diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--ecryhls.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--ecryhls.json
new file mode 100644
index 0000000000000000000000000000000000000000..75b3df99561a5dee7a0f1620e511f7b0b682c51d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--hdlhjkp.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b32ee0f55dda8b909f72121a19d4e2e89d20334
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--m3nc7qa.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7d365b8af2d7a26b80e7f0088ceedfa84aa3c2
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--tytwsya.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--tytwsya.json
new file mode 100644
index 0000000000000000000000000000000000000000..06935ab3cdac10a908d14ebf8ba50799ca0fa91f
--- /dev/null
+++ b/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",
+   "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": [
+   {
+    "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xaaptka.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xaaptka.json
new file mode 100644
index 0000000000000000000000000000000000000000..637aca16eaf13c6442d7ad33c76828a2d741c697
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xaaptka.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--xaaptka",
+ "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": 993,
+   "submitted_actions": 993,
+   "sim_steps": 1073,
+   "physics_steps": 10730,
+   "sim_time_s": 26.824999999999545,
+   "final_reward": 0.0,
+   "replay_wall_s": 687.0,
+   "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": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 55,
+   "agent_resets": 45,
+   "agent_sim_steps": 21192,
+   "agent_records": 4,
+   "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-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": [
+   {
+    "stage": "traj",
+    "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",
+   "video_sha256": "b24f6a16c0cd0f6d23b02f54421f73d81b1c12c6dac8722b26c26035a608558f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xux9eyq.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xux9eyq.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c5f73bda52fc2e81e21dc6ce6b7fdaf83f5426c
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--xux9eyq.json
@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--xux9eyq",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
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+   "gpu_backend": 1,
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+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
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+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 897,
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+   "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--xux9eyq/replay.mp4",
+  "duration_s": 22.533,
+  "fps": 15.0,
+  "frames": 338,
+  "sha256": "d36d19464f1f466a8b524db081c2bad3bf3a8382b5d8425e9eb341b5380173a9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.4,
+      null
+     ]
+    ],
+    "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8ddjadx.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8ddjadx.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a2bb1f99c428359c7236efbde52fc65818882f
--- /dev/null
+++ b/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": [
+   {
+    "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--ajqhyq9.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--ajqhyq9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7c4740de4da2b460a0e23eed069cf08b09659c
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--ajqhyq9.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--ajqhyq9",
+ "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": 11761,
+   "live_rows": 11761,
+   "sim_steps": 11761,
+   "physics_steps": 117610,
+   "steps": 4759,
+   "elapsed_s": 9972.9,
+   "replay_wall_s": 6242.4,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "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
+  }
+ },
+ "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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+  "calls": [
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+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1de98117a83be904e3252f1333ef50f461206aae1c320efbebe6980b00b20dc",
+   "video_sha256": "044e644c337a7265609f5f8e2400efab66e6ea962c3f84e35f296114daa2dd25",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--bwxxvyy.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--bwxxvyy.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4834c1f3880c97fbceb74e8e58ca8c75ced446
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--bwxxvyy.json
@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--bwxxvyy",
+ "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": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9772,
+   "live_rows": 9772,
+   "sim_steps": 9772,
+   "physics_steps": 97720,
+   "steps": 2353,
+   "elapsed_s": 8507.4,
+   "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": 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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--dda3qw8.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--dda3qw8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2445c4a6c92692c03e9fe812049b8515bef78b31
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--g3yqzo9.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--g3yqzo9.json
new file mode 100644
index 0000000000000000000000000000000000000000..664386ba3f269cbd0b96b78eda82da9c1f5f9e7c
--- /dev/null
+++ b/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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--g3yqzo9/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "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": {
+   "run_json_sha256": "e23623cbce4bf1fd06e14b8e2f02924db5ccd8fad1026b81b30fadb6ff37d611",
+   "video_sha256": "86e3dbb5008f26b1e30f721336030a47d434ec6e3849a51da7636af600aec18a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--txky9gm.json b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--txky9gm.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f69c8d9b441927768459f9b80a68364f842ba59
--- /dev/null
+++ b/phase2/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--txky9gm.json
@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--txky9gm",
+ "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,
+   "live_success": 1,
+   "replay_success": 1,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 2653,
+   "live_rows": 2653,
+   "sim_steps": 2653,
+   "physics_steps": 26524,
+   "steps": 1365,
+   "elapsed_s": 2501.4,
+   "replay_wall_s": 1674.4,
+   "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-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": [
+     [
+      66.3,
+      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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--568efwf.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--568efwf.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2486ba71038984722944123fa88561febec0ba4
--- /dev/null
+++ b/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",
+    "round": 0,
+    "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",
+   "video_sha256": "0946050c5d6d42d4990fd74bc0d81a4b17cb79bebd36c8a4708bd2d466509cce",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--f7qrqmg.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--f7qrqmg.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eedf446f87f2670028f0eff9457ff36f3b24140
--- /dev/null
+++ b/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": {
+  "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": 20,
+   "submitted_actions": 20,
+   "sim_steps": 20,
+   "physics_steps": 200,
+   "sim_time_s": 0.5000000000000001,
+   "final_reward": 0.0,
+   "replay_wall_s": 111.1,
+   "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": 87,
+   "agent_resets": 8,
+   "agent_sim_steps": 13710,
+   "agent_records": 6,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.066,
+   "peak_memory_gb": 4.426,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.494,
+   "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--f7qrqmg/replay.mp4",
+  "duration_s": 0.6,
+  "fps": 15.0,
+  "frames": 9,
+  "sha256": "e48a90740c426f8c19ff7f9aeb07e24331d21b65be5b2a0261e0531ccf640e06"
+ },
+ "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 0.000 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": [
+  {
+   "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": 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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "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": {
+   "run_json_sha256": "3add3973d1b7db62420f1bd67d77c0c140bfb31b409894e9aaebb581461ce27e",
+   "video_sha256": "e48a90740c426f8c19ff7f9aeb07e24331d21b65be5b2a0261e0531ccf640e06",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--gxcyuhd.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--gxcyuhd.json
new file mode 100644
index 0000000000000000000000000000000000000000..1682288ff0b508b190f8cea9c8f3039d06a49206
--- /dev/null
+++ b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--gxcyuhd.json
@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--gxcyuhd",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "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,
+   "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": 60,
+   "submitted_actions": 60,
+   "sim_steps": 60,
+   "physics_steps": 600,
+   "sim_time_s": 1.4999999999999987,
+   "final_reward": 0.0,
+   "replay_wall_s": 110.8,
+   "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": 2,
+   "agent_resets": 7,
+   "agent_sim_steps": 4922,
+   "agent_records": 4,
+   "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-blanket-fold-03-i01-privileged--gxcyuhd/replay.mp4",
+  "duration_s": 1.6,
+  "fps": 15.0,
+  "frames": 24,
+  "sha256": "911797813b1cc4836e1ec5956d86b4095275d81452e7e75af3ffe5fac8e64461"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "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。"
+     }
+    ]
+   }
+  },
+  "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,
+   "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--xqsalaq.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--xqsalaq.json
new file mode 100644
index 0000000000000000000000000000000000000000..72579ecb57223f76ad6101d7f99b81e8eff6b88c
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--ykujri6.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--ykujri6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33d0094165c873163bff383b9795fb14ef980b0
--- /dev/null
+++ b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--ykujri6.json
@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--ykujri6",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "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": 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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--2vdvqb2.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--2vdvqb2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c568c2fdab548f36d4ee51d052abfae3c615732
--- /dev/null
+++ b/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": {
+   "run_json_sha256": "c28492727f42feb8f881506359401db75e4fd284f1085730bbcbca7d0715c6d6",
+   "video_sha256": "87fb56eb12c33f5229c92d51087df395080010f41763ca17a7169205041c0956",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--c3rdk7k.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--c3rdk7k.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e83abb50623039e459b66d13383ff4faa277b69
--- /dev/null
+++ b/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": {
+  "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": 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,
+   "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": 0.306,
+   "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，外撤逆解路径也被截短，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",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--c3rdk7k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--c3rdk7k/04_review_r1"
+   }
+  ],
+  "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--kdylgsj.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--kdylgsj.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbdbc8b6cf02cacba5ff2c095f039d2a3502e9fb
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--sktrwrp.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--sktrwrp.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f6d1b3d84021143d870dfd9bdf4578704888aef
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--viw3a2x.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--viw3a2x.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be781a7bf6a4936d36e4f6337c9209c8c41e9db
--- /dev/null
+++ b/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": {
+  "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": 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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--w5kngqw.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--w5kngqw.json
new file mode 100644
index 0000000000000000000000000000000000000000..666c9d492a53a38a3318552cebb3c4fc08efabe1
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--y74kzwb.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--y74kzwb.json
new file mode 100644
index 0000000000000000000000000000000000000000..bff654f63add85c87ea92f1cd73cdb65d69d414a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--yy2q8ay.json b/phase2/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--yy2q8ay.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f734477592d131132c4e2751c571b95fa1d57e
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--3xwq8py.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--3xwq8py.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5808829fd992a919e580874643831b237f01da2
--- /dev/null
+++ b/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,
+   "strict_goal_row": 0,
+   "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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:41:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--3xwq8py/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--3xwq8py/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--3xwq8py/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--3xwq8py/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fc61c790c8d927704779568bee2f4b9cf53d19ff15b4e8a572812b8b5093743a",
+   "video_sha256": "053caba07ef6012c635c3cf730276b3116d55dd2b14958017099e1af1803a387",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--9k9ofan.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--9k9ofan.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9bfb0040f70dfc1974826eb09dc83615cd2fdc
--- /dev/null
+++ b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--9k9ofan.json
@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--9k9ofan",
+ "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": 1489,
+   "submitted_actions": 1489,
+   "sim_steps": 1489,
+   "physics_steps": 14890,
+   "sim_time_s": 37.22499999999896,
+   "final_reward": 0.0,
+   "replay_wall_s": 222.7,
+   "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": 5,
+   "agent_resets": 8,
+   "agent_sim_steps": 6571,
+   "agent_records": 1,
+   "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-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": [
+   {
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+    "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",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--jiahw5z.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--jiahw5z.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9cbee1ea5b659fb6a7b308981c2dfac619daa34
--- /dev/null
+++ b/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": {
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+  "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": "推/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--mjwandk.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--mjwandk.json
new file mode 100644
index 0000000000000000000000000000000000000000..69174324ad6373c1d98abe372236b7f8f5d6ff58
--- /dev/null
+++ b/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 左夹爪张开时二者仍未嵌合，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--pizytgc.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--pizytgc.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4a3630cfe497e5f3720a654d9a7a998f99fb61
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--btdp5ut.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--btdp5ut.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f78243883956252b4ba21959f052a81e478d3eb
--- /dev/null
+++ b/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爪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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--mu2oog8.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--mu2oog8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd19d05c25e1dfeb6a1805c6f5009074842a3dd
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--my3ckww.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--my3ckww.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9d0b50fcb858f3d32565d8e19b96700e94f113
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--r9ajbjf.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--r9ajbjf.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e08995749e003216c0024ae79c2ad5bc9d6d4d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--sjbaxtp.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--sjbaxtp.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea4f7fcebfe61f56635b3065338ce110846806a
--- /dev/null
+++ b/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：失败发生在金银线圈装配的操作中，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--spvchwk.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--spvchwk.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bea30a11f1f71f035b0021f3ae4972b94156671
--- /dev/null
+++ b/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": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
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+   "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,
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+   "peak_gpu_memory_gb": 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-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 的高位视图中，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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--xswbsop.json b/phase2/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--xswbsop.json
