 105.0–123.0 s 右夹爪单独横推金件使其靠近银件；视频约 133.0–134.0 s 左夹爪从侧面推银件。后续也有右夹爪单独对金件侧推，均未把两件嵌合；双爪同时接触的片段另记双臂协作。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 135.0–136.0 s，左夹爪推银件，右夹爪同时抵在金件一侧配合；两爪没有分别包夹抓持两件，此处按实际侧推接触记录。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 134.5,
+   "log_step": 320,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 133.5–136.0 s，机器人左夹爪向右推银件，银件发生明显偏转和倾斜而非保持姿态与金件嵌合；视频约 210.0 s 银件转为侧躺。机器人后续继续推移和尝试抓取，直到视频 603.6 s 仍未恢复银件姿态、未完成装配；log step 320 的脚本及输出对应左臂降低后沿 +x 横推银件的动作。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 134.5,
+    "log_step": 320,
+    "evidence_zh": "观察：视频 132.0 s 银件尚直立，视频 133.5–136.0 s 左夹爪抵推其上部侧面时，银件转动并倾斜，偏离装配所需姿态；视频 209.0–211.0 s 它继续转落为侧躺，末帧视频 603.6 s 仍未扶正。这是推移中碰动并倾倒目标件，没有发生目标装配后的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 132.0–136.0 s 左夹爪仅在银件较高处侧推，没有包夹银件或另设接触稳定其姿态；银件在推移中发生明显转动。log step 320 的控制脚本先将左 TCP 降到约 z=0.117 m，再逐次增加 x，未建立银件抓持或防倾支承；服务输出显示横推时 TCP 高度反而逐步升至约 0.157 m。该推点和承托布局不能在本次动作中保持银件装配姿态，导致倾斜、侧躺且未嵌合；本次运行没有验证成功的替代接触方案。"
+   }
+  ],
+  "gap_zh": "没有物体位姿及逐时刻接触状态日志，评分器也未报告 DAG 的三个精确几何指标，无法量化毫米级对齐、接触深度和联合静置条件；相关 native_metrics.value 均为 null。根因是结合可见推点、倾斜过程及控制脚本的推断，不能进一步确定每个阶段的跟踪误差或装配几何误判。agent 在 log step 408 自述会在时限结束时受评，但 run.json 的 wall_s=7960、time_limit_s=10800，并无外部截断证据，不将停止或时限作为失败原因。"
+ },
+ "summary_zh": "机器人抓起并暂放金件，随后用单爪及双臂侧推尝试合拢两件，但金银线圈装配始终未达，最终为 0/1。视频约 134.5 s 左夹爪推银件时使其偏转、倾斜，后来银件侧躺且未扶正；推点缺少稳定承托是有视频和脚本支持的接触设计问题。视频 603.6 s 两件仍相邻而未嵌合；缺少状态日志及精确几何指标，根因细分保留推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、金件 20–25 s 抓起并暂放、约 134–136 s 左爪推银件致其倾斜、末帧两件未嵌合，均与视频一致；断点与根因有帧和脚本支撑，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": "2026-10-30T23:17:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--aqcptzx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--aqcptzx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0cdd7fe08088426c5d4ddada7f8390647b967e01c94c028c72bd77479523ffa6",
+   "video_sha256": "943e00d41791f5839439f1614781544678693e5cd820141bfc8136ec0ec9c29e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--f7afucb.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--f7afucb",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
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+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4373,
+   "live_rows": 4373,
+   "sim_steps": 4373,
+   "physics_steps": 43730,
+   "steps": 2041,
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+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
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+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--f7afucb/replay.mp4",
+  "duration_s": 109.4,
+  "fps": 15.0,
+  "frames": 1641,
+  "sha256": "4948de49d0e1cd5e7eb8ed60c47f10dc29cd5b80b82dba7d024ee1b7e0c6bbfa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 9,