new file mode 100644
index 0000000000000000000000000000000000000000..6798e488271eae6e839ae01c983dae1285f351ff
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--9hgjghq.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--9hgjghq.json
new file mode 100644
index 0000000000000000000000000000000000000000..181e847cd6ccde2524d107a420ae7079ce53c56c
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--jyqhpmh.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--jyqhpmh.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22b375ae69f07e5d0136a32485afe85aaf67ad4
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pqy2qlp.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pqy2qlp.json
new file mode 100644
index 0000000000000000000000000000000000000000..17301a7db1c5647666a62fe408def12266f73601
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--qdcdkjz.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--qdcdkjz.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ab4d473d8032531501e84f5dac03a4c771c844
--- /dev/null
+++ b/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": {
+  "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": 1853,
+   "submitted_actions": 1853,
+   "sim_steps": 1853,
+   "physics_steps": 18530,
+   "sim_time_s": 46.32499999999844,
+   "final_reward": 0.0,
+   "replay_wall_s": 234.9,
+   "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": 0,
+   "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--tq68vkr.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--tq68vkr.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3314e5754a6ce1738fd2eb9df8a5a87715ef255
--- /dev/null
+++ b/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,
+   "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": 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,
+   "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": 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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "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",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--wjjsber.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--wjjsber.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a64356f1ec43b95d7caf95d1ca80ecc0f1b46df
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--ynmqccz.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--ynmqccz.json
new file mode 100644
index 0000000000000000000000000000000000000000..8de2064c82864a37d4ca13edd5bc089b544ece85
--- /dev/null
+++ b/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": [
+   {
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+    "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--aqcptzx.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--aqcptzx.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6389d2f2dac0abdad5fca7778870386276a9fab
--- /dev/null
+++ b/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": {
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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,
+   "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,
+   "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-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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--f7afucb.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--f7afucb.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd57d4f662ca298e8d14078ddb1fe2ee941ea1da
--- /dev/null
+++ b/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": {
+  "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": 4373,
+   "live_rows": 4373,
+   "sim_steps": 4373,
+   "physics_steps": 43730,
+   "steps": 2041,
+   "elapsed_s": 10537.9,
+   "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-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": [
+   {
+    "stage": "traj",
+    "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": {
+   "run_json_sha256": "087233108883ef85480cefa4373fd2c8bfc402e35f4c65a6190f4c66cd098b21",
+   "video_sha256": "4948de49d0e1cd5e7eb8ed60c47f10dc29cd5b80b82dba7d024ee1b7e0c6bbfa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--htwjyda.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--htwjyda.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a35cb19d42365f0a516036b66a450b3d49669d
--- /dev/null
+++ b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--htwjyda.json
@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--htwjyda",
+ "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": 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,
+   "replay_wall_s": 2521.7,
+   "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": 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-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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:16:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--htwjyda/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--htwjyda/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a58995dcf1c70fad0b0b7fa136c52c1f61b6cfa3a560b82c10c47b2c394b26f1",
+   "video_sha256": "60c18add3a9bd6688c4ac7418b718cddd389355476a47d889d30f0ecea8a5d5b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--nxsv7uw.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--nxsv7uw.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d20391bf091048a397703f77ddc4f2326589745
--- /dev/null
+++ b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--nxsv7uw.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--nxsv7uw",
+ "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": 19,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 13761,
+   "live_rows": 13761,
+   "sim_steps": 13761,
+   "physics_steps": 137610,
+   "steps": 12490,
+   "elapsed_s": 10802.9,
+   "replay_wall_s": 821.8,
+   "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": 0.71,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.388,
+   "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"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--rdrwh3h.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--rdrwh3h.json
new file mode 100644
index 0000000000000000000000000000000000000000..9005d4cfd090ab5404edcbcf1a472e42afde78e1
--- /dev/null
+++ b/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": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:43:52Z",
+  "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-cast-coil-06-i01-standard--rdrwh3h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--rdrwh3h/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--rdrwh3h/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--rdrwh3h/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7e5c0fb56b2fa8fd09f9d2bc8f0450290ceff0ceb0fee6b9f30fa751b2df5ec8",
+   "video_sha256": "52eb9581e9a956c6fdb63f41326ab6afc01f0d6dddde269b9d0862b7cef40366",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--uvrb8dy.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--uvrb8dy.json
new file mode 100644
index 0000000000000000000000000000000000000000..103ed82d89e4fd71257d8a0d1bd3bbde38e60e16
--- /dev/null
+++ b/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",
+ "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": 4364,
+   "live_rows": 4364,
+   "sim_steps": 4364,
+   "physics_steps": 43640,
+   "steps": 3605,
+   "elapsed_s": 10894.8,
+   "replay_wall_s": 318.1,
+   "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": 0.29,
+   "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。这是装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": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:27:49Z",
+  "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-standard--uvrb8dy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--uvrb8dy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7661439f3052e9c2745f918fa5d2216f6c7c4f566166611c25674f09084758dd",
+   "video_sha256": "447c563deb943d4a246dbfb4d0b9f518f400b5dc994e23288607d3abb06189a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zcqfcax.json b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zcqfcax.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdda2a1abed084813fa35582ff70126e0c150fd3
--- /dev/null
+++ b/phase2/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zcqfcax.json
@@ -0,0 +1,200 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--zcqfcax",
+ "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,
+   "live_success": 1,
+   "replay_success": 1,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 45475,
+   "live_rows": 45475,
+   "sim_steps": 45475,
+   "physics_steps": 454743,
+   "steps": 6969,
+   "elapsed_s": 8682.2,
+   "replay_wall_s": 4122.2,
+   "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": 0.57,
+   "peak_processes": 11,
+   "peak_disk_gb": 5.879,
+   "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--zcqfcax/replay.mp4",
+  "duration_s": 1136.933,
+  "fps": 15.0,
+  "frames": 17054,
+  "sha256": "df2b2ee8d08dfd4a288e6531fd86f7856c407f73dfee31cd35476337f22193a7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      1136.8,
+      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，各自直立于桌面，二者明显分离，装配节点初始不成立。"
+     },
+     {
+      "t": 240.0,
+      "log_step": null,
+      "text_zh": "观察：视频 240.0 s，左夹爪夹住银件、右夹爪夹住上方金件，两件已离开各自初始位置，双臂各持一件进行相对定位；两件尚未嵌成四层整体。"
+     },
+     {
+      "t": 1133.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1125.0–1133.0 s，金银框片已交替嵌成紧凑四层并放在桌面附近，但夹爪仍紧邻框片；视频 1133.5–1136.87 s，已张开的左右夹爪向两侧退开，金银整体保持直立，未见散开或明显移位。"
+     },
+     {
+      "t": 1136.8,
+      "log_step": 341,
+      "text_zh": "观察：视频 1136.8 s 及末帧视频 1136.87 s，金银四层整体在桌面上直立，两侧夹爪均已松开并留出可见间隙；log step 341 中机器人服务的末次动作结果为 done=True、reason=success。inputs/run.json 的评分器字段 success、live_success、replay_success、deterministic、live_matches_replay 均为1，review_events为0。"
+     },
+     {
+      "t": 1136.8,
+      "log_step": 341,
+      "text_zh": "推断：结合末段视频的释放、退离和稳定外观，以及 log step 341 的服务成功验收，将含连续0.5秒确认的完整装配节点达成锚定在视频约 1136.8 s，时刻误差约0.5秒；此后至视频结束保持成立。毫米级相对误差、全机器人5毫米净距及速度和漂移阈值由成功验收支持，画面不能逐项精测；未用agent工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 240.0 s 可见左二指夹爪夹住银件、右二指夹爪夹住金件，双臂各持一件配合定位；后续双臂持续调节两件的相对位置及转角，并将嵌合整体放到桌面。早段右爪单独抓取金件及换抓、视频约 922–952 s 左爪暂时退出后重新夹住银件，是此装配过程中的先后操作；视频 1133.5–1136.87 s 两爪张开并退离。"
+     }
+    ]
+   }
+  },
+  "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": "机器人通过换抓和双臂各持一件的相对平移、旋转，将金银线圈嵌成四层整体，落桌后松爪并退开，唯一装配节点在视频约 1136.8 s 完成，终态为1/1。服务在 log step 341 返回成功，评分器确认在线与回放均成功且无深接触复核事件；没有失败断点。缺少状态日志，毫米级误差、速度、净距及连续0.5秒确认无法由图像独立精测，节点终态依据画面与服务、评分器联合判断，达成时间误差约0.5秒；三项原生指标未在评分器结果中报告，均记为null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功运行：1130 s 夹爪仍贴着框片，1136.8 s 两爪张开退开，金银四层整体直立于桌面，与评分器成功字段一致；时间、接触（双臂协作+抓握）和无失败断点均成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:40:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--zcqfcax/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--zcqfcax/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "43bd6a901db755c66b61fb997a5b76928c7904af16ccaf7795e6af8ff281628a",
+   "video_sha256": "df2b2ee8d08dfd4a288e6531fd86f7856c407f73dfee31cd35476337f22193a7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--enxn8pg.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--enxn8pg.json
new file mode 100644
index 0000000000000000000000000000000000000000..723e32d8ebc849314c116d5beced55ff4f9a1afc
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--enxn8pg.json
@@ -0,0 +1,591 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--enxn8pg",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 440,
+   "submitted_actions": 440,
+   "sim_steps": 440,
+   "physics_steps": 4400,
+   "sim_time_s": 11.000000000000089,
+   "final_reward": 0.0,
+   "replay_wall_s": 242.3,
+   "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": 26,
+   "agent_sim_steps": 0,
+   "agent_records": 9,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.717,
+   "peak_memory_gb": 1.493,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.91,
+   "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-fiber-bundling-06-i01-privileged--enxn8pg/replay.mp4",
+  "duration_s": 11.067,
+  "fps": 15.0,
+  "frames": 166,
+  "sha256": "5e30c415fb7ba98a79ed88e599ad6f9f41bfb5824b5d1b96980067fde5d58db1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少1根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少2根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少3根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少4根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少5根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少6根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少7根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少8根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少9根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少10根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少11根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少12根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少13根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少14根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少15根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "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，彩色细纤维在黑色护套前端散开，位于固定铜环的入口一侧，尚未完整穿过环孔。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "推断：视频 5.0–9.8 s 每约0.2秒的腕部画面及视频 10.0–11.0 s 逐帧画面显示，机器人夹持护套前送后，彩色纤维向环两侧散开，共同根部仍在环前缘附近，未完整清出出口；没有一根满足从尖端到根部全部过环的条件，因此“至少16根”全程不成立。主视角亦未见护套前脸越到环外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色粗护套及其彩色纤维分叉面位于铜环入口侧，铜环没有套到粗护套后方。"
+     },
+     {
+      "t": 10.93,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–11.0 s 机器人握着护套向环口前送并略微降低，主视角和腕部视角仍显示黑色护套前缘在环前/环口附近，彩色分叉根部没有整体清出；未出现成功参考视频 32.2 s 中铜环套在黑色护套后方、彩色纤维集中伸到出口外的几何关系。参考只用于辨认完成线索，不作为本次进度证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–5.5 s Panda 单臂的二指夹爪在黑色粗护套两侧合拢；视频约 5.8–11.0 s 护套随夹爪向铜环前送并微调，夹爪持续夹住护套，借同一护套带动整束彩色细纤维。此接触用于整束穿环尝试，并非逐根直接抓取细纤维。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 8.0,
+   "log_step": 292,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.0–8.0 s 机器人持护套继续向铜环送线，细纤维在环口两侧越来越散，根部仍未清出；视频 8.0–11.0 s 的小幅侧移和降低也没有完成任何一根。日志 log step 286 重置后开始本次录制，log step 292、294 的进一步前伸均报逆解失败；log step 297 保存404行前缀，log step 299 在同一状态继续录36行并合成440行，符合评分器 submitted_actions=440。断点取整束尝试中首个未完成的纤维计数节点。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "够不着",
+    "t": 8.0,
+    "log_step": 292,
+    "evidence_zh": "推断：视频约 8.0–11.0 s 夹爪持护套停留在环入口附近，无法继续把纤维根部送出环口。该交付对应的 log step 292 向TCP目标[0.19,-0.24,1.18]前伸时，在中间目标[0.185,-0.24,1.18]报IK失败、位置残差9.0毫米；log step 294 降低后再前伸仍报8.0毫米残差。故所用抓持姿态和向下朝向下的前伸目标未能到达；不据此声称所有姿态均不可达。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 8.0,
+    "log_step": 295,
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人已经建立护套抓握并实际向正确的铜环推进（视频约 5.8–11.0 s），但保持当前向下夹爪朝向的后续轨迹没有解出足够前伸的关节配置。log step 292、294 的move_ee因逆解残差超限中断，log step 295 对更前方TCP目标[0.21,-0.25,1.18]换4个初值求解全部ok=False，位置残差约33–58毫米；log step 299 只实现降低后的TCP x≈0.177并保存。证据支持当前轨迹/逆解处理未完成推进，不支持任务无合法解或错误感知。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法恢复16根纤维各11个材料点的有效穿环历史、精确接触对及弯曲角；但共同根部尚未清出出口的可见几何已足以判定这些节点为false。视频中的纤维散开可能伴随环缘接触，缺少力/接触记录，未另判碰撞或接触力异常。日志包含26次重置及多次其他姿态试验，本标注仅将最后重置后保存的440行动作与本次视频对应，较早测试的纤维触爪等失败没有移入本次现象；未把agent工作时间换成视频时间。"
+ },
+ "summary_zh": "机器人在本次视频中用二指夹爪夹住黑色护套并向铜环推进，纤维在环口两侧散开，至视频 11.0 s 根部及护套前缘仍未完整清出，最终0/17节点达成。断点为第1根纤维过环的操作中：当前夹持朝向下继续前伸的多次逆解失败，末段侧移和降低未补足行程。缺少逐帧状态和接触记录，材料点历史及环缘接触细节不能精确复原；节点判定依据本次视频的未清出几何，未以零评分代替观察。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "17个节点全程未达成与视频一致（视频 11.0 s 主视角与腕部视角：护套前缘与纤维根部仍在环口，纤维向两侧散开，未见成功参考视频 30 s 处铜环套在护套后方的几何）；contact_actual 抓握正确，断点 fibers_through_1 / 操作中合理，时间钟与 log step（286–299、440 行）核对无误。够不着/轨迹或逆解为推断且已标明，未发现必须修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:39:31Z",
+  "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-fiber-bundling-06-i01-privileged--enxn8pg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--enxn8pg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f84345a940f72a6796ffaecdfec036487fdd0d9599aa0a7a48333aac986d995",
+   "video_sha256": "5e30c415fb7ba98a79ed88e599ad6f9f41bfb5824b5d1b96980067fde5d58db1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--ftu6pns.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--ftu6pns.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdecdfa75a62025351b779305973ab513648d34b
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--ftu6pns.json
@@ -0,0 +1,679 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--ftu6pns",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1933,
+   "submitted_actions": 1933,
+   "sim_steps": 1933,
+   "physics_steps": 19330,
+   "sim_time_s": 48.324999999998326,
+   "final_reward": 0.0,
+   "replay_wall_s": 999.6,
+   "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": 19,
+   "agent_resets": 24,
+   "agent_sim_steps": 12237,
+   "agent_records": 7,
+   "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-fiber-bundling-06-i01-privileged--ftu6pns/replay.mp4",
+  "duration_s": 48.4,
+  "fps": 15.0,
+  "frames": 726,
+  "sha256": "182bea802d2802312410182ac75ffbc7a86771afc2a8f2794e5e3845baf9aaec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少1根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第1根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少2根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第2根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少3根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第3根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少4根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第4根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少5根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第5根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少6根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第6根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少7根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第7根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少8根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第8根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少9根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第9根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少10根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第10根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少11根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第11根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少12根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第12根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少13根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第13根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少14根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第14根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少15根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第15根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 逐帧检查，彩色纤维根部仍连接铜环入口侧的黑色粗护套；视频约 0.6–0.9 s 整束前端向左下方弯折，夹爪未带着护套穿环。未出现至少16根纤维连根清出出口的状态。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频约 2–46 s 每隔约2秒检查、视频 44–48 s 每隔约0.5秒检查，以及视频 48.33 s 末帧，线束均垂在左侧支架前，金色铜环孔保持空着；纤维根部没有移到出口侧。第16根过环计数节点从未成立。"