+      "text_zh": "观察：视频 0.0 s，银件在左、金件在右，分别站在桌上，两个框片组件明显分离，初始未装配。"
+     },
+     {
+      "t": 22.0,
+      "log_step": 50,
+      "text_zh": "观察：视频 22.0 s，左夹爪夹持银件、右夹爪夹持金件，两件均离开原桌面位置并随夹爪转动；此时仍相互分离。"
+     },
+     {
+      "t": 52.5,
+      "log_step": 79,
+      "text_zh": "观察：视频 52.5 s，机器人双臂持件，右臂将金件移近左臂持有的银件，但两件没有形成金银交替的紧凑整体，夹爪也未释放退离。"
+     },
+     {
+      "t": 58.5,
+      "log_step": 82,
+      "text_zh": "观察：视频 57.0–58.5 s，金件相对右夹爪进一步倾斜下移，落到桌面附近，右夹爪已不能带着它运动；视频 62.5 s 右夹爪抬开后金件仍留在原处。"
+     },
+     {
+      "t": 109.3,
+      "log_step": 107,
+      "text_zh": "观察：视频 108.5 s 与 109.3 s，双夹爪空手退开，银件直立、金件倾斜，两件分离；未出现成功参考视频 40.6 s 所见的金银交替四层整体。log step 107 服务状态仍为 done=False，评分器 live_success=0；判未达有明确分离外观支持，并非仅据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.0 s，左二指夹爪夹住银件，右二指夹爪夹住金件，同时举持、转动两件；视频 52.5 s 右臂持金件向左臂持有的银件靠近，尝试对接。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：脱手后的恢复阶段，视频约 66–85 s，左夹爪贴抵桌面上的银件并侧移，尝试顶推调整其位置，没有重新举起银件；log step 83、87 的脚本命令为左夹爪向横向推进。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 58.5,
+   "log_step": 80,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 52.5 s 机器人仍双臂持件对接，视频 57.0–58.5 s 金件从右夹爪下移并倾斜留在桌面，视频 62.5 s 右夹爪抬开时没有带起金件。随后机器人顶推银件并尝试重抓金件，至视频 109.3 s 两件仍分离，装配失败始终未修复；log step 80–82 也记录横向探测后金件脱手。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 58.5,
+    "log_step": 82,
+    "evidence_zh": "观察：视频 22.0 s 金件已随右夹爪离桌并转动，证明此前确实抓住；视频 57.0–58.5 s 金件相对夹爪下滑、转斜落至桌面，视频 62.5 s 右夹爪空手抬离，金件仍停在桌面。log step 79 的对接及横向探测脚本始终保持右夹爪命令为 0.03，没有计划释放；log step 82 agent 也自述金件已丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：持件对接及失手后的位姿恢复控制未能实现目标。log step 79 的脚本把右臂 IK 位置容差逐级放宽至 0.025 m；log step 81 输出显示右末端目标 x=-0.071 m 时实际仅到 -0.0482 m，随后更近的目标均求解失败。log step 95 的重抓后点云检查没有显示金件被抬起，log step 99 再次在倾转重抓姿态求解失败（位置误差约 0.0417 m）；视频 58.5 s 的失手及视频 93–100 s 的空手恢复动作与此一致。证据支持控制能力不足，但不足以确定抓持设计、轨迹求解或反馈控制中哪一子项主导最初脱手。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有上报相对位置误差、相对角误差或最低桌面间隙，三个原生指标均留 null；视频可直接判定两件始终未完成装配。缺少失手瞬间的完整接触力、夹持状态及目标刚体位姿记录，无法核定具体滑脱载荷或细分最初失手的控制根因；agent 在 log step 108 关于横向探测扭掉摩擦夹持的解释仅作自述，不当作已测得的力学事实。"
+ },
+ "summary_zh": "机器人成功以左右夹爪分别拿起银件和金件并尝试靠近对接，但装配节点全程未达，最终为 0/1。视频约 58.5 s 金件脱手并倾斜留在桌面，后续顶推和重抓未恢复装配；日志记录对接与重抓的逆解误差及失败，根因保守归为控制。末秒两件仍明显分离；没有状态日志和毫米级装配指标，无法进一步确定滑脱的接触力学原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装配节点未达、最终 0/1，视频 22.0 s 双臂持件、56 s 仍持件、58.5 s 金件落桌、109 s 两件分离，均与标签一致；断点、没保持住现象与保守的控制根因有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:41:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--f7afucb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--f7afucb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
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+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--htwjyda.json

@@ -0,0 +1,215 @@
+{