+     },
+     {
+      "t": 48.33,
+      "log_step": 133,
+      "text_zh": "观察：log step 133 的生成会话输出列出两根纤维各11点到达 stage 2，log step 138 的 agent 总结也声称两根完成；评分视频 48.33 s 却显示整束仍在铜环左侧，不能将该会话结果记为评分回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.67,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色前护套在铜环入口侧；视频 0.53–0.93 s 夹爪掠过时，前端向下弯折，未穿过环孔。"
+     },
+     {
+      "t": 48.33,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0 s、44–48 s 密集抽帧及48.33 s 末帧，黑色护套前端和彩色根部一直在左侧支架下方，金色铜环单独留在右侧，未套在粗护套后方；参考成功视频 31.8 s 则清楚显示铜环套住粗护套、纤维根部在出口外。本次该视觉条件始终不存在。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 0.53–0.73 s，Panda 的 Robotiq 二指夹爪掠过黑色粗护套前段，护套随之由近水平向下折落，符合短暂推碰；未见两指相向包夹并带走护套。此为同一次整束穿环尝试的间接作用，不表示夹爪逐根接触细纤维；视频约 1–48.33 s 夹爪空移，未建立抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 0.6,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0–0.93 s，机器人夹爪从空手状态移动到线束前段，掠过粗护套时使其向下弯折，未形成稳定夹持；视频约 2–46 s 以及48.33 s 仍是夹爪空移、整束留在铜环入口侧，没有修复首次穿环所需的夹持。log step 127 的交付脚本把到达抓取位、闭爪及等待 object_in_hand 全部放在 record_start() 之前。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 0.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.0–1.0 s 逐帧中，夹爪只掠过并推碰粗护套，护套前端向左下方折落，未被相向指垫夹持和带走；视频 40.0 s、47.0–48.33 s 仍可见空夹爪与垂下的护套分离。这里未建立的是穿环必需的抓握，短暂推碰不等于成功抓住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 127,
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：log step 127 的最终 gen.py 在 reset() 后先移动到护套、闭爪并确认 object_in_hand，之后才调用 record_start()；record_stop() 到 save_trajectory() 之间没有补入这段准备动作，也没有调用 replay() 验收。log step 133 的会话走了2208个仿真步却只保存1933行动，log step 134 仅检查文件键、形状与有限值；inputs/run.json 的评分器字段 n_actions=sim_steps=1933、agent_replays=0、deterministic=1。评分视频 0.0–0.93 s 的初始空手移动及视频 48.33 s 的零穿环结果，与遗漏抓取准备相符；会话中两根完成的结果因录制起点错误没有被交付重放复现。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供本次及成功参考视频、运行日志，但没有 states.jsonl；maximum_bend_deg 也未由评分器报告。推断：视频可判定所有根部与前护套均未过环，故节点为 false；开头短暂推碰的具体接触对和接触力无法逐子步核实，也无法恢复16根纤维各11点的过环历史。log step 133、138 的两根完成只描述录制会话，和评分视频矛盾，以评分视频为准。"
+ },
+ "summary_zh": "评分回放最终为0/17：机器人开头掠过并推碰粗护套后一直空手移动，16根纤维及前护套都没有完成穿环。断点是首次纤维穿环所需的抓握未建立；log step 127 把抓取准备放在录制开始前，造成交付回放无法复现会话所报的两根完成。缺少逐帧状态与接触记录，短暂推碰及录制错误的物理后果由视频和交付脚本共同推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分回放全程未过环（0/17），与视频一致：开头夹爪从空手移向并掠过粗护套，之后空移，护套垂在左侧支架前、铜环空着。断点 fibers_through_1、现象“没建立接触”、根因“交付操作出错”均有证据支持：gen.py（log step 127）把抓取与 object_in_hand 放在 record_start() 之前，log step 133 显示会话 2208 步而只保存 1933 个动作，评分器 n_actions=1933、agent_replays=0。log_step 引用使用 steps[].id，符合规范。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": "2026-10-30T23:25:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--ftu6pns/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--ftu6pns/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "757aa2213d6e159b40e2eb89c5de20bd1467ee123a68f54e8162e8ed9b59b875",
+   "video_sha256": "182bea802d2802312410182ac75ffbc7a86771afc2a8f2794e5e3845baf9aaec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--i2rrxyt.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--i2rrxyt.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a2972f4ea524a7758bdbeaeaf17a4989359400
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--i2rrxyt.json
@@ -0,0 +1,725 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--i2rrxyt",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1292,
+   "submitted_actions": 1292,
+   "sim_steps": 1292,
+   "physics_steps": 12917,
+   "sim_time_s": 32.29249999999924,
+   "final_reward": 1.0,
+   "replay_wall_s": 1223.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1292,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.024,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.063,
+   "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-fiber-bundling-06-i01-privileged--i2rrxyt/replay.mp4",
+  "duration_s": 32.4,
+  "fps": 15.0,
+  "frames": 486,
+  "sha256": "6bdf1b9454ffe1a781355d8f070cc343a005ccc8bc1d81991be46126f18a67c7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 17,
+  "final": 17,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少1根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少2根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少3根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少4根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少5根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少6根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少7根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少8根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少9根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少10根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少11根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少12根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少13根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少14根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少15根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维在铜环入口侧散开，黑色护套前缘与铜环有明显间距；尚无整根纤维清出出口。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "推断：视频 30.4–31.6 s，机器人夹持护套向环孔推进，彩色纤维先从孔中伸出，随后根部接近并越过环平面；视频 31.73–32.33 s，纤维束根部及护套前缘均在出口侧，未见回退。结合本次评分器 success=1、all_success=1、strict_goal_reached=1，至少16根纤维满足完整过环及弯曲验收，终值为真；该计数节点统一以视频约 31.7 s 为达成锚点，误差约 0.2 s。纤维重叠，无法从画面区分各根的微小先后或恢复全部11点历史；此时间是视觉近似而非逐根日志读数。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，铜环位于粗护套前缘后方，彩色细纤维留在出口侧，机器人仍夹持护套，后端连着左侧设备；log step 159 记录沿历史父链提取并保存 1–1292 共1292行控制目标，评分器 submitted_actions=1292、replays=2、deterministic=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，粗护套前缘在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 31.8,
+      "log_step": null,
+      "text_zh": "推断：视频 31.47 s，铜环仍围住纤维根部附近；视频 31.73–31.87 s，机器人持续夹持并推进黑色护套，铜环转而套在粗护套上，护套前缘露在出口侧，视频 32.0–32.33 s 保持该关系。将前护套完整清出记在视频约 31.8 s（约 0.2 s 精度）；16毫米清出阈值及共同0.5秒确认由本次评分器 success=1、strict_goal_reached=1、success_in_hold_only=0 支持，画面没有毫米标尺。"
+     },
+     {
+      "t": 32.33,
+      "log_step": 159,
+      "text_zh": "观察：视频 32.33 s，机器人夹爪仍包夹黑色粗护套，铜环在其前缘后方，后端黑色线缆仍连接左侧青色设备；log step 159 记录1292行提交文件已保存，之后 log step 160 才出现模型过滤提示。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–32.33 s，Panda 单臂的二指夹爪夹住黑色粗护套并带动线束移动；腕部视角可见两侧夹指包夹护套，细纤维位于夹持点前方。机器人持套反复沿铜环周围移动理束，最后持套向环孔推进；无第二只手或移动底盘参与。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹持黑色粗护套，反复沿铜环周围理束后向环孔推进，16根纤维约在视频 31.7 s 完整过环，前护套约在视频 31.8 s 清出，最终17/17节点成立，评分器两次重放成功且在提交行内达到严格目标。视频 32.0–32.33 s 显示机器人继续持套、纤维和护套前缘留在出口侧，后端仍连接锚定设备；log step 159 已保存交付，随后 log step 160 的模型过滤不改变成功结果。无状态日志且细纤维重叠，逐根11点历史、精确弯曲阈值和共同确认窗口依评分器成功判定，完成时刻为视觉近似，maximum_bend_deg 在评分器字段中未报告。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，17个节点终值为真、约31.7–31.8 s 达成与帧一致（31.5 s 腕部视角环尚在纤维尖端，32.0–32.3 s 环已套在束上）；接触为单夹爪抓握护套，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": "2026-10-30T23:30:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--i2rrxyt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--i2rrxyt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dce0bb1460dc12fec080a17a5626813757e39fd1f661c17bd6821bcf18f4e2a3",
+   "video_sha256": "6bdf1b9454ffe1a781355d8f070cc343a005ccc8bc1d81991be46126f18a67c7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--nugpefc.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--nugpefc.json
new file mode 100644
index 0000000000000000000000000000000000000000..377f8ca89a64d7440a976ae47af809b75764752e
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--nugpefc.json
@@ -0,0 +1,528 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--nugpefc",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 414,
+   "submitted_actions": 414,
+   "sim_steps": 414,
+   "physics_steps": 4140,
+   "sim_time_s": 10.35000000000008,
+   "final_reward": 0.0,
+   "replay_wall_s": 207.9,
+   "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": 7,
+   "agent_resets": 39,
+   "agent_sim_steps": 5174,
+   "agent_records": 19,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.548,
+   "peak_memory_gb": 2.118,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.043,
+   "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-fiber-bundling-06-i01-privileged--nugpefc/replay.mp4",
+  "duration_s": 10.4,
+  "fps": 15.0,
+  "frames": 156,
+  "sha256": "a308d93f10e36dde644ae5c8b2c699da7e1266f721faf8b3cc5935f8812d5a07"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4.4 s 纤维仍在环入口；视频 5.6 s 夹爪已夹持护套推进，但腕部画面中纤维扇位于环孔左侧。视频 8.8、9.4–10.33 s 可见根部集中在黑色护套前缘，仍在孔旁，部分细丝横跨或绕过环边，没有一根从尖端到根部完整清出出口的可见结果。"
+     },
+     {
+      "t": 10.33,
+      "log_step": 239,
+      "text_zh": "推断：结合全程主视角、反向视角及腕部画面，根部未完整过孔，故合格纤维数为0。log step 239 对同一414行交付文件的两次重放均报告 success=false、progress=0.0，与视频相符；不是仅由零分推断未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少2根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少3根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少4根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少5根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少6根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少7根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少8根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少9根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少10根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少11根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少12根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少13根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少14根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少15根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：视频 0–10.33 s 的主视角及腕部画面显示这次整束推进未使任何纤维根部完整清出环孔；视频 5.6、8.8、9.4–10.33 s 纤维在孔旁散开，未出现完整穿环结果。因此“至少16根合格”全程不成立；按数量计，不绑定颜色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "观察：视频 5.6–10.33 s 黑色护套前缘一直在铜环孔旁，腕部画面清楚显示铜环偏在护套右侧，没有套到粗护套上。视频 10.33 s 主视角亦未见护套前端完整穿孔；成功参考视频 32.33 s 则能看见铜环环绕粗护套，仅用此参考辨认到位外观。"
+     },
+     {
+      "t": 10.33,
+      "log_step": null,
+      "text_zh": "推断：本次视频全程没有护套分叉面经孔并完整清出出口的状态，故前护套过环未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–10.33 s，Panda 单臂的二指夹爪合拢夹持黑色粗护套并向铜环推进，整束细纤维随护套移动；此共同穿环尝试作用于全部纤维和前护套。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 5.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.6 s，机器人夹持粗护套前送时，纤维扇从铜环孔左侧偏过；后续视频 8.8–10.33 s 纤维继续散开，根部没有完整过孔。整束推进同时尝试16根纤维及前护套，以最先未完成的计数节点“第1根纤维过环”为断点，之后未修复。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.6 s 腕部画面中铜环已偏在纤维扇右侧；视频 8.8–10.33 s 多根纤维从孔旁伸出并向外散开，黑色护套分叉面也停在孔旁。机器人虽持续持束前送，却没有将根部送过孔并清出出口。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 5.6,
+    "log_step": 192,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 192 是生成最终414行交付文件的脚本，夹取TCP的y坐标刻意设为环轴加21毫米，随后12次前送始终固定y、z和姿态；脚本说明该偏置仅利用朝向环轴的部分纤维，没有收拢其余纤维的动作。视频 5.6–10.33 s 确认偏置接近后纤维和根部从孔旁散开，说明本次接触布局不能把整束导入环孔。log step 195、239、256 确认交付和重放的是此414行文件；其他会话实验不计为本次进度。未验证同一冻结实例下可行的替代接触方案。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法精确恢复16根纤维各11点的过环历史、毫米级出口距离或最大弯曲角；原生 maximum_bend_deg 未在评分器字段中报告。节点依据本次多视角视频中根部及护套未完整过孔的外观判断，未将会话实验的部分过环读数计入交付。"
+ },
+ "summary_zh": "机器人夹住粗护套并前送，但纤维从环孔旁散开，根部和前护套均未完整过孔，17个节点最终全部未达成。断点为视频约 5.6 s 的第1根纤维过环：偏置推进的接触布局未能将线束导入环孔，表现为位姿不准。交付文件两次重放均失败且一致；无状态日志，不能恢复全部材料点历史和精确弯曲角。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "全部17个节点未达成与视频一致（视频 8.8、10.2 s 纤维仍在环孔旁，环套在纤维上但根部和护套未过孔；log step 239 两次重放 progress=0.0）。断点、位姿不准、抓取和接触设计（有 log step 192 脚本依据、alt_feasible 未知）均有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:39:15Z",
+  "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-fiber-bundling-06-i01-privileged--nugpefc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--nugpefc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3d9c01374af458807538c86b4204acfebd6f48743bcbe188fcc501ac815f9399",
+   "video_sha256": "a308d93f10e36dde644ae5c8b2c699da7e1266f721faf8b3cc5935f8812d5a07",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--v2txx4l.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--v2txx4l.json
new file mode 100644
index 0000000000000000000000000000000000000000..147ab19d8d2d5817c3871d4858ea6145ed34bdc6
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--v2txx4l.json
@@ -0,0 +1,685 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--v2txx4l",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1302,
+   "submitted_actions": 1302,
+   "sim_steps": 1302,
+   "physics_steps": 13015,
+   "sim_time_s": 32.53749999999923,
+   "final_reward": 0.0,
+   "replay_wall_s": 1028.6,
+   "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": 10,
+   "agent_resets": 32,
+   "agent_sim_steps": 1302,
+   "agent_records": 8,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.548,
+   "peak_memory_gb": 1.491,
+   "peak_processes": 26,
+   "peak_disk_gb": 0.369,
+   "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-fiber-bundling-06-i01-privileged--v2txx4l/replay.mp4",
+  "duration_s": 32.6,
+  "fps": 15.0,
+  "frames": 489,
+  "sha256": "c926a5515c82601a32f9f5152512fa84ed054544cd238e3ab09d736e158bd9d1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第1根按至少1根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少1根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第2根按至少2根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少2根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第3根按至少3根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少3根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第4根按至少4根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少4根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第5根按至少5根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少5根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第6根按至少6根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少6根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第7根按至少7根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少7根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第8根按至少8根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少8根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第9根按至少9根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少9根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第10根按至少10根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少10根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第11根按至少11根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少11根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第12根按至少12根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少12根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第13根按至少13根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少13根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第14根按至少14根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少14根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第15根按至少15根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少15根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，16根彩色细纤维及黑色护套前端均在铜环入口一侧，机器人尚未夹持；没有整根纤维清出出口。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": 134,
+      "text_zh": "推断：第16根按至少16根合格计数。视频截至 32.53 s 仍未见纤维分叉根部完整越过出口管口，故不满足整根所有点清出出口的判据；log step 134 仅打印10根的材料点历史阶段和为22，并未报告这些根部的出口距离或逐根弯曲验收值，不能据此将至少16根合格记为已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色前护套在铜环入口侧，彩色分叉端朝向铜环。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "观察：视频 31.07–32.53 s 的腕部视角中，铜环逐渐移到黑色护套前缘，终帧的分叉根部仍与环管口重叠；主视角可见一束纤维伸向出口，另有纤维绕在环外并向夹爪折返，没有出现根部整体清出出口的形态。"
+     },
+     {
+      "t": 32.53,
+      "log_step": null,
+      "text_zh": "推断：视频 32.53 s 铜环仍位于护套前缘处，未出现护套前端完整清出铜环的距离；与成功参考视频 31.75–32.25 s 铜环明显套在黑色护套前缘后方的可见形态不同，故前护套过环未达。参考视频仅用于辨认完成形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–32.53 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，倾斜、绕扫并推进同一整束纤维；16根纤维与前护套均在这次整束操作中被尝试。末段有细纤维折返碰到夹爪，未将这种碰触当作抓握细纤维。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 31.9,
+   "log_step": 134,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30.5–32.53 s，机器人仍夹着粗护套向铜环推进；从视频约 31.9 s 起，环外纤维向后弯折，视频 32.4–32.53 s 已沿护套侧面伸向夹爪，整根清出出口的第一计数节点始终未达。log step 134 明确来自保存交付文件的生成过程，报告 pushed end fiber_gripper_contact 并保存1302个动作；评分记录同为1302个动作、success=0、deterministic=1。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 31.9,
+    "log_step": 134,
+    "evidence_zh": "观察：视频 31.6–32.53 s，机器人推进护套时，部分纤维没有随出口侧那束前行，而是在铜环外缘折返，末段贴到护套和夹爪附近；log step 134 的已保存轨迹生成结果报告 fiber_gripper_contact。推断：这些未穿入环孔的纤维受到环缘阻挡后折回并碰到夹爪，穿环操作因此终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 30.5,
+    "log_step": 126,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 126 的交付生成脚本在 run_reactive(plan) 后无条件调用 end_phase；log step 92 的 end_phase 先回正居中，再直推护套，只按 episode_end 停止，没有补穿漏过环的纤维的分支。来自同一次交付生成的 log step 133 在 centered 时仍有6根纤维的材料点历史阶段和为0；视频 30.5–32.53 s 也显示纤维仍分处环内、环外，机器人继续直推。推断：扫掠未将整束送入孔内就转入最终直推，缺少对漏穿纤维的回退和重新引入计划，使环外纤维被压回夹爪。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法恢复16×11个材料点的完整过环历史、精确出口距离和各根弯曲角；maximum_bend_deg 也未在评分字段中报告。节点按视频中根部仍与出口管口重叠、未整体清出的可见形态判为未达，而非由零分推断；log step 134 的10根历史阶段和为22及 log step 139 的“10根已穿过”自述不足以替代清出距离验收。末段细纤维相互重叠，具体哪一根、哪一片夹爪表面首先接触无法确定；不精确归因到控制子类。log step 135 为保存后的另一场测试，不属于交付视频；log step 136–137 的重放超时发生在交付保存之后，未作为外因截断处理。"
+ },
+ "summary_zh": "机器人夹住粗护套，倾斜扫掠整束纤维后回正并推进；有纤维穿出环孔，但视频结束时分叉根部及护套前缘仍与管口重叠，按完整清出判据最终为0/17，不能把10根的过平面历史等同于合格完成。断点为第1根纤维过环的操作中：末段环外纤维折回并碰到夹爪，交付脚本在漏穿尚未处理时继续直推是有证据的规划缺陷。缺少逐帧状态和出口距离，不能逐根复核历史与弯曲阈值。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "结果0/17与终帧一致：视频32.4 s 腕部视角中铜环仍在护套前缘、纤维根部未整体清出出口，成功标志为0；断点、接触与规划缺陷根因有证据支持，未发现需要改动的内容。",
+    "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": "2026-10-30T23:36:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--v2txx4l/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--v2txx4l/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a235bfb7a0cd106d428a0069782b64948fc37287988cb93b0b502179899ad275",
+   "video_sha256": "c926a5515c82601a32f9f5152512fa84ed054544cd238e3ab09d736e158bd9d1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--bhqfqtp.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--bhqfqtp.json
new file mode 100644
index 0000000000000000000000000000000000000000..319f271c6a1533df9624be92181e71075b328f3d
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--bhqfqtp.json
@@ -0,0 +1,681 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--bhqfqtp",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1826,
+   "live_rows": 1826,
+   "sim_steps": 1826,
+   "physics_steps": 18258,
+   "steps": 1800,
+   "elapsed_s": 3310.9,
+   "replay_wall_s": 592.4,
+   "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-fiber-bundling-06-i01-standard--bhqfqtp/replay.mp4",
+  "duration_s": 45.733,
+  "fps": 15.0,
+  "frames": 686,
+  "sha256": "1f67076b09475e63f6956ac8646abd81f214c27de2c66ca9b6216d16961f32f2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到1根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到2根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到3根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到4根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到5根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到6根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到7根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到8根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到9根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到10根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到11根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到12根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到13根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到14根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到15根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 彩色纤维从黑色护套前端散开，位于铜环入口一侧，尚未整根穿环。视频 0.0–40.0 s 的连续粗查及视频 7.5–12.5 s 的密集帧显示机器人夹住护套后反复转动和移位，纤维根部未清出环出口。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "推断：视频 41.0–45.67 s 主视角及腕部视角显示，机器人推进时纤维散布在环孔外侧，视频 44.2–45.67 s 环缘附近的纤维逐渐弯回、侧向展开，共同根部仍在护套前脸及环入口附近，未见任何一根连根部整体清出出口；故合格数未达到16根，本计数节点始终为假。成功参考视频 32.3 s 中，铜环已经套在粗护套上、彩色根部完整位于出口前方，仅作视觉对照。log step 380 的服务终止原因为 fiber_gripper_contact，未报告逐根合格计数；本判断不由零分推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色粗护套前缘在铜环入口之前，后端连接青色设备。视频 9.5–12.0 s 夹爪在护套上闭合，随后带动护套多次转动和移位。"
+     },
+     {
+      "t": 45.67,
+      "log_step": 380,
+      "text_zh": "观察：视频 41.0–45.67 s 机器人将护套朝铜环推进，末段护套分叉面停留在环入口及环缘附近，纤维在其前端向侧面弯折；铜环没有像成功参考视频 32.3 s 那样套到护套后方，未见护套前脸完整穿孔并清出出口。log step 380 服务报告细纤维触夹爪后终止；视频最后一秒内也没有补做穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.0 s 二指夹爪闭合夹住黑色粗护套；视频 12.0–45.67 s 护套前端及整束纤维随夹爪转动、移动，后端仍连在青色设备上。16根纤维和护套为同一次整体穿环尝试，共享这一实际抓握，不是逐根夹纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：实时机器人服务在 log step 380 报告 fiber_gripper_contact，即至少一根细纤维意外触及夹爪。候选“意外碰触”：记录未给出接触部位、力或滑动方向，不能细分为压/擦或推/扫，亦无细纤维被对向夹持的证据；此为共同推进尝试的接触，不代表16根均分别触爪。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 44.2,
+   "log_step": 380,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41.0–44.0 s 机器人持护套向铜环推进，纤维仍散在孔外；视频约 44.2 s 起，环缘附近的纤维明显向侧面及夹爪方向弯折，至视频 45.67 s 没有整根纤维连根部清出出口。log step 372 的脚本和 log step 374 的阶段说明均表明机器人正在整束推进穿环；log step 380 中实时服务报告 done=True、reason=fiber_gripper_contact。推断：整束尝试在尚未完成第1根纤维过环时失败，因此断点取该计数链首节点；终止规则本身不是步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 44.2,
+    "log_step": 380,
+    "evidence_zh": "观察：视频 43.5–45.67 s 腕部画面显示铜环位于纤维束侧方，推进过程中纤维在金色环缘处弯折，越来越多纤维横向散开、部分折向夹爪，未沿环孔轴线穿出；主视角同时可见护套前端停在环缘。log step 380 中服务报告细纤维接触夹爪而终止。推断：这里是环缘接触阻断穿入的碰撞，不是持物脱手。"
+   }
+  ],
+  "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：夹住护套后采用的整束入孔接触几何不适配散开的纤维。log step 372 的控制脚本在转腕后保持固定姿态，沿世界坐标+X整束推进；视频 41.0–43.5 s 已可见纤维分布在环孔外侧，视频 44.2–45.67 s 继续推进把它们弯向侧面及夹爪，最终由服务在 log step 380 确认细纤维触夹爪。该归因针对入孔时的物体与环缘布局，不能从已有记录断定某个数值参数或具体夹持点单独致因；没有在本次受扰状态验证替代接触方案。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，实时服务也未报告逐根11点过环历史、精确出口距离或 maximum_bend_deg；视觉可据根部未清出出口判定未达成，但不能复原所有材料点历史或给出原生弯曲角数值。log step 380 只确认细纤维触夹爪，不区分纤维身份、具体夹爪部位和触碰子步；视频约 44.2 s 为可见弯折的导航锚点，不宣称是服务首次违规触碰的精确时刻。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "机器人夹住黑色粗护套，带动整束纤维多次转动、移位并向铜环推进，但未见任何整根纤维连同根部清出出口，前护套也未完整过环，最终为0/17。视频约 44.2–45.67 s 纤维在环缘处弯折并向侧面及夹爪展开，服务在 log step 380 报告 fiber_gripper_contact 后终止；进入环孔时的接触几何不匹配为有画面和脚本支持的控制根因推断。无状态日志及逐根历史、弯曲角读数，不能精确恢复触碰子步；成功参考仅用于辨认完整过环的视觉形态。",
+ "conf": 7,
+ "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 30、40–45.6 s 主视角与腕部视角：护套前脸停在环下缘，纤维向侧面散开、个别纤维钩弯在环缘，未见纤维连根部清出出口，全部节点为假、断点在 fibers_through_1、被挡/碰撞与接触几何根因均有帧和 log step 380（服务 done=True, fiber_gripper_contact）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": "2026-10-30T23:28:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--bhqfqtp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--bhqfqtp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5765dcfb800419e79240a54bc70f1dab95196670e333506abeb355e558e17368",
+   "video_sha256": "1f67076b09475e63f6956ac8646abd81f214c27de2c66ca9b6216d16961f32f2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--e4cvxch.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--e4cvxch.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ca11133e7816149b1c8075279e9f7d573cce35
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--e4cvxch.json
@@ -0,0 +1,790 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--e4cvxch",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 24175,
+   "live_rows": 24175,
+   "sim_steps": 24175,
+   "physics_steps": 241750,
+   "steps": 8003,
+   "elapsed_s": 10235.3,
+   "replay_wall_s": 6305.2,
+   "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": 0.528,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.687,
+   "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-fiber-bundling-06-i01-standard--e4cvxch/replay.mp4",
+  "duration_s": 604.467,
+  "fps": 15.0,
+  "frames": 9067,
+  "sha256": "f8c2c3e990fd8d8bd6a810c4850ce3188d4b14f7987529b7f938f27650195528"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少1根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少2根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少3根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少4根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少5根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少6根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少7根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少8根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少9根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少10根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少11根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少12根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少13根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少14根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少15根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，彩色细纤维散开在铜环入口前，纤维根部连接的黑色护套前缘尚未到环孔。视频66–74 s，机器人未保持住护套，护套在夹指处弯折后与夹爪分离，纤维束向支架旁下摆，没有穿环。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频205–269 s的逐秒检查中，机器人移动护套使纤维靠近环口，但纤维根部和护套前缘停在环前或环上方；视频245.0 s仍可见环孔在根部下方。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，机器人继续移动护套，彩色根部从铜环上方越过；视频325.0 s的侧视图可见线束朝环的上侧伸出。此后多次提降、重夹，纤维随护套绕到环外。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s的半秒检查及视频604.4 s侧视图显示，线束从环旁向下垂落；主视角中护套与环重叠，侧视图中线束仍在环旁。结合之前根部绕过孔口的过程，合格纤维数为0，未达到至少16根完整有效穿环；不能把尖端接近孔口或绕环后到达远侧计为本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频50–65 s及后续多次重夹中，Panda单臂的二指夹爪从两侧夹住黑色粗护套，移动护套以同时带动整束细纤维尝试穿环；本节点与其他纤维计数节点共享该次整束操作。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，黑色粗护套的分叉前缘位于铜环入口前，彩色纤维向环口散开。"
+     },
+     {
+      "t": 245.0,
+      "log_step": null,
+      "text_zh": "观察：视频215.0、220.0、245.0、250.0 s，机器人带动的护套前缘停在环前或高于孔口；未出现环套到护套后方的穿越过程。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频310–335 s，护套前端随机器人推进从铜环上方经过；视频325.0 s侧视图中，护套前端与环口未同轴。"
+     },
+     {
+      "t": 604.4,
+      "log_step": null,
+      "text_zh": "推断：视频570–604.4 s中，机器人将已经位于环外上方的线束下移，导致主视角的护套与铜环重叠；视频588.0、604.4 s侧视图仍显示护套从环旁垂下，未建立前分叉面经孔穿出的历史。对照成功参考视频32.2 s的腕部视图，成功时铜环真正套在护套上；本运行未达到该节点。参考仅用于辨认几何线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪多次夹住黑色粗护套并提起、横移、推进和重新夹持；视频50–65 s及视频310–335 s可见护套随夹爪移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 68.0,
+   "log_step": 220,
+   "where": "操作中",
+   "evidence_zh": "观察：视频66–68 s，机器人两指处的黑色护套弯折，纤维前端向支架旁下摆；视频70–74 s护套与夹爪逐渐分离，视频74 s可清楚看到夹爪已空，整束没有穿过铜环。log step 212的服务开口读数为0.02376 m，log step 220及223分别为0.07535及0.0754 m。推断：早期整束操作未保持住护套；后续重夹和推进仍未使纤维根部经孔穿出，故保留第1根纤维过环为断点，视频68 s仅作滑脱过程的粗略定位。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 68.0,
+    "log_step": 223,
+    "evidence_zh": "观察：视频62–65 s护套仍处在机器人两指之间；视频66–68 s护套在夹指处弯折、彩色纤维端向支架旁甩落，视频70–74 s护套与夹爪分离，视频74 s夹爪已空。log step 212的服务开口读数为0.02376 m，log step 220及223为0.07535及0.0754 m；log step 218对准动作仍指令gripper=0.8，log step 193的实测映射及log step 10的服务说明均表明0.8为闭合方向。推断：这是原有握持丢失，属于没保持住；视频68 s为粗略定位，并非由agent时钟换算。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 68.0,
+    "log_step": 220,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频66–74 s中机器人未能在调整期间维持对护套的夹持，log step 218持续指令gripper=0.8，而log step 220及223的服务开口读数增至约0.0754 m，支持握持控制未维持预期状态，归为控制。log step 215定义offset=ax-RING_C，log step 218将同向0.9倍offset加到TCP目标，log step 220的拟合y偏差由−1.63扩大至−34.65毫米；这些是agent拟合和控制器记录，不能证明该反馈律导致护套滑脱，也不能据此把大幅甩落归因于反馈放大。抓取几何、接触载荷和驱动跟踪的具体作用尚未证实，是否存在可行替代：未知。时间核对：log step 10给出control_hz=40，log step 480的control_steps=23835及sim_time_s=595.875对应视频约595.9 s，此时视频595.5–596.0 s夹爪保持在环上方；log step 487读到23915步即597.875 s，随后log step 489的张爪停放动作与视频598–602 s夹爪离开护套并抬高相符。总24175步/40=604.375 s，与片长604.467 s接近。log step 220未打印累计控制步数，故不声称它精确对应视频68 s；该定位直接来自视频，不转换steps[].t或墙钟时间。",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有逐根纤维11个材料点的过环历史或原生maximum_bend_deg读数；视频存在细纤维相互重叠，不能精确恢复各点轨迹和角度。节点否定依据是可见根部与护套前缘未从孔内完整穿出、之后绕环的运动过程，而非仅依据总奖励0；视频片尾的主视角重叠已用侧视图核对。早期失握过程可见，但抓取几何、接触力和驱动跟踪缺少独立记录，不能判定具体控制子类或证明反馈律导致失握；拟合偏差也未由真实位姿核验。服务控制时钟已用片尾动作核对，早期log step 220没有累计步数，视频68 s只是直接观察所得的粗略定位。"
+ },
+ "summary_zh": "机器人多次实际夹持黑色护套并带动整束纤维尝试穿环，但细纤维根部和护套前缘始终未建立完整有效的过孔过程，最终0/17个节点成立。断点为第1根纤维过环：视频约68 s开始的下摆与随后护套脱离夹爪表明没保持住，控制未维持握持，但具体机制及反馈律与失握的因果关系未证实；后续重夹与推进仍绕过铜环。无状态日志，材料点历史及最大弯曲角不能精确核验；视频604.4 s侧视图确认片尾主视角的护套与环重叠不代表穿孔。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点全为false、0/17、contact_actual均有，这些判断与视频一致。问题在断点处的现象和根因：视频66–72 s护套是从夹爪中滑脱（没保持住），不是“夹着调整后位姿偏差”；根因“反馈控制”的因果证据过强。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "17个节点全为false、断点在第1根纤维过环、现象没保持住（视频66–74 s护套滑脱）与画面一致；根因停在控制并标明推断与未知，时钟映射有核对。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:45:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--e4cvxch/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--e4cvxch/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--e4cvxch/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--e4cvxch/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04a22a14e3546c213c91e738468fb48d4cc6164da7beacf34908df95194b5a12",
+   "video_sha256": "f8c2c3e990fd8d8bd6a810c4850ce3188d4b14f7987529b7f938f27650195528",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--edau5vb.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--edau5vb.json
new file mode 100644
index 0000000000000000000000000000000000000000..fed802342dcf4a4144acd6c16dec1bec0769dfc7
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--edau5vb.json
@@ -0,0 +1,621 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--edau5vb",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 596,
+   "live_rows": 596,
+   "sim_steps": 596,
+   "physics_steps": 5953,
+   "steps": 117,
+   "elapsed_s": 4513.2,
+   "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-fiber-bundling-06-i01-standard--edau5vb/replay.mp4",
+  "duration_s": 15.0,
+  "fps": 15.0,
+  "frames": 225,
+  "sha256": "5d8d7f25692f66d0a5ab2eeaafaee8559892042260a99fab1cce0843ecee6d96"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少1根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少2根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少3根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少4根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少5根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少6根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少7根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少8根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少9根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少10根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少11根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少12根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少13根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少14根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少15根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色细纤维从黑色护套前缘散开伸向铜环，根部均仍在入口侧，尚无整根清出出口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及逐帧查看的视频 12.0–14.93 s，机器人夹爪在护套与散开的纤维附近移动，彩色纤维根部始终未整体越过铜环出口；末帧仍散在环口上方。没有出现成功参考视频 32.33 s 中根部全部伸至环外、环套在黑色护套上的形态，因此“至少16根完整过环”未达成；并非根据总分为零判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色前护套停在铜环入口前方，只有散开的细纤维朝向环口。"
+     },
+     {
+      "t": 14.93,
+      "log_step": 62,
+      "text_zh": "观察：视频 6.6–7.6 s、10.0 s 及视频 12.0–14.93 s，黑色分叉前缘一直未从环孔穿出，末帧铜环仍位于纤维下方，未套到粗护套后方；成功参考视频 32.33 s 则能清楚看见铜环环绕粗护套。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.6–7.0 s，Panda 单臂的 Robotiq 二指夹爪合拢夹住黑色粗护套，护套前端及相连的整束细纤维随之小幅移动；16根纤维为同一整束的共同尝试，未逐根夹取。随后视频约 7.2 s 起夹爪张开，护套未持续随末端运动。log step 62 的机器人实时服务另记录末段发生夹爪—细纤维接触，具体接触部位与接触方式无法从画面确定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 7.2,
+   "log_step": 55,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.6–7.0 s 机器人夹爪合拢在粗护套上，视频约 7.2 s 起夹爪张开并向后移动，护套和纤维没有继续随它撤离、旋转并完整穿环；这一首次纤维过环尝试此后未完成。视频 12.0–14.93 s 机器人张开的夹爪继续靠近散开的纤维；log step 61 返回 EpisodeOver: fiber_gripper_contact，log step 62 的实时服务状态为 done=True、reason=fiber_gripper_contact、resumes=0。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.2,
+    "log_step": 55,
+    "evidence_zh": "观察：视频约 6.6–7.0 s，夹爪合拢在黑色护套上，线束前端小幅移动；视频约 7.2–7.6 s，夹爪张开向后撤，护套留在支架一带，未持续随夹爪运动。log step 48 确实先发出闭合命令，但随后的抬升及 log step 55 的位姿路径均给夹爪张开命令；没有实现计划所需的持续持束。"
+   },
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 14.93,
+    "log_step": 62,
+    "evidence_zh": "观察：视频 14.0–14.93 s，机器人张开的夹爪已移到散开的细纤维旁。该单次实时 episode 的服务在 log step 61 返回 fiber_gripper_contact，log step 62 确认 done=True、reason=fiber_gripper_contact，说明发生任务明令禁止的夹爪触碰细纤维；细纤维并未被夹握完成穿环。视频末端只是导航锚点，未将 agent 工作时间换算为视频时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的动作脚本没有维持夹爪闭合，导致最初建立的护套夹持丢失，之后仍按刚性持束关系生成移动。log step 15 的服务规格明确 open=0、closed=0.8，任何张开命令都会释放辅助抓取；log step 48 虽用0.8闭爪，却把抬升位姿的末列设成0，log step 55、61 的 pq() 也把每个 ee_pose 行末列固定为0。视频约 7.2 s 后夹爪张开，护套未随其执行预期撤离及旋转，支持这是夹爪命令执行错误；仅凭这些证据不再细分为反馈控制或参数调试。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；服务未报告逐根材料点过环历史、逐根弯曲角或 maximum_bend_deg 数值。完整过环所需的根部越出口形态在本次主视角中一直未出现，因此各节点可判未达，不留未知；但不能据图像量出全部材料点位置。末段腕部画面只显示部分纤维，不能定位触发 fiber_gripper_contact 的具体细纤维、夹爪部件及精确子步时刻。agent 在 log step 62、64 自述“环口卡住、旋转使纤维屈曲后扫到夹爪”，没有独立接触记录确认该机制，且画面及张开命令不支持持续持束旋转，故不采用该自述作为根因。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "机器人短暂夹住粗护套并尝试整束穿环，但16根纤维均未完整清出出口，前护套也未过环，终态为0/17。首次穿环操作在视频约 7.2 s 丢失持续夹持，脚本把后续位姿行的夹爪命令置为张开；末段又触碰细纤维，实时服务以 fiber_gripper_contact 结束。缺少逐帧状态与材料点历史，不能确认 agent 自述的环口卡住及屈曲机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "各 fibers_through 节点判未达成及 final=0 正确，但「夹爪在约 7.2 s 张开、护套未随夹爪运动」与视频矛盾：视频 8–14.9 s 夹爪始终包住护套并带动整束离开支架、向铜环推进，细纤维在 12 s 已顶在环口。因此「没保持住」、根因「控制：夹爪命令张开」、断点 t=7.2 的依据、contact_actual 的「随后张开」描述均无画面支持，应改写。",
+    "n_issues": 4,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "独立查看主视角：视频 7.0–14.9 s 夹爪始终在支架上的护套附近，护套留在支架原位未被带走，与标注者“没保持住”相符；各 fibers_through 节点与前护套判未达成、final=0 正确，断点与违反约束有 log step 61/62 服务读数支持。第1轮评审者“夹爪持续携带护套”的说法与帧不符，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": "2026-10-30T23:46:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--edau5vb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--edau5vb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--edau5vb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--edau5vb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a342d2b9506fdef5a78587ce9e6396b5050aa09076e12981f931245969c9fbb2",
+   "video_sha256": "5d8d7f25692f66d0a5ab2eeaafaee8559892042260a99fab1cce0843ecee6d96",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--epygkk5.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--epygkk5.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b48a8cdd4bb212e2c54ba689867043c632dd90
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--epygkk5.json
@@ -0,0 +1,461 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--epygkk5",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 86,
+   "live_rows": 86,
+   "sim_steps": 86,
+   "physics_steps": 860,
+   "steps": 34,
+   "elapsed_s": 914.7,
+   "replay_wall_s": 20.9,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.221,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.268,
+   "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-fiber-bundling-06-i01-standard--epygkk5/replay.mp4",
+  "duration_s": 2.2,
+  "fps": 15.0,
+  "frames": 33,
+  "sha256": "f09ec2b7eab704ee3d40817864f053c8b99d0f0856ca1333403b5e122a0c997f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少1根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少2根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少3根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少4根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少5根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少6根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少7根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少8根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少9根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少10根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少11根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少12根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少13根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少14根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少15根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 主视角可见黑色前护套停在铜环入口一侧，彩色细纤维从护套前缘散开，根部均未穿过铜环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s（全部33帧），机器人只将张开的夹爪抬起并移向护套上方，线束和铜环相对位置未改变；视频 2.13 s 主视角及右下腕部视角仍显示纤维根部留在入口侧，未出现整根清出出口的纤维，因此“至少16根合格”从未成立。log step 31 的脚本也只提交预抓取移动，未包含闭爪或送线动作。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 黑色护套前缘与铜环之间仍隔着散开的彩色细纤维，护套未穿环。"
+     },
+     {
+      "t": 2.133,
+      "log_step": 31,
+      "text_zh": "观察：视频 0.00–2.13 s 全部33帧中，机器人张开的夹爪只移动到护套上方，未下降夹住或移动护套；视频 2.13 s 腕部视角可见黑色护套前缘仍与铜环分离，环没有套到粗护套上。log step 31 只提交预抓取移动，与录像一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 35,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–2.13 s 仅显示机器人空爪抬升并靠近护套上方，线束未被抓取或推进，未见独立的物理失败；log step 31–34 为预抓取移动和查看其末帧，log step 35 随即出现“This request was blocked by Gemini's filters”并结束会话。推断：这是正式穿环操作及最终验收完成前的提供方过滤中断，不能指定一个机器人操作失败节点；按外因中断规则记 unknown／首步前。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 35 记录模型提供方过滤中断；log step 32 仍称正在等待预抓取动作，log step 34 只查看预抓取末帧，日志没有完成穿环或结束实时episode的记录。视频 0.00–2.13 s 未见抓取、送线或独立物理失败，故不标“没尝试”、接触失败现象或机器人根因；已有预抓取录像不等于中断前已固定完整任务结果，本次应按外因截断处理并重试，不纳入机器人失败归因。输入没有状态日志，评分字段也未报告 maximum_bend_deg，不能恢复材料点过环历史、精确弯曲角或逐子步接触；但入口侧未移动的根部和护套足以判定全部节点未达。尚未开始各节点的目标接触操作，故省略 contact_actual，不套用任务级的典型抓握。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "观察：视频 0.00–2.13 s 中机器人仅空爪移动到黑色护套上方，线束未被夹起或推进，16根纤维及前护套均未过环，节点终值为0/17。观察：log step 35 出现模型提供方过滤中断，发生于穿环及最终验收完成前；保留目录评分 success=0，按外因截断记录，现象与根因留空并应重试。输入没有状态日志且未报告原生弯曲角，材料点历史及微观接触无法核验，但不影响本段视频中各节点未达的判定。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "全部17节点未达与视频一致（0 s 与 2.13 s 帧中纤维根部均在入口侧，护套未穿环）；log step 35 为提供方过滤截断且无交付，breakpoint unknown/首步前、现象与根因为空并附 gap_zh，符合 03 的外因截断规则。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:38:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--epygkk5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--epygkk5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "918ee22b598530d40dcdf47f8d07ab1330560a0630059ef1c7b5146b7710c925",