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+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--htwjyda",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
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+   "forcing_events": 3,
+   "live_success": 1,
+   "replay_success": 1,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 24736,
+   "live_rows": 24736,
+   "sim_steps": 24736,
+   "physics_steps": 247357,
+   "steps": 6134,
+   "elapsed_s": 5306.0,
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+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
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+   "simulator_instability": 0,
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+   "sim_startups": 1,
+   "resumes": 0,
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+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
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+   "peak_processes": 0.0,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--htwjyda/replay.mp4",
+  "duration_s": 618.467,
+  "fps": 15.0,
+  "frames": 9277,
+  "sha256": "60c18add3a9bd6688c4ac7418b718cddd389355476a47d889d30f0ecea8a5d5b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      618.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，银件在左、金件在右，分别立在桌上，尚未嵌合。"
+     },
+     {
+      "t": 190.0,
+      "log_step": 81,
+      "text_zh": "观察：视频 178.0–190.0 s，机器人右侧二指夹爪夹住金件框条，金件离开原桌面位置并随右爪上升、移向银件；银件仍留在桌上。log step 81 记录右臂提升和搬运动作。"
+     },
+     {
+      "t": 264.0,
+      "log_step": null,
+      "text_zh": "观察：视频 262.0–264.0 s，金件离开右夹爪、倾落到银件旁的桌面；视频 294.0–318.0 s，右爪重新夹住金件框条，将金件提起并转回竖向。此次脱手随后得到恢复。"
+     },
+     {
+      "t": 406.0,
+      "log_step": 192,
+      "text_zh": "观察：视频 374.0–398.0 s，右爪持金件下降、侧移，两件逐渐形成金银交替的四层紧凑外观；视频 406.0–414.0 s，右爪张开并退开。log step 192 的撤臂结果及 log step 193 的等待结果仍为 done=False，不能将外观嵌合直接记作完成全部验收。"
+     },
+     {
+      "t": 489.0,
+      "log_step": null,
+      "text_zh": "观察：视频 438.0–476.0 s，左夹爪在装配体一侧接近、推调后退开，右爪随后再次夹住金件；视频 487.0–521.0 s，左臂再次接近时装配体倾倒，最后侧卧在桌上，金银件仍相互嵌合。视频 537.0–613.0 s，右夹爪从侧面及上侧继续小幅推调。"
+     },
+     {
+      "t": 618.4,
+      "log_step": 262,
+      "text_zh": "观察：视频 617.4–618.4 s 已逐帧检查，金银件侧卧在桌面上并保持交替嵌合，未见明显移动或被夹持搬运；机器人夹爪仍在近旁，画面不能精确测出净空。log step 261 的机器人服务返回 DONE success，log step 262 的服务状态为 done=True、reason=success、control_steps=24736、resumes=0；评分器 live_success=1、replay_success=1、live_matches_replay=1、review_events=0。"
+     },
+     {
+      "t": 618.4,
+      "log_step": 262,