+   "video_sha256": "f09ec2b7eab704ee3d40817864f053c8b99d0f0856ca1333403b5e122a0c997f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--fgnhkbc.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--fgnhkbc.json
new file mode 100644
index 0000000000000000000000000000000000000000..76b9f25c73c8ce88df4f5b4ba65e7216f34f9dd0
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--fgnhkbc.json
@@ -0,0 +1,681 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--fgnhkbc",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 10162,
+   "live_rows": 10162,
+   "sim_steps": 10162,
+   "physics_steps": 101614,
+   "steps": 2155,
+   "elapsed_s": 7318.6,
+   "replay_wall_s": 3439.4,
+   "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": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 13.879,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.824,
+   "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-fiber-bundling-06-i01-standard--fgnhkbc/replay.mp4",
+  "duration_s": 254.133,
+  "fps": 15.0,
+  "frames": 3812,
+  "sha256": "3382a9c0b10d3970f6d2c545d433aea6f60ae4e7f968f5bfd24e4ed96af00472"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少1根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少2根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少3根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少4根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少5根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少6根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少7根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少8根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少9根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少10根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少11根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少12根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少13根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少14根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少15根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，彩色纤维从黑色护套前缘伸出，根部与护套均在铜环入口侧；初态没有完整穿出出口的纤维。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：全片按视频每约4 s粗查，并细查视频 10.0–14.0 s 的夹持推进、视频 246.0–254.06 s 的最终推进，腕部及主视角始终未出现纤维根部整体越过环出口的形态；视频 250.0 s，环仍在黑色护套前缘的前方，纤维根部留在入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 171,
+      "text_zh": "观察：视频 252.5–254.06 s，夹爪仍握护套，彩色纤维在环缘向两侧及后方弯折，根部仍连接入口侧的黑色前缘，未见根部清出出口的形态；log step 171 的服务返回 done=True、reason=fiber_gripper_contact。推断：合格数量未达到1根，因此“至少16根纤维过环”未达到；并非由 success=0 单独反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色粗护套前缘在铜环入口侧，后接头连接左侧青色设备。"
+     },
+     {
+      "t": 250.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–252.0 s 的全片粗查及末段加密检查中，机器人虽带动黑色护套多次靠近、退回及倾斜，铜环没有套到护套前缘后方；视频 250.0 s 的腕部画面仍可见护套前缘和纤维根部位于铜环入口侧。"
+     },
+     {
+      "t": 254.06,
+      "log_step": 172,
+      "text_zh": "观察：视频 254.06 s，黑色护套前缘仍未完整穿出铜环，彩色纤维在环缘散开弯回，后接头仍连着青色设备；没有成功参考视频 31.8 s 所见的铜环套在黑色护套后方的形态（参考只用于辨识视觉线索）。log step 172 的服务状态为 done=True、reason=fiber_gripper_contact，操作已终止。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–14.0 s，Panda 的 Robotiq 二指夹爪闭合夹住黑色粗护套并带动整束纤维；视频 64.0–96.0 s 可见松开、重新夹持和调姿，随后持续夹持护套反复倾斜、推进线束，16根纤维及前护套是同一次整束穿环操作的对象。log step 171、172 的机器人服务另确认末段误触细纤维；这不是对细纤维的计划抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 254.0,
+   "log_step": 171,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人反复夹持护套带动整束纤维对环推进，尚无一根纤维连根清出出口；视频 250.0–254.06 s，继续推进使多根纤维在固定铜环处向外弯回，log step 171、172 的机器人服务确认 done=True、reason=fiber_gripper_contact。推断：失败发生在仍未完成的第1根完整穿环操作中；这里的“第1根”按合格数量计，不指定颜色。终止锚点约为视频 254.0 s：log step 7 的服务规格给出40 Hz，log step 172 的 control_steps=10162，对应10162/40=254.05 s，已与视频 253.0–254.06 s 的最终推进及停止核对，未使用 agent 工作时钟换算。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 253.0,
+    "log_step": 171,
+    "evidence_zh": "观察：视频 250.0 s 的腕部画面尚见纤维向前伸展；视频 252.5–254.06 s，机器人握住护套继续靠近固定铜环，多根外侧纤维在环缘被顶向左右及夹爪方向，出现明显折返，未随护套从孔中直穿。log step 171 的服务在这次推进中返回 fiber_gripper_contact 并结束 episode；服务报告补足了细纤维与夹爪接触瞬间的遮挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 对柔性线束的导入控制未能把外张纤维收进环孔。log step 169 的实际执行脚本固定护套目标 y=-0.2499、z=0.2400 和零偏航、零俯仰，以目标x每次增加0.005 m作轴向推进，循环仅按服务 done 停止，没有根据纤维是否被环缘顶回改变推进；log step 170、171 表明该脚本确实推进至接触终止。视频 250.0–254.06 s 可见外侧纤维未入孔而弯回夹爪，agent 在 log step 175 也自述倾斜捕获不能保持、仍进行了直推。证据支持控制层归因，但不足以确定某个抓取布局、逆解器或数值参数是唯一原因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐根材料点过环历史，视频也不能恢复16×11点的有效穿越记录、精确弯曲角和接触子步；maximum_bend_deg 未由评分字段报告，故为null。未完成结论依据可见的根部及护套仍在入口侧，不依赖缺失的历史数据；夹爪误触由同一实时 episode 的服务终止原因确认，但具体是哪根纤维、哪个夹爪部位不可分辨。控制根因可确定到大类，具体子类及可行替代尚无本次运行的验证。"
+ },
+ "summary_zh": "机器人已实际夹持黑色护套，多次倾斜、扫动并推进整束纤维，但只有部分尖端接近或进入环孔，未见任何一根连根清出出口，前护套也未过环，最终为0/17。视频 252.5–254.06 s 的最后直推中，外侧纤维被铜环顶回，机器人服务在 log step 171、172 确认夹爪触碰细纤维并终止，断点为第1根纤维完整过环，根因归控制。缺少逐点穿越历史及弯曲角原生记录，具体控制子类和误触的纤维身份不能确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "0/17 与视频一致：全程抽查及末段 250–254 s 画面均未见纤维根部越过铜环，前护套未过环；时钟换算（10162/40=254.05 s）与视频时长 254.13 s 吻合；断点 fibers_through_1、控制根因停在大类（未强行定子类）均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:39:35Z",
+  "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-fiber-bundling-06-i01-standard--fgnhkbc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--fgnhkbc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ae87b54d66470b477a78c5abba5f63cd168e4c26d1e810e408070486165a8cb",
+   "video_sha256": "3382a9c0b10d3970f6d2c545d433aea6f60ae4e7f968f5bfd24e4ed96af00472",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--pwgjvce.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--pwgjvce.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35b2473755785871ac87be35ae91899d5432502
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--pwgjvce.json
@@ -0,0 +1,680 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--pwgjvce",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1845,
+   "live_rows": 1845,
+   "sim_steps": 1845,
+   "physics_steps": 18448,
+   "steps": 773,
+   "elapsed_s": 2711.5,
+   "replay_wall_s": 411.1,
+   "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-fiber-bundling-06-i01-standard--pwgjvce/replay.mp4",
+  "duration_s": 46.2,
+  "fps": 15.0,
+  "frames": 693,
+  "sha256": "613262b18004342704f762d446de681dcbcb5a9740569ab557d7dec7d4295cc0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少1根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少2根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少3根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少4根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少5根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少6根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少7根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少8根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少9根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少10根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少11根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少12根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少13根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少14根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少15根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "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，彩色细纤维由黑色护套前缘向铜环入口散开，根部仍在环入口侧。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0、30.0、32.0、34.0、36.0、38.0、40.0、42.0、44.0 s 及其间每约0.5秒的腕部画面中，黑色分叉前缘和整束纤维根部始终位于铜环入口侧；夹爪闭合、张开并前移，没有将根部送过环。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "推断：视频 45.2–46.1 s 密集帧及视频 46.13 s 末帧仍见全部纤维从入口侧的护套前缘伸向铜环，没有任何一根连同根部完整清出出口，故“至少16根合格”全程不成立；未将尖端靠近环孔当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色粗护套前缘在金色铜环入口前，后端连接左侧青色设备。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–44.0 s 机器人二指闭合夹住粗护套并尝试推进、重新张开换位置；主视角中的护套前缘没有到达铜环，腕部画面中的前缘始终在纤维根部后方、铜环入口侧。"
+     },
+     {
+      "t": 46.13,
+      "log_step": null,
+      "text_zh": "观察：视频 46.13 s 末帧粗护套前缘仍未过环，环没有套到护套后方；其后端仍连接青色设备。对照成功参考视频 32.3 s，可见完成时铜环套在粗护套外、纤维根部已在出口侧，本次未出现该关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人 Robotiq 二指在视频约 30–34 s、42–44 s 合拢于黑色粗护套两侧，借护套尝试推进整束16根细纤维及护套前缘过环，随后护套相对夹爪滑动；log step 163–164 的服务结果记录末段夹爪触碰细纤维，未见主动抓握细纤维。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 31.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 30–34 s 机器人夹住粗护套后向铜环方向移动，护套前缘却相对指垫后滑，纤维根部仍留在入口侧；视频 38–46.13 s 换位置再次闭合、推进后仍未使任何一根完整过环，末段夹爪已移到细纤维根部区域。log step 164 的机器人服务返回 done=True、reason=fiber_gripper_contact；首先未完成且始终未补成的步骤是第1根纤维过环。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 31.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 30–34 s 二指已在粗护套两侧闭合，随后腕部画面中护套前缘向指垫方向退移，主视角中的线束没有随夹爪整体向环孔推进；视频 42–46.13 s 再次夹持后，护套前缘继续退到指垫后方，细纤维根部进入指间。log step 163–164 的服务终止理由为 fiber_gripper_contact。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 30–34 s、42–46.13 s 中，机器人虽闭合二指并向前移动，却未维持能把护套与整束纤维带过环的稳定夹持。log step 102、112 的服务本体读数分别报告夹爪开口约12.9毫米和0毫米；log step 135–137 记录脚本换位置、重新闭合并试推，log step 143–157 继续小步推进，log step 158 读到开口19.7毫米，末次动作于 log step 163 被服务以细纤维接触终止。故可归于夹持与推进控制失效，现有记录不足以区分夹持几何、辅助吸附未建立或丢失、以及具体力载荷机制。"
+   }
+  ],
+  "gap_zh": "输入没有逐帧状态日志，也没有原生合格纤维计数、夹持/辅助吸附标志或失效时的接触力记录；不能验证 agent 在 log step 143 自述的“weld已建立”或在 log step 158 猜测的“超过65牛导致脱开”。视频足以判定所有根部及护套前缘未过环，并观察护套相对指垫滑动；具体失效机制及 maximum_bend_deg 未知。终止接触采用 log step 163–164 的实时服务结果，不能由末帧分辨被触碰的具体一根纤维。"
+ },
+ "summary_zh": "机器人多次以二指夹住粗护套、换位置并朝铜环推进，但纤维根部和护套前缘始终留在入口侧，最终完成0/17个节点。第1根纤维过环时的夹持未保持住，护套相对指垫滑动，末段夹爪进入细纤维根部区域，机器人服务在 log step 163–164 以 fiber_gripper_contact 终止。视频支持夹持与推进控制失效；缺少逐帧状态、辅助夹持标志和接触力，无法确认具体脱持机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧（0、28、31、34、38、42、44、46 s）显示全部纤维根部与护套前缘始终在铜环入口侧，0/17 节点未达成成立；断点在第1根纤维过环、护套相对夹爪滑脱（没保持住）与 log step 158–165 的读数一致，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": "2026-10-30T23:39:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--pwgjvce/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--pwgjvce/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d27a96f7f2bd00eadfc40bb863fd00c11928bdff12ff0b29bda0b4b388259f8a",
+   "video_sha256": "613262b18004342704f762d446de681dcbcb5a9740569ab557d7dec7d4295cc0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--qbxql73.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--qbxql73.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b272424cdf7846c6711be44d049d8cc3032e3a3
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--qbxql73.json
@@ -0,0 +1,603 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--qbxql73",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 1417,
+   "live_rows": 1417,
+   "sim_steps": 1417,
+   "physics_steps": 14161,
+   "steps": 326,
+   "elapsed_s": 1017.2,
+   "replay_wall_s": 451.4,
+   "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-fiber-bundling-06-i01-standard--qbxql73/replay.mp4",
+  "duration_s": 35.533,
+  "fps": 15.0,
+  "frames": 533,
+  "sha256": "50888e4501fcfddbd61d45ed24eb7a6dbbd3d05c96c5d1e43778a54ab90ed3ba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少1根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：log step 55中机器人服务以fiber_gripper_contact终止，确认末段夹爪接触到至少一根细纤维；此处以第1根计数节点承载整束操作的额外接触事实，不表示其余15根都被碰到。候选名称“意外触碰”：未见足以确定为抓握、推/扫或压/擦的细节，具体夹爪部位与纤维身份未知。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少2根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少3根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少4根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少5根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少6根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少7根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少8根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少9根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少10根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少11根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少12根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少13根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少14根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少15根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s的主视角和腕部视角显示，机器人夹住黑色粗护套向铜环推进，视频13.0–15.5 s仅部分纤维尖端进入环孔附近；彩色纤维根部始终留在黑色护套前缘，明显处于环的入口侧，随后机器人退回。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–26.0 s机器人斜向调整后退回并松爪，视频28.0–33.0 s重新靠近、夹住护套，视频33.0–35.467 s再次斜向移动；末帧仍见整束纤维根部和护套前缘在铜环入口侧，未出现根部从孔中清出的状态。推断：合格整根数量始终为0，故“至少16根纤维过环”从未成立；不以success=0单独判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–18.0 s机器人夹持粗护套进退，最接近铜环时仍有一段彩色纤维隔在黑色护套前缘与环之间，护套分叉面没有进入环孔。"
+     },
+     {
+      "t": 35.4,
+      "log_step": 55,
+      "text_zh": "观察：视频19.0–35.467 s机器人旋转、退回、换握后再次接近；主视角和腕部视角中的黑色护套前缘始终在铜环入口侧。对比成功参考视频31.5–32.0 s可见铜环套到黑色护套上的外观，本次从未出现该外观，前护套过环未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约6.5–25.0 s及32.0–35.4 s，Panda单臂的Robotiq二指夹爪从两侧夹住黑色粗护套，带动整束纤维平移、旋转；视频26.0–31.0 s间松开并重新定位。16根纤维和前护套的穿环为同一束的联合尝试，不表示逐根直接抓取细纤维。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 35.4,
+   "log_step": 55,
+   "where": "操作中",
+   "evidence_zh": "观察：视频33.0–35.4 s机器人抓住换握后的粗护套斜向接近铜环，纤维仍未整根过环；log step 53的脚本请求该斜向运动，log step 55的机器人服务返回done=true、reason=fiber_gripper_contact，随后视频末帧停在未穿过的姿态。推断：失败发生在整束纤维穿环操作中，按计数链取尚未完成的第1根纤维节点；视频35.4 s为末段接触终止的近似导航锚点，不由agent时间换算。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 35.4,
+    "log_step": 55,
+    "evidence_zh": "观察：本次为无重置的单次实时episode，log step 55的机器人服务返回done=true、reason=fiber_gripper_contact；该字段是服务的终止判定，而非agent自述。视频34.533–35.467 s显示机器人持护套旋转，细纤维根部紧邻夹指，终止时未完成穿环；违反“夹爪任何时候不得接触细纤维”的规则，未见足以改标为阻挡、夹持失落或异常接触力的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 35.4,
+    "log_step": 53,
+    "evidence_zh": "推断：前移换握后的夹爪与纤维分叉区之间缺少斜向运动所需的接触余量。log step 44明确选择更靠前的护套抓点，log step 48、51执行该换握，log step 53随即在保持闭爪时同时平移和转向；视频31.0–33.0 s可见夹指夹住靠近纤维根部的护套，视频33.0–35.4 s夹爪随护套斜转，log step 55确认触及细纤维。该依据支持具体握点与后续运动的接触几何不适配；未验证本实例的替代握点或路径，不归因于感知误差或安全判断。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；视频可排除整根纤维及护套完成穿环，但不能恢复全部16×11材料点的过环历史或精确弯曲角，maximum_bend_deg未在评分器字段报告。末段夹爪—细纤维的具体接触对受遮挡，接触事实依据单次实时episode的服务终止字段，具体碰触部位、受力及纤维身份未知；接触设计归因为结合换握命令、末段姿态及服务反馈的推断。"
+ },
+ "summary_zh": "机器人夹住粗护套推进、退回、旋转并换握，部分纤维尖端曾到达铜环附近，但未见任何一根纤维的根部或黑色前护套完整过环，最终0/17个节点成立。视频约35.4 s再次斜向接近时，机器人服务以fiber_gripper_contact终止；结合更靠前的换握和末段旋转，推断接触设计未给纤维分叉区留下足够余量。缺少逐帧接触对和弯曲角记录，具体碰触细节与可行替代握法无法确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：视频全程没有任何一根纤维的根部过环，17个节点均未达成；log step 55服务返回done=true、reason=fiber_gripper_contact，作为终止依据，违反约束与接触设计归因（带推断标记）合理，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:39:59Z",
+  "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-fiber-bundling-06-i01-standard--qbxql73/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--qbxql73/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d71683019b31c771f7da3fbc69389562d3534eb123874af111456bb24801d27",
+   "video_sha256": "50888e4501fcfddbd61d45ed24eb7a6dbbd3d05c96c5d1e43778a54ab90ed3ba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--yny29zq.json b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--yny29zq.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de218c614c412f02a79975c9012adb08bfa2d89
--- /dev/null
+++ b/phase2/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--yny29zq.json
@@ -0,0 +1,676 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--yny29zq",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "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": 777,
+   "live_rows": 777,
+   "sim_steps": 777,
+   "physics_steps": 7770,
+   "steps": 171,
+   "elapsed_s": 930.5,
+   "replay_wall_s": 218.2,
+   "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": 0.306,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.871,
+   "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-fiber-bundling-06-i01-standard--yny29zq/replay.mp4",
+  "duration_s": 19.533,
+  "fps": 15.0,
+  "frames": 293,
+  "sha256": "b91e02b8fba2c76de07609421fd5e3cfa8868e83944f2e4f05657332a77f0d87"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 1，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 2，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 3，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 4，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 5，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 6，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 7，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 8，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 9，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 10，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 11，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 12，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 13，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 14，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 15，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见彩色纤维及其共同连接的黑色护套前端都在铜环入口侧，尚未穿环。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–16.0 s，机器人夹住粗护套向铜环推进；彩色纤维逐渐在环口向四周张开，护套前端与纤维根部仍在入口一侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "推断：视频 17.5–19.47 s 主视角及腕部画面中，彩色纤维从护套前端在环口附近散开，根部未整体清出铜环出口；最后一秒也未出现根部越过出口的状态。因此合格根数不足 16，本计数节点未达成；此判断依据根部位置，不以评分为零代替观察。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0 s 起，Panda 单臂的 Robotiq 二指夹爪夹住黑色粗护套，两指对夹，随后护套随夹爪向铜环移动并滚转，间接带动整束纤维；视频末尾服务另报告夹爪碰到细纤维（log step 51），没有证据表明夹爪抓握了细纤维。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色粗护套前端位于铜环入口侧。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 51,
+      "text_zh": "观察：视频 16.0–19.47 s，机器人继续夹持粗护套推进并滚转，但黑色前缘只接近环口，未完整穿出出口；末帧腕部画面可见铜环仍在护套前缘处，未呈现成功参考视频 32.33 s 中铜环套在粗护套后方、纤维根部完整露出出口的关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0–19.47 s，Robotiq 二指夹爪对夹黑色粗护套并将其向铜环推进，后段保持夹持并滚转，没有松手放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 19.4,
+   "log_step": 51,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.5–19.47 s 机器人仍夹住粗护套，在铜环口推进并滚转整束纤维，根部未清出，随后运动终止。log step 51 的机器人实时服务返回 done=true、reason=fiber_gripper_contact、control_steps=777；这是服务检测到夹爪碰细纤维，并非仅有 agent 自述。推断：log step 15 的 128 个控制步对应仿真 3.2 s，即控制频率 40 Hz，777/40=19.425 s；已用视频约 17.6 s 的滚转和末尾停止核对映射。整束同时推进尚未完成第1根有效穿环，因此断点归到 fibers_through_1。"
+  },
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 19.4,
+    "log_step": 51,
+    "evidence_zh": "观察：视频 19.4 s 附近机器人夹爪贴近在环口散开的细纤维；log step 51 中实时服务明确以 fiber_gripper_contact 结束本次单局操作，违反任务规定的夹爪只能碰粗护套、不得碰任何细纤维。评分器记录 live_matches_replay=1、deterministic=1。视频不能分辨具体是哪根纤维与哪块夹爪表面接触，触碰事实依据服务判定；未见需要另标的跌落或松手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 16.0–19.47 s 可见纤维在环口向侧面及夹爪方向散开，机器人仍沿原夹持位置推进并滚转粗护套。log step 44、47、51 的控制脚本连续在保持夹紧的条件下推进并增加绕轴滚转，终点逆解均返回 ok=true，但最后一次动作仅执行6个控制步即由服务报 fiber_gripper_contact。结合可见的纤维散开及服务触碰判定，当前夹持与推进/滚转的接触几何未维持夹爪和细纤维之间的安全间隙；可行替代握法或动作在本局未被验证。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法恢复每根纤维的11点过环历史、精确弯曲角及触碰的具体连杆对；maximum_bend_deg 未由评分器报告，故保留空值。夹爪碰细纤维的事实由本次单局实时服务给出，视频只支持其发生时的几何背景；根因中的接触几何归因是结合动作代码与画面的推断，无法精确区分纤维回弯和滚转各自的贡献。根部尚未清出出口的可见位置足以否定各穿环节点。"
+ },
+ "summary_zh": "机器人实际夹住粗护套并将整束纤维推进至铜环口，但纤维逐渐散开，根部及前护套均未完整清出出口，17个节点最终均未达成。断点为第1根纤维过环的操作中：视频约 19.4 s 的推进/滚转期间，实时服务检测到夹爪碰细纤维而终止；动作与画面支持当前接触几何未留足间隙的推断。无状态日志，精确材料点历史、弯曲角及具体触碰连杆仍无法核验。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "各节点未达成、断点 fibers_through_1/操作中、违反约束（服务 fiber_gripper_contact，control_steps=777→19.4 s）均与视频和日志一致；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:34:29Z",
+  "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-fiber-bundling-06-i01-standard--yny29zq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--yny29zq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "359554b50ca1891d1727fe046237b0a0e9d7d5c496b4ec38c27d2ac7132f4dfd",
+   "video_sha256": "b91e02b8fba2c76de07609421fd5e3cfa8868e83944f2e4f05657332a77f0d87",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f.json
new file mode 100644
index 0000000000000000000000000000000000000000..c62d57f0e3fad9207de1ee1ccc3ff1b730203d51
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f.json
@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 10100,
+   "submitted_actions": 10100,
+   "sim_steps": 10100,
+   "physics_steps": 101000,
+   "sim_time_s": 252.50000000004027,
+   "final_reward": 1.0,
+   "replay_wall_s": 645.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 10100,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 5,
+   "agent_sim_steps": 25527,
+   "agent_records": 25,
+   "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-hedgehog-in-cage-06-i01-privileged--4pe5z9f/replay.mp4",
+  "duration_s": 252.6,
+  "fps": 15.0,
+  "frames": 3789,
+  "sha256": "70f60b701fcad65c921aab769bec03ae064d979e0b2267af5d9715b675fe017d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [
+     [
+      185.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 星体主体与多根尖刺仍在黑色笼腔内，二指夹爪尚未夹住星体。"
+     },
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s 夹爪两指夹住笼侧外露尖刺；视频 15.0–180.0 s 星体随夹爪升降、转向，仍有朝笼尖刺靠近或穿插侧窗。"
+     },
+     {
+      "t": 185.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 183.5、184.5、185.5、186.0、188.0、190.0 s 的侧面和腕部视图，最后一根朝笼尖刺约在视频 185.5 s 脱离侧窗，整星被夹持在笼外；此时刻受投影重叠影响约有 1 s 不确定性。"
+     },
+     {
+      "t": 201,
+      "log_step": null,
+      "text_zh": "观察：视频 201.0、205.0、210.0 s 星体完整随夹爪远离空出的笼腔，随后绕笼搬向绿色框；视频 252.53 s 仍完整位于笼外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机械臂的 Robotiq 二指夹爪直接夹紧星体外露尖刺，带动整星转动并从侧窗移出（视频 8.0–201.0 s）；未使用桌上的细杆。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      252.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 248,
+      "log_step": null,
+      "text_zh": "观察：视频 240.0–250.0 s 机械臂持续夹持星体，绕过笼子后下降到绿色虚线目标框上方，星体没有被松开。"
+     },
+     {
+      "t": 252.53,
+      "log_step": null,
+      "text_zh": "观察：视频 250.5、251.0、251.5、252.0、252.53 s 星体在目标框上方悬持，姿态和位置保持不变；笼腔为空，笼架仍在原处。"
+     },
+     {
+      "t": 252.5,
+      "log_step": 94,
+      "text_zh": "观察：log step 88 从重置状态重放所保存的 10100 条指令，log step 94 的服务结果报告 success=true、episode_end=success、sim_steps=10100、仿真 252.5 s；评分器字段 success=1、all_success=1、deterministic=1、strict_goal_reached=1，且 review_events=0。"
+     },
+     {
+      "t": 252.5,
+      "log_step": 94,
+      "text_zh": "推断：最终交付重放的 10100 个控制步乘以每步 0.025 s（log step 94 的步数和仿真时长）为 252.5 s，与视频总长 252.6 s 及视频 250.5–252.53 s 的终端静止一致；据此把包含两秒联合确认的达成时刻标在视频约 252.5 s。全顶点毫米级包含、高度和精确速度由评分器成功裁定，不能从像素单独测定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机械臂二指夹爪继续夹住星体尖刺，将整星绕笼搬到绿色目标框上方，下降后持续夹持静止至视频 252.53 s；未松手。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立笼与蓝灰色支架固定在绿色目标框旁的初始位置；全段每隔约 5 s 的检查及视频 252.53 s 末帧均显示笼架竖直留在原位，机器人搬动的是星体。"
+     },
+     {
+      "t": 252.53,
+      "log_step": 94,
+      "text_zh": "推断：笼架从初态至视频 252.53 s 未发生可见位移，并且最终评分成功，故其全部几何留在固定分隔面的系统侧这一初始保留条件持续成立；不可见分隔面的精确毫米位置由成功结果支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂用二指夹爪直接夹持星体尖刺并逐步转向，约在视频 185.5 s 完整出笼，随后绕笼搬入目标体积并持续夹持，约在视频 252.5 s 完成两秒联合确认，三个节点终态均成立；笼架从视频 0.0 s 起始终留在原位。最终交付由 log step 88–94 从重置状态重放成功，评分器两次重放一致且无待复核事件，故无失败断点。没有状态日志，出笼时刻约有 1 s 视觉不确定性，毫米级包含及速度条件依成功判定确认，六项原生指标未在评分器字段中单独报告，均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点终态与时间（出笼约视频 185.5 s、入区约 252.5 s、笼架留在原位）与帧一致，接触标签（手指/夹爪 抓握）合理，无失败断点，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": "2026-10-30T23:19:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--4pe5z9f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25e199c93440a71ea39be9773fb5edf85b917819951ef126542ebf3deb24b44b",
+   "video_sha256": "70f60b701fcad65c921aab769bec03ae064d979e0b2267af5d9715b675fe017d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--hvftrpa.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--hvftrpa.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f17716f64e38a8c0f64389fa8cc98d81da9c44
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--hvftrpa.json
@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--hvftrpa",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 1598,
+   "submitted_actions": 1600,
+   "sim_steps": 1598,
+   "physics_steps": 15979,
+   "sim_time_s": 39.947499999998804,
+   "final_reward": 1.0,
+   "replay_wall_s": 158.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1598,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 3,
+   "agent_sim_steps": 1598,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.022,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.057,
+   "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-hedgehog-in-cage-06-i01-privileged--hvftrpa/replay.mp4",
+  "duration_s": 40.0,
+  "fps": 15.0,
+  "frames": 600,
+  "sha256": "736a6962a6c3a020dd3ef3c9a6e974326b7df09b9db24dffe67dd986640dae24"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金棕色星体仍在黑色立式笼内，细杆平放桌上；视频 3.0–7.0 s 机械臂二指夹爪在侧窗处夹住外露尖刺，随后星体随夹爪一起转动。"
+     },
+     {
+      "t": 21.3,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0、21.33、21.67、22.0 s 的侧视及腕部视角显示，机械臂将星体向笼外移出；约视频 21.3 s 六根尖刺均离开侧窗，腕部视角可见星体与笼口分开。出笼起点按帧估计，误差约 0.5 秒；视频 22.0–39.93 s 星体始终被夹持在笼外，未重新进入笼内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机械臂的二指平行夹爪夹住星体外露尖刺，保持夹持并带动整星转动、移出侧窗；未使用桌上的细杆。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.93,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–37.93 s 机械臂将笼外星体移到绿色虚线目标框上方并降低，至视频 37.93 s 已悬持于目标区；视频 38.0、38.93、39.6、39.93 s 星体及夹爪保持相同可见位姿，星体没有释放。"
+     },
+     {
+      "t": 39.9,
+      "log_step": null,
+      "text_zh": "推断：结合视频约 37.9–39.93 s 的末段静止与 inputs/run.json 的评分器字段 success=1、strict_goal_reached=1、success_in_hold_only=0、replays=2，按本次成功验收判定全星包含、高度、速度及联合连续两秒条件在视频约 39.9 s 达成；不是将刚移到框上方的时刻当作完成。无状态日志，毫米级边界及速度不能由图像独立量出，该达成时刻约有 0.5 秒不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：同一二指夹爪持续夹住星体尖刺，将整星从笼旁搬至绿色目标区上方并稳住，直到视频 39.93 s 仍保持夹持。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色笼子与蓝灰色支架已竖直固定在目标框旁；全段抽帧及视频 18.0–32.0 s 的出笼、搬运动作中，笼架位置均未改变。"
+     },
+     {
+      "t": 39.93,
+      "log_step": null,
+      "text_zh": "推断：视频 39.93 s 笼架仍处于初始固定位置，只有夹持的星体移入目标区；结合评分器 success=1，笼架留在系统侧从视频 0.0 s 到结尾一直成立。分隔面的精确几何未由像素测量。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机械臂直接夹住星体尖刺并转动抽出，约视频 21.3 s 完整出笼，随后持续夹持移入绿色目标区；笼架从视频 0.0 s 起始终固定原位。推断：末段视频约 37.9–39.93 s 的稳定持物与评分器两次重放成功相符，按完整两秒确认判据将整星入区记在视频约 39.9 s，最终三个节点均成立。无状态日志，毫米级全网格包含、分隔面和速度阈值依赖成功评分确认，六项原生连续指标均未报告数值；log step 116 的过滤提示晚于 log step 105 已存在的交付文件，不改变这段评分轨迹的成功。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，出笼约视频 21.3 s、整星入区记在视频约 39.9 s（strict_goal_row=1598，与视频末帧吻合），接触标注为二指抓握，与帧一致；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": "2026-10-30T23:14:47Z",
+  "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,
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+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--hvftrpa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
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+   "video_choice": "HF replay.mp4"
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+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--jtbzj5e.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--jtbzj5e.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d5ab42a2392bb0c6c0774c00e211361b8e4b38
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--jtbzj5e.json
@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--jtbzj5e",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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,
+   "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": 1334,
+   "submitted_actions": 1334,
+   "sim_steps": 1334,
+   "physics_steps": 13340,
+   "sim_time_s": 33.34999999999918,
+   "final_reward": 0.0,
+   "replay_wall_s": 142.2,
+   "replays": 2,
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+   "video_rendered": 1,
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+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
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+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 21,
+   "agent_sim_steps": 2668,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.538,
+   "peak_memory_gb": 1.931,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.291,
+   "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-hedgehog-in-cage-06-i01-privileged--jtbzj5e/replay.mp4",
+  "duration_s": 33.4,
+  "fps": 15.0,
+  "frames": 501,
+  "sha256": "77ee5fcb283cafee96d086d7ad5f91dbeecb47332c28670b5bfd4ae41c1a6144"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见金棕色星体位于黑色立式笼内，尖刺从侧窗露出；视频 19.0–28.0 s 机器人夹持细杆，将杆端经侧窗伸向星体。"
+     },
+     {
+      "t": 31.0,
+      "log_step": 209,
+      "text_zh": "观察：视频 28.0–31.0 s 星体在杆端推动下向另一侧窗口移动，多根尖刺露出；视频 31.0–33.33 s 星体仍横跨侧窗，主视角仍见金棕色部分留在笼内，未见整星与笼子完全分离。log step 209 是本段录制，结束时输出星体位置 [0.017, 0.105, 1.233]。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 8.0–17.0 s 机器人二指夹爪持细杆搬运、转向并靠近笼子；视频 19.0–33.33 s 杆端经侧窗推动金棕色星体，星体向另一侧窗口突出。夹爪没有直接抓住星体，工具接触链按杆端推星体记录一次。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.33,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–33.33 s 星体始终在笼内或穿过笼侧窗，未向桌面绿色虚线目标方框搬运；视频 33.33 s 主视角中方框内没有星体，星体仍与笼侧窗交叠。成功参考视频约 250 s 可见整星被夹持在笼外目标方框上方，本段没有出现该状态。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立式笼子固定在蓝灰色支架上，两者均位于绿色目标方框之外的原系统侧位置。"
+     },
+     {
+      "t": 33.33,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0、16.0、24.0、28.0、31.0 s 及视频 32.0–33.33 s 的逐帧检查中，笼子和支架始终竖直固定在原位，没有被机器人移向绿色目标方框。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 31.0,
+   "log_step": 209,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 31.0 s 机器人仍持杆从一侧推星体，星体在另一侧窗口仅部分突出，部分尖刺仍留在笼内；视频 31.0–33.33 s 没有继续完全脱出，也没有后续修复动作。log step 209 录制到推入第 85 次即结束，log step 210 保存这 1334 个动作，log step 212 对此文件重放报告 success=false、deterministic=true。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 31.0,
+    "log_step": 209,
+    "evidence_zh": "观察：视频 29.0–31.0 s 杆端推动星体向侧窗外突出，但星体仍横跨固定笼壁窗口；视频 31.0–33.33 s 夹爪和细杆继续小幅前移、上下摆动，星体在窗缘处只小幅晃动，没有整体通过。推断：星体与窗口的接触阻断了继续出笼；主、侧视角相互印证其仍受笼子限制。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：交付的脱笼策略没有解决星体尖刺穿过异形窗口所需的姿态顺序。log step 209 的录制脚本在接触星体后保持夹爪朝向 qcur，只沿固定方向 u 分次推进并叠加竖直正弦摆动，没有安排星体在窗内的分阶段转向；视频 29.0–33.33 s 对应地显示星体仅部分探出后受阻。agent 在 log step 213 自述直推及摆动未诱导所需旋转，并承认此前规划的旋转加平移未转化为工具动作；此自述与交付脚本及受阻画面一致。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理步接触、力与网格距离数据，无法确认具体哪根尖刺与哪段窗缘阻挡，也不能量出临界速度、毫米级边界和准确阻塞起点；断点视频约 31.0 s 为导航锚点。log step 208 测试的第 88 次推入丢杆，以及 log step 213 对断开抓持和力阈值的自述，不是交付片段的已观测事件：log step 209 在第 85 次推入结束，视频最后一帧细杆仍在夹爪中，故不标没保持住或力阈值超限。六项原生指标未在评分字段中报告，值均保留 null。"
+ },
+ "summary_zh": "机器人持细杆经侧窗推动星体，直到视频 33.33 s 仍有尖刺留在笼内，星体出笼与整星入目标区均未达成；笼架留系统侧从初态持续成立，最终为 1/3。断点在视频约 31.0 s 的星体出笼操作中，星体部分突出后受窗缘阻挡；交付脚本的固定方向推进及上下摆动未实现所需脱笼姿态顺序，支持推理/规划归因。缺少状态日志及接触力数据，无法定位具体阻挡尖刺；会话测试中的第 88 次推入掉杆来自另一次测试，而交付录制在第 85 次推入结束，未将该掉杆作为本段现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
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+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频末帧星体仍横跨侧窗、笼内尚有金棕色部分，出笼与入区未达成，1/3、断点与现象均有证据支持。",
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diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--kqp8whm.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--kqp8whm.json
new file mode 100644
index 0000000000000000000000000000000000000000..3431a7872838ea5d20b8b8576c8b3b191919c5a0
--- /dev/null
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+   "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-hedgehog-in-cage-06-i01-privileged--kqp8whm/replay.mp4",
+  "duration_s": 38.667,
+  "fps": 15.0,
+  "frames": 580,
+  "sha256": "1c6e25a49e23928200e25f78abd11c5d7d2a73fa093a42a68c849a730502fb6b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 星体位于黑色立式笼内，夹爪位于笼旁，未夹住尖刺；视频 1.6–3.4 s 夹爪靠近窗口尖刺，星体仅在笼内小幅转动。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0、12.0、15.6–17.8 s，夹爪相对笼子移动后空手离开，星体中心及多根尖刺仍在笼内；视频 28.0–38.6 s 夹爪返回，星体仍未随夹爪离笼。"
+     },
+     {
+      "t": 38.6,
+      "log_step": null,
+      "text_zh": "观察：视频 37.8–38.6 s 的末秒各帧仍显示星体留在笼内，未出现整星在笼外、笼内空出的状态。成功参考视频 252.5 s 则可见整星在笼外悬持、笼内空出，仅用来核对完成状态的视觉特征。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 2.8–3.4 s，机械臂的二指端在窗口外露尖刺旁擦拨，使星体在笼内小幅转动；视频 3.4–17.8 s 未见星体随动搬出。后续视频 28.0–38.6 s 又靠近尖刺尝试重抓，但没有可靠的持物搬运；不将会话中的辅助抓取读数照搬为本次抓握。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–38.6 s 的主视角中，桌面绿色虚线目标区一直没有星体，金棕色星体始终可见于笼内；视频 37.8–38.6 s 也没有搬运入区或在目标区内停住的动作。本次未开始整星入区操作，判断未达依据是可见位置，而非仅依据零分。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色笼子和蓝灰支架均固定在目标方框旁的原位；全片粗查及视频 15.6–18.4、25.0–38.6 s 复查均未见笼架位移，视频 38.6 s 仍保持初态竖直位置。"
+     },
+     {
+      "t": 38.6,
+      "log_step": null,
+      "text_zh": "推断：笼子和支架未移动，故其相对初态固定分隔面的留侧关系从视频 0.0 s 保持至结束；无需机器人主动放置，未给此初态保留节点附加操作接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 3.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0 s 夹爪未持物，视频 1.6–3.4 s 接近外露尖刺后星体仍困在笼内；随后机械臂沿动作序列转动、离开，视频 17.8 s 为空爪，视频 28.0–38.6 s 返回后也未将整星带出。推断：首次未修复的失败发生在星体出笼所需夹持与带动阶段，取视频约 3.2 s 为导航锚点；不是尚未开始的入目标区步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.2,
+    "log_step": null,
+    "evidence_zh": "推断：视频 0.0 s 从空夹爪初态开始，视频 1.6–3.4 s 指端虽擦拨到尖刺并使星体小幅转动，但视频 3.4–17.8 s 夹爪改变位置和方向时星体未被持续带动，最终空手离开；视频 28.0–38.6 s 重试后仍留在笼内。因此本次未建立出笼所需的可靠夹持接触，不能用会话中 INHAND 的读数证明评分重放曾持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "evidence_zh": "观察：log step 104 的执行脚本先 reset、接近尖刺、闭爪并检查 object_in_hand，再调用 record_start，只录后续 follow；log step 115、117、119、120 的补丁修改重抓、速度及位置偏置，未将录制提前；log step 122 仅把断点前部分 record_stop 后保存，log step 124 确认 SAVED PARTIAL 1543，log step 125 只检查文件结构。评分器字段 agent_replays=0、deterministic=1、n_actions=1543；视频 0.0 s 确为未持物初态。推断：交付动作漏录了建立初始抓取的准备过程，评分重放从冻结初态直接执行依赖已抓住星体的路径，导致会话里的夹持状态没有被交付；这是录制范围错误，不是重放基础设施异常。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志，笼条遮挡部分指垫接触，无法确认擦拨期间是否出现极短暂的双指接触或辅助抓取，也无法精确定位其内部状态变化；本标注的“没建立接触”指未建立能够持续带动星体出笼的夹持。log step 120 的失握读数属于另一轮会话测试，不能直接当作评分视频的失握事件；log step 122 的计时为 agent 脚本墙钟，不用于换算视频。评分器未报告 DAG 所列六个原生几何、速度和确认时长指标，均留 null。",
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  }
+ },
+ "summary_zh": "评分轨迹始终未将整星移出笼子，也未开始入目标区；笼架保持初始固定位置，初始、峰值及最终进度均为 1/3。断点为星体出笼：视频约 3.2 s 指端擦拨尖刺后没有建立可靠的随动夹持，直到视频 38.6 s 星体仍在笼内；日志显示录制在初始抓取完成后才启动，交付漏掉准备动作，而评分视频从空爪初态开始。无状态日志，不能核实极短暂辅助抓取状态或细分接触力，不能将会话测试中的失握叙述直接当作评分片段事实。",
+ "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、断点、现象与根因均有依据：视频全程星体留在笼内，未入目标区；log step 104 确认 record_start 在 reset+抓取之后，评分视频从空爪开始，「交付操作出错」成立。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": "2026-10-30T23:18:52Z",
+  "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-hedgehog-in-cage-06-i01-privileged--kqp8whm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--kqp8whm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e840151c4cf8db00b439538fdc1b8bb503564c8039f4674ed92d84e8764089af",
+   "video_sha256": "1c6e25a49e23928200e25f78abd11c5d7d2a73fa093a42a68c849a730502fb6b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--lr6v8jd.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--lr6v8jd.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0146cc4980f3dd9e44f74f8576bec11fdecbd50
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--lr6v8jd.json
@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--lr6v8jd",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 1565,
+   "submitted_actions": 1565,
+   "sim_steps": 1565,
+   "physics_steps": 15650,
+   "sim_time_s": 39.12499999999885,
+   "final_reward": 0.0,
+   "replay_wall_s": 190.2,
+   "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": 51,
+   "agent_resets": 186,
+   "agent_sim_steps": 60101,
+   "agent_records": 13,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.538,
+   "peak_memory_gb": 1.972,
+   "peak_processes": 16,
+   "peak_disk_gb": 1.427,
+   "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-hedgehog-in-cage-06-i01-privileged--lr6v8jd/replay.mp4",
+  "duration_s": 39.2,
+  "fps": 15.0,
+  "frames": 588,
+  "sha256": "3ce424e97d1c30d29f09835330291577b65f66fecf9f64b91ab1cb29c53a9afc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见金棕色星体位于黑笼内，仅部分尖刺露出侧窗。"
+     },
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–4.5 s 腕部视角显示机器人二指夹爪靠近并合拢在外露尖刺两侧；视频 5.0–38.0 s 夹爪带动星体缓慢平移、转动，但星体其余部分仍穿在笼窗中。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每约 2 秒的画面、腕部视角每约 1 秒的画面，以及视频 34.0–39.1 s 的加密画面；末帧星体仍横跨笼窗、笼内没有空出，未出现整星离笼。成功参考视频 252.0 s 同视角能清楚显示空笼与完整位于外部的星体，仅用于确认可见判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单个二指夹爪夹住星体外露尖刺，拉动并转动星体尝试出笼；视频 4.5–39.1 s 可见两指位于尖刺两侧。细杆留在桌面，未用于操作。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–38.0 s 的主视角序列中，桌面绿色虚线目标方框始终空着；机器人始终在笼窗处操作星体，没有搬运至方框。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "观察：视频 39.1 s 主视角中目标方框仍空着，星体仍位于笼窗处，未达到整星入目标体积，更未出现共同静止确认。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立笼和蓝灰色支架固定在绿色目标区旁的初始位置。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "观察：视频全程主视角及视频 39.1 s 末帧中，笼子与支架均保持原位、竖直，没有随星体或机械臂移动至目标区。推断：结合 DAG 所述固定笼架及初始留侧条件，此状态从视频 0.0 s 持续至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": null,
+   "log_step": 333,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.5–39.1 s 机器人在笼窗处夹住外露尖刺缓慢拉动、转动星体，直到末帧星体仍穿在笼窗内；未进入搬运到目标区的阶段。log step 333 明确将 1565 行部分轨迹重放后保存，服务返回 success=False、episode_end=None；log step 371 对同一交付文件的两次评分重放均 success=false、deterministic=true。推断：首个未修复的失败步骤是星体出笼；视频未呈现可可靠定位的突发失败瞬间，故时间留空。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "log_step": 276,
+    "evidence_zh": "推断：交付数组漏录在线纠偏动作，改变了被测试的动作序列。log step 213 的脚本仅在抓取阶段使用 record_start/record_stop，随后用 act.append(row) 手工拼装出笼动作；log step 276 加入 pr[move_ee] 和 pr[hold] 在线纠偏，却只向 act 补入两个 hold_action，没有录入这些纠偏调用实际执行的动作。log step 331 在线执行累计 sim_steps=2230，log step 333 保存的数组仅 1565 行，重放星体终点 [0.032,0.0922,1.2545] 也不同于 log step 331 在线终点 [0.0388,0.0892,1.2474]；log step 371 再次确认该交付文件确定性失败。这是 agent 脚本自身的录制问题。在线尝试本身也未成功，漏录不能解释全部物理困难。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有本次状态日志。交付视频的末段仍显示夹爪夹着尖刺并缓慢调姿，没有清楚可辨的滑脱或独立阻断事件；现象层留空，不能仅把“仍未出笼”重述成位姿不准或碰撞。log step 331、350 的 HOLD LOST / grasp_slipped 属于会话测试，录制代码漏记纠偏，不能将这些事件及其时刻直接搬到交付视频；也缺少交付重放的逐步接触力、抓持状态和实际动作数组，无法确定首个偏离时刻、具体物理失效机制或控制子类。评分器未报告 DAG 的六项原生物理指标，数值均留空。",
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  }
+ },
+ "summary_zh": "评分轨迹仅保住开局即成立的笼架留系统侧，最终为 1/3；机器人抓住星体尖刺并尝试拉出，但视频 39.1 s 星体仍穿在笼窗中，目标区始终空着，断点为星体出笼。日志代码显示在线纠偏动作未完整录入交付数组，交付重放与会话测试的动作序列不同。缺少本次状态及接触日志，交付视频不能确认会话测试所报的滑脱，故不强填物理失败现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（星体出笼，操作中）与视频一致：末帧星体仍穿在笼窗中，目标框为空，笼架留在原位。root cause 交付·交付操作出错有 log step 213/276/331/333/371 支撑；现象层留空并有 gap_zh，处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-30T23:14:59Z",