+      "text_zh": "推断：这是同一无恢复的在线回合；任务文字给出每个控制步含10个2.5毫秒物理时刻，即40 Hz，log step 262 的24736个控制步对应视频 618.4 s，与已检查的最后一帧及视频时长618.467 s相符。结合终态外观和服务成功判定，将完整装配、释放、净空及0.5秒联合确认的完成锚点置于视频约618.4 s（约0.5秒精度），final=true；不凭早先相似外观提前记完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 178.0–190.0 s 及294.0–318.0 s，机器人右侧二指夹爪从两侧夹住金件框条，提起、搬运并调整金件；视频 374.0–406.0 s 持金件嵌入桌面承托的银件，视频 474.0–476.0 s 再次夹住金件。左爪未见夹持银件，不能按两爪各抓一件标注。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：这是同一步后续依次发生的接触：视频 438.0–476.0 s，左夹爪以收拢的指端从侧面推调装配体；视频 537.0–613.0 s，右夹爪从侧面及上侧推调金银件。推调时指端顶住框片，不形成包夹抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人右爪抓持金件与桌面银件嵌合，途中金件脱手、装配体倾倒后继续重新抓取和推调，最终装配体侧卧在桌面并保持嵌合；log step 261–262 的在线服务与评分器均确认成功，唯一节点最终完成。推断：结合视频末帧与控制步计数，将联合验收完成锚点标在视频约618.4 s，无失败断点。观察：本输入没有状态日志，评分器未报告三个原生指标的数值，视频也不能独立测量毫米级误差、5毫米净空及确认窗内漂移，相关验收依赖服务成功判定，原生指标值保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功回合，唯一节点 coils_assembled 在视频约618.4 s（控制步24736/40 Hz与视频时长相符）完成，final=true，接触标注（右爪抓握、左右爪推调）与帧一致，无失败断点，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "created": "2026-10-30T23:16:27Z",
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+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--htwjyda/04_review_r1"
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+  ],
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+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--nxsv7uw.json

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+ "schema": "efe-trajectory-labels/1",
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--nxsv7uw/replay.mp4",
+  "duration_s": 344.133,
+  "fps": 15.0,
+  "frames": 5162,
+  "sha256": "1abb351007c6b4d81bedab587faa848744d3572ef0272a39a06378bdf9c5fdbf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金件与银件分别立在桌面两侧，尚未嵌合。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 222,
+      "text_zh": "观察：视频 5.3–6.4 s 左右夹爪分别夹合银件和金件；视频 7.5–8.5 s 夹爪向中央运动时银件翻倒、金件倾斜，视频 17.6–22.1 s 夹爪松开并退开后，两件仍各自分离。log step 222 所转录的首次执行结果也记录闭爪阶段接触力及驱动饱和，并未报告完成。"
+     },
+     {
+      "t": 143.0,
+      "log_step": null,
+      "text_zh": "观察：视频 83.0–107.0 s 右夹爪反复接近、翻动金件，并在银件附近下降；视频 138.0–144.0 s 银件受接触后改变姿态，视频 145.0–147.0 s 两件再次分离，未形成金银交替的紧凑整体。"
+     },
+     {
+      "t": 248.0,
+      "log_step": null,
+      "text_zh": "观察：视频 215.0–250.0 s 左夹爪重新抓取和翻转金件，向银件附近下降后撤离；视频 248.0 s 金件仍单独立在银件后方，未见四层嵌合。"
+     },
+     {
+      "t": 344.067,
+      "log_step": 1472,
+      "text_zh": "观察：视频 333.0–344.067 s 的密查及最后一秒各帧均显示银件平放、金件倾斜立在其后，二者有明显间隔；没有成功参考视频 35.0–40.0 s 所示金银交替四层整体。log step 1472 服务状态为 control_steps=13761、done=False、reason=None；评分器 live_success=0、replay_success=0、live_matches_replay=1，与该未装配画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.3–6.4 s 左夹爪两指夹合银件、右夹爪两指夹合金件，同时尝试搬向中央。后续改为单臂轮流重抓金件并靠近桌面上的银件，例如视频 83.0–107.0 s 右夹爪、视频 215.0–250.0 s 左夹爪；接近和下降过程中也发生指端顶推及零件翻动，未完成嵌合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 8.5,
+   "log_step": 222,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.5–8.5 s 机器人首次双臂搬合时，银件翻倒、金件倾斜，未按预定抓持姿态接近；视频 17.6–22.1 s 松爪撤离后仍分离。此后机器人反复重抓、翻转及靠近两件，但到视频 344.067 s 仍未嵌合，装配这一步始终未修复。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 5.5,