+  "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-hedgehog-in-cage-06-i01-privileged--lr6v8jd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--lr6v8jd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
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diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--trgp3sy.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--trgp3sy.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e204e227b46aaa1f2d2d72ca59dd79f7609c16c
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--trgp3sy.json
@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--trgp3sy",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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,
+   "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,
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+   "n_actions": 5126,
+   "submitted_actions": 5126,
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+   "physics_steps": 51260,
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+   "replay_wall_s": 574.4,
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+   "agent_records": 31,
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+   "agent_cost_self_reported": 1,
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+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
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+   "peak_memory_gb": 1.394,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.905,
+   "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-hedgehog-in-cage-06-i01-privileged--trgp3sy/replay.mp4",
+  "duration_s": 128.2,
+  "fps": 15.0,
+  "frames": 1923,
+  "sha256": "2550c3b0cd6991da609d86eb6e652cf64c240f64fe29e8699ebf193ecf93757a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的主视角及右上视角可见金棕色星体仍穿在黑色立笼内部，只有部分尖刺露出。"
+     },
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12.2–25.2 s，机械臂持细杆从侧窗作用于星体，星体略有转动但中心仍在笼内；视频约 25.3–25.6 s，细杆离开夹爪并落到桌面，星体没有随工具出笼。"
+     },
+     {
+      "t": 128.13,
+      "log_step": 788,
+      "text_zh": "观察：视频 29.9–125.9 s 的后续取杆及再次侧窗操作均未使整星离笼；视频 127.2、127.7、128.13 s，星体中心和数根尖刺仍在笼内。log step 788 明确重放所提交的 5126 步，返回 success=False、episode_end=None，与末帧相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 12.2–25.2 s 等片段，单臂二指夹爪夹持细杆的盒状柄，用杆端经笼侧窗拨动、推移星体，随后调整杆角度并向外回撤；杆离开夹爪落桌后重新取杆再试。这里记录杆端与星体的接触链路，不将握杆重复算成直接抓握星体。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 128.13,
+      "log_step": null,
+      "text_zh": "观察：从视频 0.0 s 至视频 128.13 s，星体一直留在立笼中，绿色虚线目标区内没有星体；没有携带整星向目标区移动的动作。成功参考视频 229.9、249.9 s 则可见空笼和夹爪夹持的完整星体，说明本次未出现的出笼与入区结果在这些视角下应当可见。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色立笼和蓝灰色支架固定在原来的竖直位置，位于绿色虚线目标区之外。"
+     },
+     {
+      "t": 128.13,
+      "log_step": null,
+      "text_zh": "观察：视频全程按约 4 s 间隔检查主视角，并加密检查视频 12.2–26.7 s 和视频 126.2–128.13 s，笼子和支架始终保持同一位置、朝向，没有被机械臂带向目标区。"
+     },
+     {
+      "t": 128.13,
+      "log_step": null,
+      "text_zh": "推断：笼架始终维持初态固定几何，因此开局成立的系统侧关系持续到视频结束；并非从细杆最终落点推定笼架留侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 25.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 25.2 s，机器人仍用细杆经侧窗操作星体；视频 25.6 s，杆已脱离夹爪落在桌面，星体仍留在笼内。后续重新取杆并未完成出笼，视频 128.13 s 星体依旧穿在笼内；因此未修复的是星体出笼这一步。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中没有状态日志，reward 未报告 DAG 列出的六项原生几何、速度及确认时长指标，因此这些指标均记 null。视频约 25.3–25.6 s 只显示细杆离开夹爪并落到桌面，未能区分滑脱与主动松开；杆端与笼内星体的局部接触部分被笼条遮挡，也缺少该段受评回放的夹爪指令、持有状态和接触力记录。log step 465–467 的 held None、工具位置和张爪指令属于会话测试记录，尚未建立其与该视频事件的对应，不能用来断定受评回放中先滑脱后张爪。推断：现有证据不足以把落杆认定为“没保持住”，也不足以确定夹持承载失稳或其他具体根因；按 DECISIONS.md S6，phenomena 与 root_causes 留空。仅见星体被拨动而未出笼，也不足以定位具体位姿错误。log step 789 之后的直接夹取及末次杆试验没有覆盖已保存轨迹，未作为本次节点进度或现象。"
+ },
+ "summary_zh": "观察：提交视频中机械臂多次持细杆经侧窗拨动星体，但星体始终没有完整出笼，也未进入绿色目标区；笼架留系统侧从开局到结束持续成立，最终为 1/3。断点为星体出笼，以视频约 25.5 s 的杆离爪落桌事件作导航锚点，后续取杆重试仍未完成此步。推断：现有视频及已核实日志不能区分该次落杆是主动松开还是滑脱，也不能确定具体失败根因，故现象与根因留空，conf 从 8 下调为 7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（1/3，星体始终在笼内，笼架留系统侧）与视频一致。但断点处的现象与根因依赖 agent 会话测试的 log step 465–467（agent 时间 6923–6943 s，会话中 32 次 reset）当作视频 25.5 s 这一受评回放事件的证据，映射未经验证；视频只显示杆在约 25.3–25.5 s 离开夹爪，看不出是滑脱还是主动松开，故“夹持承受不了负载”的根因推断缺乏被承认的证据。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（1/3，星体始终在笼内，笼架留系统侧）、断点（星体出笼）与视频一致；第一轮指出的会话读数问题已改正，现象与根因留空并有 gap_zh，符合 S6。",
+    "n_issues": 0,
+    "n_major": 0
+   }
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+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+   "video_choice": "HF replay.mp4"
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+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--bnvry2i.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--bnvry2i.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d9bae06bab52750982deebba665ede415e38ca
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--bnvry2i.json
@@ -0,0 +1,272 @@
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+   "steps": 1400,
+   "elapsed_s": 10878.4,
+   "replay_wall_s": 444.6,
+   "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-hedgehog-in-cage-06-i01-standard--bnvry2i/replay.mp4",
+  "duration_s": 225.533,
+  "fps": 15.0,
+  "frames": 3383,
+  "sha256": "f24ff8c8c69e2073a686a6d09ce0770fa2aa0e46ee7495fca9791842fa83c07f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 起星体在黑色立笼内；视频 43–52 s 可见机器人二指夹爪夹住尖刺并小幅抬起、外拉，星体随夹爪移动，但其中心和其余尖刺仍与笼窗交叠。"
+     },
+     {
+      "t": 49.2,
+      "log_step": 60,
+      "text_zh": "观察：视频 49.2 s 星体仍横跨笼窗，夹爪外拉后停留在窗口旁；log step 60 的实时机器人服务安全监测读数 max_press_force_n=24.2，control_steps=1966。"
+     },
+     {
+      "t": 225.47,
+      "log_step": 369,
+      "text_zh": "观察：全片约每隔视频 5 s 的检查及视频 96–114 s、209–225.47 s 的加密检查均未见笼内空出；末尾机器人松爪换握，星体转动后仍有尖刺穿在笼窗内。log step 369 最后一次自述仍在解决夹爪卡笼并尝试沿外露尖刺向外换握，未报告完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂的二指平行夹爪直接夹住星体尖刺，带动星体抬升、外拉和转向，期间松开再换握；视频 43–52 s、96–114 s 及后半段可见相对运动。细杆始终留在桌上，未作为工具使用。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225.47,
+      "log_step": null,
+      "text_zh": "观察：视频全片粗查及视频 224.4–225.47 s 的密集末段检查显示绿色虚线目标方框一直空着，星体仍在固定笼的窗口处，机器人没有将整星搬到目标区上方；入区与连续静止验收均未达到。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立笼和蓝灰色支架竖直固定在绿色目标区旁的初始位置。"
+     },
+     {
+      "t": 225.47,
+      "log_step": null,
+      "text_zh": "观察：全片约每隔视频 5 s 的检查以及视频 224.4–225.47 s 的末段检查中，黑色笼子和支架始终保持原位置、原朝向，没有被机器人带往目标区，初始留侧状态保持到结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 49.2,
+   "log_step": 60,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 49.2 s 机器人夹持星体向外拉，星体仍受笼窗限制；此后反复转向、回退和换握，直到视频 225.47 s 仍未完整出笼，入区操作没有开始。推断：log step 17 的 control_steps=160 对应 sim_time_s=4.0，控制率为 40 Hz；log step 60 的 control_steps=1966 对应视频约 49.15 s，已用视频约 47.3 s 的抬星动作和视频 49.2 s 的窗口停留核对，未使用 agent 工作时间换算。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 49.2,
+    "log_step": 60,
+    "evidence_zh": "观察：视频 48–52 s 夹爪带动星体外拉后在黑色笼窗处停住，星体未通过窗口；log step 60 的实时服务安全监测记录最大外部接触压力 24.2 N。视频 209–223 s 仍见夹爪紧贴笼窗、星体只作小幅转动；同一实时 episode 的 log step 351、368 再次记录压力 130.7 N、130.3 N 并由 agent 的执行脚本暂停路径。受阻发生在星体与固定笼的分离操作中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：后段所选握点使夹指及指杆深入狭窄笼窗附近，未给持物转向留下足够净空。视频 209–223 s 显示夹爪与笼边紧邻、星体不能随外拉脱出；log step 353 的接触位置诊断落在夹指杆附近，log step 357 的 agent 自述因此增大夹爪净空估计。log step 368 的执行结果在路径第 5/502 行即以 130.3 N 压力暂停，log step 369 随即编写松爪并沿尖刺向外移动 22 mm 的换握动作以给夹指腾出空间。该握点和持物转向的接触布局未解决笼边阻挡；本次 episode 没有验证成功的替代握法。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐接触对记录，笼窗局部遮挡，无法逐次区分星体尖刺与夹指杆各自承担的阻力；抓取净空不足的细分类根因是结合视频和日志诊断所得的推断。后段精简日志不再打印 control_steps，未把其 agent 时间换算为视频时刻。评分器未报告 DAG 所列六项连续物理量，native_metrics 的 value 均保留 null。"
+ },
+ "summary_zh": "机器人直接夹持星体尖刺，反复外拉、转向及换握，但截至视频 225.47 s 星体仍穿在笼窗中，未完整出笼或进入绿色目标区；笼架留侧从初态保持，终态为 1/3。失败断在星体出笼的操作中，窗口阻挡与实时服务的压力读数一致，日志支持所选握点的夹爪转动净空不足。缺少逐接触状态记录，具体受力部位及成功替代握法未能在本次 episode 中验证。",
+ "conf": 7,
+ "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 0/49/100/160/200/225 s：星体全程仍穿在笼窗内，目标框空，笼架原位，节点值、断点与现象与画面一致；根因为明示的推断，标注合适。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:26:41Z",
+  "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-hedgehog-in-cage-06-i01-standard--bnvry2i/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--bnvry2i/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "63af2404e6a267dff1d038b08d8bb2fc4a2fb4903dcae8442f5ec1428466adc7",
+   "video_sha256": "f24ff8c8c69e2073a686a6d09ce0770fa2aa0e46ee7495fca9791842fa83c07f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6.json
new file mode 100644
index 0000000000000000000000000000000000000000..54039ead326ff702616f737dcf2c360999f1fee0
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6.json
@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 4791,
+   "live_rows": 4791,
+   "sim_steps": 4791,
+   "physics_steps": 47910,
+   "steps": 2392,
+   "elapsed_s": 8401.7,
+   "replay_wall_s": 237.5,
+   "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": 1.682,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.484,
+   "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-hedgehog-in-cage-06-i01-standard--k4f66n6/replay.mp4",
+  "duration_s": 119.867,
+  "fps": 15.0,
+  "frames": 1798,
+  "sha256": "3b4eb18a996eae8a300f63fd8fcf6992445e858395f5e079f40403422da2a0b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视角可见金棕色星体中心及多根尖刺在黑色立式笼内，只有部分尖刺伸向窗口；笼外没有完整星体。"
+     },
+     {
+      "t": 102,
+      "log_step": 189,
+      "text_zh": "观察：视频 100.0–105.7 s 机械臂的夹爪移到笼窗及笼条附近，随后长时间抵在笼边，星体保持在原笼内。log step 189 的服务返回记录了接近运动中的压力峰值 2256.1 N 和 1070.2 N，属于机器人服务的接触监测读数。"
+     },
+     {
+      "t": 117.8,
+      "log_step": 191,
+      "text_zh": "观察：视频 116.87、117.27、117.80 s 的侧前视角放大帧中，机械臂夹爪贴着黑色笼条闭合，金棕色星体仍在笼窗内，没有随夹爪移出；log step 191 返回夹爪开度约 0.0557 m。"
+     },
+     {
+      "t": 119.8,
+      "log_step": 194,
+      "text_zh": "观察：视频 118.2–119.8 s 夹爪张开并小幅退回，星体仍处于原来的笼内位置，笼腔没有空出；全片粗看及末段密集帧均未出现完整出笼。"
+     },
+     {
+      "t": 117.8,
+      "log_step": 191,
+      "text_zh": "推断：这是无重置、无续接的同一实时评分局（reward 的 sim_startups=1、resumes=0、live_matches_replay=1）。log step 6 的 control_hz=40，log step 191 的 control_steps=4715 对应视频约 117.875 s；已与视频 117.8 s 的闭合结束、视频 118.2 s 的张开退回核对，且总计 4791/40=119.775 s 与视频长度相符。此映射仅辅助定位服务读数，不使用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 102–117.8 s，单臂 Robotiq 夹爪及手指抵压固定黑色笼条，闭合尝试未形成对金棕色星体的有效夹持，随后张开退回；log step 189、191 的服务接触压力支持该抵压。未使用桌面细杆。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 桌面的绿色虚线目标框为空，星体位于其旁的立式笼内。"
+     },
+     {
+      "t": 119.8,
+      "log_step": null,
+      "text_zh": "观察：视频全片粗看以及视频 100.0–119.8 s 密集帧中，机器人没有将星体搬往绿色目标框；视频 119.8 s 星体仍在笼内，目标框上方无星体。因此未满足整星入区，更没有入区后连续静止确认。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立式笼子固定在蓝灰色竖直支架上，整个笼架处于绿色目标框旁的原始系统侧位置。"
+     },
+     {
+      "t": 119.8,
+      "log_step": null,
+      "text_zh": "观察：从视频开局至视频 119.8 s 的全片粗看和末段密集帧中，黑色笼子与蓝灰色支架一直固定于原位；夹爪抵压期间也没有将笼架搬入目标区或使其移位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 102.0,
+   "log_step": 189,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 102 s，机械臂正在接近星体的抓取位置，夹爪进入笼窗附近并抵在固定笼条上；视频 105.7–117.8 s 星体仍困在笼中，闭爪后也未带动星体脱出，视频 119.8 s 退回后仍未修复。log step 189 的服务在该接近段报告明显接触压力；log step 191、194 分别记录闭爪和张开退回，后续未再完成出笼。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 102.0,
+    "log_step": 189,
+    "evidence_zh": "观察：视频 102.0、105.67 s 夹爪贴在固定笼条及窗口边，视频 116.87–117.8 s 闭爪仍被笼条隔在星体外侧，星体没有被带离笼腔。log step 189 的服务接触监测在截至 control step 4226（约视频 105.65 s）的接近段报告最大压力 2256.1 N，在截至 control step 4629（约视频 115.73 s）的后续接近段报告 1070.2 N；这些是各段峰值，不是视频 102.0 s 的瞬时值。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 将星体的几何脱笼路径与夹爪、机械臂可执行性分开处理，且没有把接近路径的障碍检查作为执行门槛，导致实际抓取路线受笼子阻挡。依据：log step 63 的路径搜索仅对星体采样点与笼子做碰撞检查，log step 118、155 才沿已定星体路径补算夹爪姿态与逆解；log step 188 的接近脚本只打印 path_clear 结果便无条件调用 exec_qs，log step 189 实际打印 high True 0.0 0.0 后继续运动并出现高压力。视频 102–117.8 s 的笼边受阻与这一执行选择吻合；不是仅从失败或停止反推规划问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触对记录；笼条遮挡使视频不能逐一确认每个手指是否曾瞬时轻触星体，故不声称完全没有星体接触，也不将闭爪开度当成成功抓持。日志压力只有分段峰值，无法定位其准确峰值帧。DAG 所列毫米级几何裕量、速度及联合确认时长未在 reward 中报告，六项 native_metrics 均为 null；这些缺口不妨碍从星体始终留笼及笼架始终固定判断三个节点。"
+ },
+ "summary_zh": "本次评分轨迹始终只满足开局已有的笼架留系统侧状态，最终为 1/3；星体没有完整出笼，也未进入绿色目标区。机械臂末段接近抓取时被笼条阻挡，闭爪后仍未带走星体；日志表明 agent 先规划星体路径、再补算夹爪与机械臂，并在接近间隙检查为零后继续执行。没有状态或接触对日志，瞬时手指接触和毫米级原生指标无法精确复原，但视频最后一秒明确显示星体仍在笼内。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频显示星体全程留在笼内、目标框始终为空、笼架未动，1/3 与断点（star_out_of_cage，约视频 102 s 接近笼窗被笼条阻挡）和被挡/碰撞现象与视频、log step 189/191/194 的服务读数一致；根因为日志推断，已标明。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": "2026-10-30T23:23:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--k4f66n6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b86795689b9bf2b02eae84c642d1291c04c38ca8e0cc900be43f6ce6aaeb0081",
+   "video_sha256": "3b4eb18a996eae8a300f63fd8fcf6992445e858395f5e079f40403422da2a0b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--kjhfj7t.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--kjhfj7t.json
new file mode 100644
index 0000000000000000000000000000000000000000..62abd2ff1efe93d7159127400cf33f156449307d
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--kjhfj7t.json
@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--kjhfj7t",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 1426,
+   "live_rows": 1426,
+   "sim_steps": 1426,
+   "physics_steps": 14260,
+   "steps": 356,
+   "elapsed_s": 10809.7,
+   "replay_wall_s": 91.9,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.254,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.55,
+   "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-hedgehog-in-cage-06-i01-standard--kjhfj7t/replay.mp4",
+  "duration_s": 35.733,
+  "fps": 15.0,
+  "frames": 536,
+  "sha256": "2c11101f281a8774e4c480a5cf414e2e69516cfc84a789e933282fa4c5fd48e4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.7,
+      "log_step": 188,
+      "text_zh": "观察：视频 12.7–19.8 s，机器人二指夹爪夹住星体外露尖刺，带动星体在笼内抬起和转动；中心及其余尖刺仍在笼腔或窗口内，没有完整出笼。log step 188 的脚本闭爪后执行抬升，log step 193 的脚本继续抽取。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 198,
+      "text_zh": "观察：视频 20.0–20.4 s，星体突然相对夹爪转动并下落到笼内，随后夹爪继续移动而星体未随动；log step 198 的夹爪开度记录由约 7 mm 逐渐降至 0。"
+     },
+     {
+      "t": 35.6,
+      "log_step": 340,
+      "text_zh": "观察：视频 28.2–29.2 s，第二轮闭爪未带走尖刺；视频 29.2–35.67 s 夹爪转移而星体仍在原笼内，最后一秒各视角仍可见笼内金棕色星体。log step 340 的第二轮记录显示闭爪至 0 后执行移动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.7–20.0 s，机器人 Robotiq 二指夹爪实际夹持星体的一根外露尖刺并带动星体转动；视频约 20.2 s 失去夹持。视频 28.2–29.2 s 再次在尖刺附近闭爪但空夹；未使用桌面细杆。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.6,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查并密查视频 12.0–21.8 s、28.2–30.6 s 和 34.73–35.67 s，星体始终留在黑笼内，绿色虚线目标区保持空置，未开始将整星搬往目标区。成功参考视频 252.4 s 则可见空笼及悬持在目标框上方的完整星体；本次没有该可见关系。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 黑色立式笼子和蓝灰色支架固定在目标区旁的初始位置；全程粗查及视频 34.73–35.67 s 的末段逐帧检查均保持相同竖直位置，未随星体或夹爪移向绿色目标区。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 20.2,
+   "log_step": 193,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.7–20.0 s 机器人夹持尖刺在笼内调姿，视频约 20.2 s 星体从夹持中脱开并落回笼内；机器人之后重试抓取，但视频 28.2–35.67 s 星体未随夹爪移出。log step 193 提交第一轮继续抽取，log step 329 提交第二轮闭爪及抽取脚本；该出笼步骤直到终局仍未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 20.2,
+    "log_step": 198,
+    "evidence_zh": "观察：视频 16.7–20.0 s 尖刺位于两夹指之间，星体随夹爪转动；视频 20.2–20.4 s 星体突然旋转并回落到笼内，夹爪继续运动但不再携带星体。log step 198 对应记录也显示夹爪从夹持时约 7 mm 的开度逐渐闭至 0。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 29.0,
+    "log_step": 340,
+    "evidence_zh": "观察：第二轮视频 28.2–29.2 s 夹指在星体尖刺附近合拢，视频 29.2–30.6 s 及 35.6 s 可见夹爪离开而星体仍在笼内，没有建立新的有效夹持；log step 340 的记录显示第二轮开度最终为 0，机器人随后执行的抽取没有带动星体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：第二轮恢复失败的接触几何将尖刺放在实际指垫前端之外。log step 307 的深度诊断给出闭合夹指前缘约为 TCP 的 +12 至 +13 mm；log step 319 的 C1 抓取候选仍将尖刺中心线安排在例如 s=54 mm 处的 +15.5 mm。log step 347 测得实际 TCP 与计划仅相差约 0.47 mm，log step 353 中 agent 自述“指尖在尖刺前方闭合，未接触”；这与视频 28.2–30.6 s 的空夹和星体不随动相符，支持抓取接触区域设计错误。尚未在该次失持后的姿态验证可行的替代抓法。"
+   }
+  ],
+  "gap_zh": "没有状态日志或辅助抓取状态、接触力的逐步记录，第一轮视频约 20.2 s 的失持可见，但无法确定是何种接触或负载触发辅助夹持解除，不额外断言碰撞或力阈值。第二轮指垫尺寸及几何偏差来自 agent 的深度诊断，不能据此独立量出毫米级真值；原生目标速度、边界裕量和联合确认时长均未报告，native_metrics 留 null。",
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  }
+ },
+ "summary_zh": "机器人曾夹住尖刺并在笼内转动星体，但视频约 20.2 s 失去夹持，后续第二轮空夹也未恢复出笼；星体始终未入目标区，终态仅笼架留系统侧成立（1/3）。第二轮失败有指垫与尖刺接触区域设计不匹配的日志证据；第一轮失持的具体触发机制缺少状态及力记录，无法进一步确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "帧检查与标注一致：星体全程在笼内，仅 star_out_of_cage 未达、star_in_goal 未达，笼架留系统侧，1/3；断点在 20.2 s 失持，二次空夹也已写明。根因明确标为推断并说明第一轮触发机制未知，可接受。",
+    "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": "2026-10-30T23:19:31Z",
+  "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-hedgehog-in-cage-06-i01-standard--kjhfj7t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--kjhfj7t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9cbe81698c198e8085f1c7b5dc0761f6095be4e718d26a09b8cdb286e21698c4",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--syzka2a.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--syzka2a.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bdb9fead45c04e9e9aab781e6eb87da3505d13e
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--syzka2a.json
@@ -0,0 +1,303 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--syzka2a",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 23,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 58021,
+   "live_rows": 58021,
+   "sim_steps": 58021,
+   "physics_steps": 580210,
+   "steps": 14277,
+   "elapsed_s": 10156.5,
+   "replay_wall_s": 3503.0,
+   "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,
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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-hedgehog-in-cage-06-i01-standard--syzka2a/replay.mp4",
+  "duration_s": 1450.6,
+  "fps": 15.0,
+  "frames": 21759,
+  "sha256": "5a67718386eff9805b4db901ef2267a3cf58b45a217e67640bd37f001e4869b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的主视角和侧视角显示金棕色星体在黑色立式笼内，只有尖刺伸出侧窗。"
+     },
+     {
+      "t": 170,
+      "log_step": 215,
+      "text_zh": "观察：视频 163–174 s 夹爪向笼窗推进，视频 170–245 s 夹爪停在窗口处，星体中心仍在笼内；log step 215 返回末端实际位置停在 y=-0.007 m，而脚本要求继续到 y=0.045 m。"
+     },
+     {
+      "t": 417,
+      "log_step": 279,
+      "text_zh": "观察：视频 399–425 s 机器人改从笼顶下探，手指顶在黑色顶部，星体仍在笼内。log step 279 的服务安全监测报告夹爪手指压在 hedgehog cage 上，末端下降停在 z=0.495 m。"
+     },
+     {
+      "t": 1450.53,
+      "log_step": 418,
+      "text_zh": "观察：全片每隔视频 15 s 的抽帧，以及视频 170–265 s、310–425 s、1190–1430 s 的加密帧和视频 1448.6–1450.53 s 末尾帧，均未出现整星脱笼；末帧仍可见星体中心及尖刺留在笼窗内。agent 最终自述“star remains inside the cage”（log step 418）与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人二指夹爪在视频 170–245 s 的侧窗尝试及视频 417 s 的顶部下探中抵压笼体；log step 279 明确记录手指对笼体的压力。后续还有对笼口和尖刺方向的下压、合拢尝试，但画面未确认双指夹住星体并带动它。视频 1210–1380 s 抓杆后抬手，细杆仍留在桌面，未形成持杆作用于星体的工具接触。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 200,
+      "log_step": null,
+      "text_zh": "观察：视频 200 s 主视角中绿色虚线目标区为空，星体仍在笼内；全片粗看及各次接近、撤离的加密帧中，未见机器人带着星体向目标区转移。"
+     },
+     {
+      "t": 1450.53,
+      "log_step": null,