+    "log_step": 222,
+    "evidence_zh": "观察：log step 222 转录首次 task-280 执行的机器人服务 safety 读数：Close Grippers 阶段 max_press_force_n=111.4、max_drive_fraction_while_pressing=1.0、longest_forcing_s=1.075，记录两次 forcing；这是服务测得夹爪或持物压向其他物体的接触负载及驱动饱和，不是 agent 对成功的自述。视频 5.3–6.4 s 双夹爪在零件上夹合，视频 7.5–8.5 s 银件翻倒而未稳定搬起。首次脚本各段行数见 log step 143，闭爪段约对应视频 5.0–6.0 s；40 Hz 见 log step 370，control_steps=885 对应视频约 22.1 s 的撤离姿态，已核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.5,
+    "log_step": 135,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 135 的执行脚本按预先生成的闭爪、提升、插合、释放各段依次提交，读取接触监测后仅打印，未根据抓持是否稳定或零件实际姿态调整动作；log step 222 的首次服务反馈已出现接触负载和驱动饱和，视频 7.5–18.7 s 零件已翻转偏离抓持姿态，机器人仍继续既定靠拢和释放。后续视频 138.0–144.0 s、238.0–248.0 s 也可见接近动作翻动零件后留下分离状态，支持抓持与装配接触未得到有效控制；现有证据不足以细分具体控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，服务输出只给部分动作段的监测汇总；无法恢复逐物理时刻的抓持状态、具体受力接触对，也无法独立测定毫米级装配误差、静止与漂移窗。评分器未报告三个原生误差指标，故值均留空；agent 自行点云拟合的数值不作为评分器指标。可见两件明显分离足以判节点未达，但不足以将控制根因进一步区分为抓取接触设计、轨迹跟踪或位姿估计误差。"
+ },
+ "summary_zh": "机器人尝试双臂各夹一件，随后多次改用单臂重抓、翻转和靠近金银线圈，但装配节点始终未达到，最终为0/1。首次搬合在视频约 8.5 s 出现零件翻倒，服务闭爪监测同时记录较大接触负载及驱动饱和，支持接触力异常和控制层面的失败；视频 344.067 s 两件仍明显分离。缺少状态日志及评分器原生误差值，具体控制子类和精确验收量无法进一步核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点 coils_assembled 未达（0/1）与视频、评分器字段一致：视频 5.3–8.5 s 双夹爪夹合后银件翻倒，17.6–22.1 s 松爪后两件仍分离，333–344 s 仍分离；断点、操作中、接触力异常（服务读数 step 222）和停在“控制”的根因均有证据支持，推断已标注。未发现需要改动之处。",
+    "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": "2026-10-30T23:17:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--nxsv7uw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--nxsv7uw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de78df526c3e3a456a8878857450a8e3ab41e6481b558b8840d61b868ca35495",
+   "video_sha256": "1abb351007c6b4d81bedab587faa848744d3572ef0272a39a06378bdf9c5fdbf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--rdrwh3h.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--rdrwh3h",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 857,
+   "live_rows": 857,
+   "sim_steps": 857,
+   "physics_steps": 8570,
+   "steps": 214,
+   "elapsed_s": 3678.7,
+   "replay_wall_s": 72.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.391,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.316,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--rdrwh3h/replay.mp4",
+  "duration_s": 21.533,
+  "fps": 15.0,
+  "frames": 323,
+  "sha256": "52eb9581e9a956c6fdb63f41326ab6afc01f0d6dddde269b9d0862b7cef40366"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的俯视和外部视角中，银件在左、金件在右，两件分离，未形成交替四层整体。"
+     },
+     {
+      "t": 14.6,
+      "log_step": 82,
+      "text_zh": "观察：视频约 12.0–14.6 s，机器人右侧二指夹爪在金件外侧框片处合拢并作试提动作，金件仍在原侧附近；银件一直留在左侧桌面。log step 82 的提交脚本为闭爪后竖直试提，视频未见将金件运向银件。"
+     },
+     {
+      "t": 15.73,
+      "log_step": 89,
+      "text_zh": "观察：视频 14.6 s 与 15.73 s 对比，右爪仍在金件右侧，金件框片和横销的可见倾角改变；log step 89 提交的是小幅持物位姿修正测试。两件此时仍明显分离；画面中的倾斜本身不能区分主动调整和夹持中的滑转。"
+     },
+     {
+      "t": 21.467,
+      "log_step": 96,
+      "text_zh": "观察：视频约 17.0–21.467 s，机器人将金件降回原侧桌面、张开右爪并后撤，银件一直留在左侧；末秒密集帧及视频 21.467 s 末帧仍显示两件分离。log step 92、96 的提交分别为降下松爪及撤爪；全段未出现参考成功视频 40.6 s 可见的金银交替紧凑四层整体。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward 中 live_success=0、replay_success=0、live_matches_replay=1、deterministic=1，review_events=0、forcing_events=0；与视频中未嵌合的终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪在金件外侧框片处合拢抓握，作试提和小幅微调，随后降下、松爪和后撤；银件没有被夹起，左爪没有同时接触目标件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 14.8,
+   "log_step": 89,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 12.0–15.7 s，机器人右爪在金件原侧抓握、试提和微调，随后降下金件并张爪后撤；到视频 21.467 s，两件仍明显分离，全段未见将金件运向银件或开始嵌合。log step 82、89、92、96 分别提交试提、位姿修正测试、降下松爪及撤爪。视频 14.8 s 仅作测试动作的导航锚点，不指认倾斜失稳事件。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 未提供状态日志，评分器未报告 DAG 的三项原生误差指标；log step 110 的位姿与刚性持物偏差来自 agent 自编视觉拟合，并非评分器或服务直接报告的目标位姿，log step 105 的错误索引拟合还曾输出 nan（log step 110 已更正索引）。视频可见试提及微调中的倾角变化，但缺少独立核实的目标件相对夹爪位姿序列，不能据此确认滑转或机器人控制根因。log step 119 仍在验证运动学脚本，log step 120 明确记录 Gemini 过滤中断，未见完成装配或主动结束记录。推断：已执行并回放的是抓持测试动作，尚未开始向银件搬运和嵌合；外因在装配结果固定前截断后续工作，按 docs/03_trajectory.md Step 3.5、CASES.md FAIL-5 和 DECISIONS.md D37 的现行规则保留目录 success=0 及实际节点进度，现象、根因留空，不将过滤或未继续装配归为机器人失败，也不推断继续运行必然失败。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "机器人右爪在金件原侧抓握、试提、微调并放回，视频全段两件始终分离，唯一装配节点未达到，最终为 0/1。log step 120 的 Gemini 过滤在开始向银件搬运和嵌合之前截断运行，现象与根因留空；无状态日志或独立核实的相对持物位姿序列，不能把可见倾角变化判定为滑转或控制失败。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "coils_assembled=false、峰值0、未嵌合与视频和评分器一致，节点本身无误。但失败层有问题：视频里没有可见的从夹爪滑脱（金件在爪中的倾斜出现在 agent 自己测试“闭环位姿修正”的小幅动作中，且金件始终靠近原位、未被运向银件），“没保持住”仅靠 agent 自拟合数值（非评分器/状态日志）推断；根因“控制”也没有证据。运行实际止于 log step 120 的 Gemini 过滤（外因），从未开始装配搬运，交付的只是测试动作，应按外因截断处理：现象/根因层留空并写 gap_zh。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "coils_assembled=false、峰值0、两件始终分离与视频、评分器读数一致；右爪抓握金件试提并放回，contact_actual 合理。log step 120 为 Gemini 过滤外因截断，现象/根因留空并有 gap_zh，符合第一轮修订后的规则；未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
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phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--uvrb8dy.json

@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--uvrb8dy",
+ "taskKey": "roboarc/cast_coil_06",
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+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 4364,
+   "live_rows": 4364,
+   "sim_steps": 4364,
+   "physics_steps": 43640,
+   "steps": 3605,
+   "elapsed_s": 10894.8,
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+   "gpu_lost": 0,
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+   "infra_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
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+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
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+   "peak_memory_gb": 0.29,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.635,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-06-i01-standard--uvrb8dy/replay.mp4",
+  "duration_s": 109.2,
+  "fps": 15.0,
+  "frames": 1638,
+  "sha256": "447c563deb943d4a246dbfb4d0b9f518f400b5dc994e23288607d3abb06189a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，银件在左、金件在右，分别直立在桌面上，中间有明显空隙，初始未装配。"
+     },
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "观察：视频 26.1–28.5 s，左夹爪夹持银件从左侧向金件靠近，金件被顶得倾斜、转偏；视频 28.9–33.6 s 银件又随左夹爪退回，两件没有形成金银交替的紧凑四层整体。"
+     },
+     {
+      "t": 91.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78–94 s，右夹爪在金件上反复调整，视频 90–93 s 可见金件随夹爪抬起、转动再降下，银件一直留在左侧桌面，两件仍分离。"
+     },
+     {
+      "t": 109.1,
+      "log_step": null,
+      "text_zh": "观察：视频 108.267–109.1 s 的俯视及低位画面均显示银件留在左侧，金件在右侧夹爪下方，中间仍有明显空隙，没有嵌合。评分器字段 live_success=0、replay_success=0、live_matches_replay=1，与这一终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14–28 s 左二指夹爪夹住银件的一片框片并带其向金件平移；视频 90–93 s 右二指夹爪夹持金件并抬起、转动、放回，两只夹爪先后操作。期间还有右夹爪指部推拨金件的接触，例如视频 36–38 s 的碰推及视频 66–68 s 的扶正动作；这些是先后发生的推/扫，非双臂同时各持一件协同装配。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 26.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 26.6–28.5 s，机器人左夹爪带银件向金件推进时，金件倾斜转偏，未能相互嵌合；视频 28.9–33.6 s 左夹爪带银件退开。后续机器人虽重新调整零件，视频 109.1 s 两件仍分离，装配步骤始终未完成。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 27.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.1 s 两件相向接近，视频 26.6–28.5 s 左夹爪所持银件顶到金件，金件明显倾斜并转偏，银件未穿入成为交替层片；随后视频 28.9–33.6 s 银件被撤回。这是���配接近过程中的碰撞，非装配完成后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人接近装配位置时没有控制住横向对准误差，纠偏执行也未恢复装配。log step 153 的脚本将左 TCP 的 y 目标设为 0.1205 m，但服务本体读数逐渐偏到 0.1264 m；log step 157 将 y 目标降向 0.1205 m，同时继续推进 x，实际 y 却为 0.1309–0.1328 m。视频 26.6–28.5 s 可见两件相碰并转偏。后续 log step 191 的脚本还在逆解报告 0.191–0.322 m 位置误差后直接提交相应关节解，视频 36–38 s 可见右夹爪将金件碰歪；至视频 109.1 s 两件仍未合拢。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "证据支持对准与纠偏执行失败；接触几何、伺服跟踪及逆解执行均有影响迹象，保留在控制大类，不强定唯一子类。"
+   }
+  ],
+  "gap_zh": "无状态日志；视频不能量化毫米级装配误差、抓持辅助状态、接触力和穿透深度，评分器也未报告 DAG 的三个原生误差/间隙指标，故均填 null。两件明显分离足以判定装配节点为 false；更细的控制失效机制无法独立分离。日志引用保留 log step，不将 agent 工作时间换算为视频时间。"
+ },
+ "summary_zh": "机器人左夹爪夹持银件向金件靠近，但在视频约 26.6–28.5 s 碰歪金件，随后退开；后续虽调整并抓起金件，至视频 109.1 s 两件仍分离，金银线圈装配始终为 0/1。日志中的横向跟踪偏差及误差很大的逆解仍被执行，支持控制层面的失败判断。缺少状态日志与原生误差数值，不能进一步量化接触或毫米级验收条件。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 coils_assembled=false、断点（操作中，约视频 26.6 s 银件顶歪金件）、被挡/碰撞现象与控制根因均有视频和日志支持；视频 109 s 两件仍分离，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
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