+      "text_zh": "观察：视频 1449.6 s、1450.1 s 和 1450.53 s 中绿色虚线方框仍为空，星体仍在笼内，整星入区的几何条件明确不成立，无需以毫米级速度或两秒确认窗口作边界判断。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 黑色笼体和蓝灰色立柱竖直固定在目标方框旁的初始系统侧位置。"
+     },
+     {
+      "t": 375,
+      "log_step": 261,
+      "text_zh": "观察：视频 310–400 s 机器人在笼顶附近操作后向桌面撤离，笼顶轮廓、黑色笼体及立柱始终留在原位，未见任何笼架件被带走。agent 自述已取下并搬走盖子（log step 255、261、271），画面不支持该说法。"
+     },
+     {
+      "t": 1450.53,
+      "log_step": null,
+      "text_zh": "观察：全片每隔视频 15 s 的抽帧及操作处加密帧中，笼架一直保持原来的竖直位置；视频 1450.53 s 仍完整固定在原位，没有进入目标区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：为取星体，机器人实际多次直接接触固定笼架，包括视频 170–245 s 的笼窗抵压和视频 417 s 的笼顶抵压；笼架没有被移放。log step 279 的服务监测明确将受压对象记作 hedgehog cage。此处记录留侧物体受到的实际接触，不表示机器人完成了额外的放置动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 170,
+   "log_step": 215,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 169–174 s 夹爪向侧窗推进后停止深入，视频 175–245 s 仍在笼窗处合拢、抵靠，星体没有离开笼内。log step 215 的推进未达到所请求位置，log step 226 再推仍停在同一窗口附近；后来改试顶部、侧窗及细杆，至视频 1450.53 s 仍未完成出笼。因此断点是一直未修复的星体出笼步骤，视频 170 s 为首次窗口受阻的粗略导航锚点。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 170,
+    "log_step": 279,
+    "evidence_zh": "观察：视频 170–245 s 夹爪顶在侧窗周围、不能继续进入星体中心位置；视频 416–419.7 s 的腕视角显示手指抵住固定笼顶，星体未被取出。log step 279 的服务安全监测记录“the gripper's finger”压在“the hedgehog cage”上，control step 16673 和 16785 的压力分别为 102.3 N、100.9 N，末端实际停在 z=0.495 m。推断：log step 7 给出的控制率为 40 Hz，16673/40=视频 416.825 s、16785/40=视频 419.625 s；该映射已在上述顶部受阻帧核对，且 log step 284 的 16882 控制步对应仿真 422.05 s，58021 总控制步/40 也与视频 1450.6 s 的长度一致。这里将阻挡和同一次接触的高压力合记为一个现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 330,
+    "log_step": 307,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：任务文本已说明其余笼架组件固定，但 agent 在 log step 232、240 把笼顶设想成可拆盖子，log step 307 明确把楔开顶部并提起它视为唯一出路；log step 362、400、405 仍以撬起所谓漏斗/盖子为核心策略。视频 310–400 s 机器人试图上提、撤离时黑色笼顶和笼体没有分离，视频 416–419.7 s 又直接顶住固定顶部，最后仍未出笼。这支持将固定结构当作可拆件的错误解谜计划；不将 agent 的尺寸估计或“必须拆盖”当作环境不可解的事实。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 850,
+    "log_step": 359,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：这是另一个有记录的定位错误。log step 337、342 按星刺/窗口在 y≈0.055–0.065 m 的估计执行插入，服务返回碰阻且空合拢；log step 353 发现腕部深度重建混用了静态相机焦距，log step 354 以 376.7245 和 492.0729 两个焦距投影同一末端得到不同像素，log step 359 重新输出可见金色尖刺位置 y=0.119 m，并自述先前插到了实心笼壁。视频 750–915 s 侧窗附近的腕视角也显示夹爪停在笼条旁，而伸出的金色尖刺在另一侧。以上记录支持错误的窗口/尖刺定位造成抓取接近错位；后续校正了部分计算，但该出笼步骤仍未完成。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，笼内和手指后方的短时接触部分遮挡，无法确认每次双指是否形成对向夹持，也无法逐次测量接触深度、毫米级分隔面裕量或目标速度；因此不把合拢命令、零开度或 agent 自述“抓住/取下盖子”当作成功抓握或出笼。节点终态由可见的笼内星体、空目标区和固定笼架判断。服务压力为本次单一实时 episode 的读数；相机变换诊断在 log step 357 与 362 之间反复修正，感知归因只采用有投影核对支持的定位错误，不采信 agent 的全部几何断言。"
+ },
+ "summary_zh": "本次实时轨迹始终只有开局已成立的笼架留系统侧，最终为 1/3；星体从未完整出笼，绿色目标区一直为空。机器人在星体出笼时多次受笼窗、笼顶阻挡，日志支持错误窗口定位及把固定笼顶当作可拆件的计划共同造成失败；agent 自述已拆下盖子与画面不符。没有状态日志，短时对向夹持和毫米级几何量无法核验，但不影响三个节点的终态判断。",
+ "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 300/600/900/1100/1300/1450 s，星体始终在笼内、目标区为空、笼架原位，三个节点终态 1/3 与断点（星体出笼，窗口受阻）合理；现象与根因有日志和服务压力读数支持。未做逐帧全程核对，信心中等。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:20:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--syzka2a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--syzka2a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "5a67718386eff9805b4db901ef2267a3cf58b45a217e67640bd37f001e4869b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff80fa4cc7cc9b4306733b83465833b408849b2b
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm.json
@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 15244,
+   "live_rows": 15244,
+   "sim_steps": 15244,
+   "physics_steps": 152440,
+   "steps": 4000,
+   "elapsed_s": 10818.5,
+   "replay_wall_s": 579.9,
+   "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-hedgehog-in-cage-06-i01-standard--uif8cqm/replay.mp4",
+  "duration_s": 381.2,
+  "fps": 15.0,
+  "frames": 5718,
+  "sha256": "e08d8a8722e8b20af7acef04096d50159fa389f8454b2742c395a853d58658ad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金棕色星体位于黑色笼内，尖刺伸向窗口；全片每约五秒的巡检以及视频 9–13.5 s、60–66 s、239–246 s、284–291.5 s、337–349 s 的加密帧均未见星体整体离笼。"
+     },
+     {
+      "t": 346.0,
+      "log_step": 736,
+      "text_zh": "观察：视频 337–349 s 机器人在窗口处闭爪、短距离回拉及侧移，星体仍穿在笼窗内；log step 736 的实时服务安全监测明确记载夹爪手指压在 hedgehog cage 上，最大压力 63.4 N，侧移后的 TCP 几乎未变。"
+     },
+     {
+      "t": 381.1,
+      "log_step": 774,
+      "text_zh": "观察：视频 380.2–381.1 s 机械臂空爪上抬，细杆仍躺在桌上，星体中心及多根尖刺仍在笼内，没有完整出笼。评分字段 live_matches_replay=1、resumes=0，与单次连续操作相符。"
+     },
+     {
+      "t": 381.1,
+      "log_step": 774,
+      "text_zh": "推断：实时服务控制步可按 40 Hz 映射到视频，log step 774 的 control_steps=15244 对应视频 381.1 s；已用视频 380.2–381.1 s 的末次空爪抬升核对。log step 736 的 control_steps=13845 对应视频约 346.1 s，亦与窗口处停滞相符；未将 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人直接伸爪进入笼窗并闭合、回拉，手指实际压到固定笼框；视频 60–66 s、337–349 s 可见手指与笼窗及星体尖刺邻接，log step 290、736 明确报告手指压笼。未将闭爪指令或星体局部微动当作已经抓握星体。"
+     },
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人夹持细杆的盒形柄，以杆尖接近笼内星体；视频 239–243 s 杆尖顶在笼窗边缘，未见推动星体出笼。视频 284–289.5 s 再次持杆接近笼窗，随后杆脱离夹爪落回桌面。工具夹持不重复列为另一条抓握链路。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色虚线目标方框位于笼架旁的桌面，星体在高处笼内，目标区内没有星体。"
+     },
+     {
+      "t": 381.1,
+      "log_step": null,
+      "text_zh": "观察：全片粗检与视频 337–349 s、380.2–381.1 s 加密帧均显示星体留在笼内，绿色方框上方始终没有被移入的整星。整星入区的空间条件明确未成立，无需凭像素估计毫米裕量或静止速度。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立式笼子与蓝灰色支架竖直固定在绿色目标区旁的初始位置。"
+     },
+     {
+      "t": 381.1,
+      "log_step": null,
+      "text_zh": "观察：全片粗检及窗口受压、持杆接近、末次抬爪等加密帧中，笼架均保持初始位置；视频 381.1 s 仍与开局一致，没有随星体或机械臂进入绿色目标区。机器人对笼框的碰撞归于出笼操作，未主动操作本保留状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 12.0,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 12 s 机器人伸爪向笼内接近星体时停在笼框处，log step 66 的服务安全读数报告压力 24.3 N；随后机器人多次换方向、闭爪和持杆接近，视频 346 s 仍在窗口受阻。直到视频 381.1 s 星体仍在笼内，出笼这一步从未完成；目标区搬运尚未开始。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 12.0,
+    "log_step": 736,
+    "evidence_zh": "观察：视频 9–13.5 s 夹爪在笼侧贴近笼框，星体不随手移出；视频 337–348 s 再次回拉、侧移时也停在窗边。log step 736 的实时服务监测记录手指压在固定笼子上、压力 63.4 N，命令侧移约 5 mm 后 TCP 几乎未移；这是有固定物接触阻断的出笼失败。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 290.5,
+    "log_step": 584,
+    "evidence_zh": "观察：视频 284–289.5 s 细杆盒形柄在夹爪内，杆随机械臂接近笼窗；视频约 290–291 s 细杆从指间下落并躺回桌面，机器人未能继续用杆作用于星体。视频 380.2–381.1 s 最后的再抓取也为空爪抬升，细杆仍在桌上；未把工具落回桌面说成任务件掉出桌面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人未能建立可持续完成出笼的接触操作：视频 60–66 s 闭爪回撤后星体仍在原笼内，视频 239–243 s 杆尖顶在笼窗边缘，视频 290–291 s 持杆失稳，视频 337–348 s 直接取星仍被笼框阻挡；log step 290、736 的服务监测均明确把受压对象识别为固定笼子。上述重复的接触执行失败支持控制层归因；现有记录不足以将其统一细分为抓取几何、轨迹跟踪或反馈控制问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐接触对/持物状态历史；局部遮挡使星体尖刺与各指面的精确接触关系无法逐次确定，也无法确定每次细杆脱持由何种机制触发，因此未标已抓握星体，并将根因保留在控制层。评分器未报告 DAG 所列六项原生几何、速度及确认时长指标，均填 null；出笼及入区未完成的结论由可见空间关系决定，不由零分倒推。"
+ },
+ "summary_zh": "机器人反复直接夹取及持细杆接近笼窗，但星体始终未完整出笼，也未开始整星入目标区；笼架从初态到视频 381.1 s 均留在原位，节点终态为 1/3。出笼操作中夹爪被固定笼框阻挡，持杆尝试也发生脱持，归因于控制层的接触执行失败。没有状态日志，无法确认每次抓取的精确接触及脱持机制，原生毫米级和速度指标亦未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "星体全程留在笼内、出笼与入区均未达成、笼架留原位，节点终态与断点（出笼操作中，约 12 s 受阻，log step 65/66）与帧一致；控制步到视频时间的映射有核对，无异议。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:42:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--uif8cqm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6d00ef4350e6f34a76f9dbea2484e218678fec5f7b36512e2c6a4d9fcc5d3e7",
+   "video_sha256": "e08d8a8722e8b20af7acef04096d50159fa389f8454b2742c395a853d58658ad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--vvg28jh.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--vvg28jh.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf338f18123fec555c47f46c7349a8c32d9770cf
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--vvg28jh.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--vvg28jh",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 4,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5392,
+   "live_rows": 5392,
+   "sim_steps": 5392,
+   "physics_steps": 53920,
+   "steps": 1693,
+   "elapsed_s": 10847.4,
+   "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": 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-hedgehog-in-cage-06-i01-standard--vvg28jh/replay.mp4",
+  "duration_s": 134.867,
+  "fps": 15.0,
+  "frames": 2023,
+  "sha256": "a8e8822e3914f373091b4be02b296e8ed0dce71b491989d5849d145e1f14b3ac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": 47,
+      "text_zh": "观察：视频 14–20 s，机械臂在侧窗附近闭爪并小幅上移，金棕色星体仍在笼内，没有随夹爪提出；log step 47 的机器人服务读数显示闭爪后开度约 0.002 m，held_finger_contact_mm 为 0。"
+     },
+     {
+      "t": 91.5,
+      "log_step": null,
+      "text_zh": "观察：视频 86–96 s 的腕部视角可见夹爪进窗、星体在笼内转动，但中心和尖刺仍穿插在笼窗内，没有完整脱离。"
+     },
+     {
+      "t": 134.6,
+      "log_step": 98,
+      "text_zh": "观察：视频 126–134.8 s，机械臂空手退开并停住，星体仍在黑笼内部；末秒各视角未出现空笼及整星在外的状态。log step 98 的最终服务状态为 done=false，control_steps=5392；评分器字段 live_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 19–20 s、27–32 s 及 120–124 s，Robotiq 夹爪贴压黑色笼窗边框并尝试闭合；未见两指夹稳星体后带离。log step 94 的服务监测记录压力量峰值 212.3 N，持物手指接触读数为 0。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 88–94 s，夹爪从侧窗伸入并拨动金棕色星体，使其在笼内改变朝向；没有形成可随机械臂移动的稳定夹持。未使用桌面细杆。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 134.6,
+      "log_step": null,
+      "text_zh": "观察：从视频 0 s 到视频 134.8 s 的检查帧，绿色虚线目标区均无完整星体；尤其末秒机械臂已退开，整星仍清楚可见于笼内，因此未进入目标体积，也未开始到位静止确认。参照成功录像视频 250 s 可见整星悬持于目标区上方、笼内空出，本次没有出现相应状态。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，黑色立式笼子固定在蓝灰色支架上，目标区在其旁边。"
+     },
+     {
+      "t": 134.6,
+      "log_step": null,
+      "text_zh": "观察：全片粗采样以及视频 12–34 s、86–96 s、116–124 s 的密集检查和视频 133.9–134.8 s 末秒画面中，黑笼和蓝灰支架均保持初始竖直位置，未随机械臂移入目标区。推断：按 DAG 所述笼架固定的初始设置，留系统侧状态全程保持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 17.0,
+   "log_step": 47,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14–20 s，机械臂已开始对侧窗内星体实施闭爪及试提，星体未被提出；此后反复换位置重试，视频 126–134.8 s 最终仍将星体留在笼内。log step 47 记录首次闭爪及试提，log step 94 记录末次试提仍未带动星体。推断：最早未修复的失败步骤为星体出笼，视频 17 s 是首次抓取失效的粗略导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 17.0,
+    "log_step": 47,
+    "evidence_zh": "观察：视频 15–20 s，夹爪闭合及上移后星体仍留在笼内，未随手移动；视频 126–134.8 s 退手后亦未携带星体。log step 47 的服务读数显示闭爪后开度接近零且持物手指接触为 0；后续 log step 80、91、94 的闭爪及试提也没有带起星体。推断：未建立取出所需的双指夹持，期间零星碰触或拨动不等于抓住。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 28.0,
+    "log_step": 94,
+    "evidence_zh": "观察：视频 27–32 s，夹爪贴在黑色窗框处反复调整，星体留在框后；视频 120–124 s 再次出现夹爪顶住窗缘、未将星体带出的状态。log step 94 的机器人服务监测给出 max_press_force_n=212.3、驱动比例峰值 1.0，同时 held_finger_contact_mm=0；agent 在 log step 96 将该次接触自述为手指压住窗侧框。推断：固定笼框阻碍了该进窗抓取方案；压力读数是本实时单局服务的观测，未把 agent 工作秒数换算成视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：进窗抓取的夹爪姿态和闭合位置没有让两指包夹星体，而是在空处合拢或把载荷施于窗框，因此无法建立可取出的抓握。依据为视频 14–20 s 的闭爪空提、视频 27–32 s 和 120–124 s 的窗缘顶靠，以及 log step 47 的接触为零、log step 94 的压力量峰值 212.3 N 而持物手指接触仍为零；log step 96 也记录 agent 对压住窗框的复盘。可行替代已由同任务成功参照录像验证：参照视频 220 s 夹爪夹住星体尖刺，整星已在笼外；此参照仅说明替代接触方案存在，不用于认定本次进度。"
+   }
+  ],
+  "gap_zh": "输入没有状态日志；笼条和夹爪遮挡部分局部接触，不能逐一确定每次指尖的接触对及精确穿透量。agent 在 log step 96 所述窗口和手掌尺寸没有独立几何测量可核实，故未据此判定所有抓法均不可行；DAG 的六项原生指标也未由评分器报告，均填 null。视频足以确定星体未完整出笼及未入目标区；首次失败锚点为约数。",
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  }
+ },
+ "summary_zh": "机械臂多次从侧窗接近、闭爪并试提，曾拨动笼内星体，但始终未使整星出笼，也未进入绿色目标区；仅开局已成立的笼架留系统侧保持至末尾，最终为 1/3。断点为星体出笼：抓取没有建立，若干重试被固定窗框阻挡，接触几何未能形成有效包夹。没有状态日志，局部接触对及毫米级几何无法精确确认，但视频末秒清楚显示星体仍在笼内。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（星体未出笼、未入区、笼架留系统侧自0起）、断点和现象与视频及log一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:42:21Z",
+  "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-hedgehog-in-cage-06-i01-standard--vvg28jh/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--vvg28jh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_choice": "HF replay.mp4"
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+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--wh6yoi3.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--wh6yoi3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c2490ba66a66a9a40c0cac8159bb58278b4b3a
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--wh6yoi3.json
@@ -0,0 +1,288 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--wh6yoi3",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 14,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 12112,
+   "live_rows": 12112,
+   "sim_steps": 12112,
+   "physics_steps": 121120,
+   "steps": 2394,
+   "elapsed_s": 9020.3,
+   "replay_wall_s": 740.9,
+   "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-hedgehog-in-cage-06-i01-standard--wh6yoi3/replay.mp4",
+  "duration_s": 302.867,
+  "fps": 15.0,
+  "frames": 4543,
+  "sha256": "d29f192da7f47ff6741edd4947ad38c6811fd82466f6fca428746bb688d8d442"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金棕色星体位于黑色立笼内，尖刺从窗口可见，未完整分离。"
+     },
+     {
+      "t": 37,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–39.0 s 机器人夹爪向侧窗靠近、闭合并撤回，星体仍在原来的笼内位置，没有随夹爪离开；视频 130.0–144.0 s 的后续闭爪、回拉也未取出星体。"
+     },
+     {
+      "t": 302.8,
+      "log_step": null,
+      "text_zh": "观察：全片粗采样及各次接近、撤回画面均未出现整星在笼外；视频 274.0–282.0 s 机器人最后一轮笼边操作后空手撤走，视频 302.0 s 与 302.8 s 星体仍在笼内。参考成功视频 215.0 s 可清楚看到空笼和外部夹持的星体，本次没有该可见状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：为尝试出笼，机器人二指夹爪向窗口内探入并推抵笼窗边缘；视频 43.0–45.0 s 可见夹爪端部抵住固定笼架，log step 259 记录了机器人侧推笼架的动作。视频 31.0–39.0 s、130.0–144.0 s 虽有闭爪尝试，未见双指有效夹持星体并带走它，故不记实际抓握。末段拿杆尝试没有形成持杆推动星体的工具接触。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 星体在笼内，笼旁绿色虚线目标区为空；全片没有机器人携星体移向目标区的过程。"
+     },
+     {
+      "t": 302.8,
+      "log_step": null,
+      "text_zh": "观察：视频 302.0 s 与 302.8 s 的主视角中绿色虚线方框内没有星体，星体仍在笼内；不是仅缺少静止确认或毫米级边界测量。评分器 success=0、live_success=0、replay_success=0 与这一终态一致。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黑色立笼及蓝灰色支架竖直固定在原位，与绿色目标区分开。"
+     },
+     {
+      "t": 45,
+      "log_step": 259,
+      "text_zh": "观察：视频 43.0–45.0 s 机器人夹爪推抵笼架，笼架未离开原位；log step 259 的动作是侧推笼架以检查固定性。全片后续画面及视频 302.8 s 笼架仍竖直固定在同一位置。"
+     },
+     {
+      "t": 302.8,
+      "log_step": null,
+      "text_zh": "推断：结合任务 DAG 说明笼架固定、视频起止及操作间笼架位置不变，笼架留系统侧自视频 0.0 s 至结束持续成立；没有把笼架连同星体搬入目标区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人二指夹爪曾推抵黑色笼架以探查其固定性（视频 43.0–45.0 s；log step 259、338 的侧推及推上缘动作），笼架始终没有移位；这一留侧状态由场景固定结构维持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 37,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 31.0–39.0 s 机器人夹爪进入笼窗附近、闭合后撤回，星体未随动；这是出笼操作首次明显的取物失败锚点。机器人之后反复改高度和方向重试，视频 130.0–144.0 s、274.0–282.0 s 仍没有取出星体，直到视频 302.8 s 也未修复；目标区放置尚未开始。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 37,
+    "log_step": null,
+    "evidence_zh": "观察：视频 33.0–38.0 s 腕部与外部视角显示夹爪靠近星体和笼窗后撤离，星体始终留在笼内；视频 132.0–136.0 s 又一次闭爪、回拉仍为空手。这里缺失的是能夹持并带动星体的有效双指接触，未见先持住星体再滑脱的过程；末帧视频 302.8 s 星体仍在原处。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人已在笼窗处反复执行抓取，却未把接近和闭爪转化为能带动星体的抓持，归入控制。视频 33.0–38.0 s、132.0–136.0 s 可见闭爪后空手撤回；log step 237–239 记录机器人脚本逐级闭爪而实测开度停在约 0.0505 m，log step 314 的抓取目标为 [0.6167,-0.0456,0.33]，执行接近后实测为 [0.6355,-0.0326,0.3596]，随后 log step 318–322 继续闭爪和回拉。后续 log step 430–441、532–535 仍反复调整闭爪与回拉而未形成有效取物。证据不足以把具体原因进一步确定为感知误差、接触几何设计或逆解跟踪中的某一项。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理步接触对，部分指尖与星体接触区域被笼条及夹爪遮住，不能确定每次是否有短暂单侧触碰及其压力；实际接触只记录可见的夹爪推抵笼架，不把闭爪指令当成已抓握。控制根因保留大类，不能从 agent 在 log step 575 自述“找不到无碰路径”推成任务无解。评分器 forcing_events=14，而 agent 在 log step 575 声称零次，采用评分器字段；这些强推记录不等于独立判负条件。"
+ },
+ "summary_zh": "本次仅持续满足“笼架留系统侧”，最终为 1/3；星体始终未完整出笼，绿色目标区保持为空。断点是“星体出笼”：机器人多次探窗、闭爪及回拉都没有建立能带动星体的有效抓持，最后尝试拿杆也未用杆操作星体，视频 302.8 s 仍为星体在笼内的终态。缺少状态日志和完整指尖接触信息，控制问题只能归到大类，不能证明具体抓取几何错误或任务无解。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频一致：星体全程在笼内，仅“笼架留系统侧”成立（1/3），断点星体出笼、没建立接触、控制大类均有视频与日志支撑，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq.json b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq.json
new file mode 100644
index 0000000000000000000000000000000000000000..e924300845a35955ccd85366eadbe5de6b9dd63b
--- /dev/null
+++ b/phase2/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq.json
@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "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": 13018,
+   "live_rows": 13018,
+   "sim_steps": 13018,
+   "physics_steps": 130180,
+   "steps": 6366,
+   "elapsed_s": 10797.8,
+   "replay_wall_s": 1501.4,
+   "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-hedgehog-in-cage-06-i01-standard--zqnjuwq/replay.mp4",
+  "duration_s": 325.533,
+  "fps": 15.0,
+  "frames": 4883,
+  "sha256": "11630dec2e4142309f7d7c4436ac497859f40b80e38f2d94ff36c3a3a0dcdd35"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，金棕色星体位于黑色笼内，只有局部尖刺外露；黑色笼子固定在蓝灰色支架上。"
+     },
+     {
+      "t": 151.6,
+      "log_step": 503,
+      "text_zh": "观察：视频 150–153 s，机械臂夹持细杆从星体下方上抬，星体转动并向侧窗外移；视频 151.6 s 的腕部与外部视角仍显示星体穿在侧窗中，未出现整个六刺星体与笼子分离的状态。"
+     },
+     {
+      "t": 155,
+      "log_step": 511,
+      "text_zh": "观察：视频 153–156 s，细杆撤离，星体仍停在笼口，内侧尖刺未脱出；视频 280–287 s 的直接夹取和撤回也只使星体局部转动，随后夹爪离开而星体留在窗边。"
+     },
+     {
+      "t": 325.4,
+      "log_step": 1151,
+      "text_zh": "观察：视频 311–325.4 s，机器人再次闭爪并转动、撤回，星体仍穿在笼窗中；视频 324.5 s、视频 325.0 s 和视频 325.4 s 均可见笼内的尖刺。成功参考视频 252.4 s 则能看到空笼与完全分离的整星；本段未出现该完成形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机械臂夹持细杆，用杆端在笼窗内拨动星体与尖刺；视频 146–153 s 可见星体随杆的推进、上移而转动。握杆这一段工具链不重复计为直接抓星体。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 150–153 s，细杆伸在星体下方并向上顶托，将星体拨至部分外露；后续还从外露尖刺下方上抬，未托出整星。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 282–285 s，二指夹爪直接夹住外露尖刺，随后撤回时与星体分离；此后又在视频 311–325 s 重复闭爪与转动。早期空夹不据此算作已夹住；log step 973 的服务读数为夹爪开度 22.1 毫米，并记录持物手指接触。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278,
+      "log_step": null,
+      "text_zh": "观察：视频 274.5–278.5 s 和视频 287.5–291.5 s，机器人夹爪移向绿色虚线目标框并停留，但星体仍在笼口，没有随夹爪搬入；目标框内未见金棕色星体。"
+     },
+     {
+      "t": 325.4,
+      "log_step": null,
+      "text_zh": "观察：视频 325.4 s，绿色目标框仍空，整个星体尚与笼窗穿插，因此整星入区与连续静止验收均未达成；并非仅根据评分器 success=0 判定。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，黑色立式笼子与蓝灰色支架位于目标框旁的初始固定位置。"
+     },
+     {
+      "t": 325.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约每 5 秒抽帧检查，并细查视频 150–171 s、视频 274–302 s 和视频 310–325.4 s；笼架始终保持原来的位置和竖直姿态，未被连同星体搬向绿色目标区。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_min_height_above_table",
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_max_height_above_table",
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": 153.5,
+   "log_step": 511,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 150–153 s，机械臂持杆使星体转到笼窗外侧；视频 153–156 s 撤杆时星体停在窗沿，仍有尖刺留在笼内。后续直接抓取、上抬、撤回与旋转重试，直到视频 325.4 s 都未完成整星脱笼；因此失败步骤是星体出笼，目标区尚未收到星体。log step 503、log step 511 分别发出持杆上抬与撤回动作。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 153.5,
+    "log_step": 511,
+    "evidence_zh": "观察：视频 152–156 s，星体部分移到侧窗外后，内侧尖刺仍横在黑色窗框内，星体贴着窗沿停住，杆撤回未带出星体；视频 285–287 s 和视频 321–325.4 s 的夹爪撤回、转动也未解除这一穿插关系。阻挡对象是固定笼子的窗框及边沿。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 285.5,
+    "log_step": 985,
+    "evidence_zh": "观察：视频 282–285 s，夹爪闭合夹住外露尖刺；视频 285–286.5 s 撤回时星体先有小幅转动，随后留在笼口，夹爪与尖刺分离；视频 287.5–291.5 s 夹爪空手到目标区。log step 972 的脚本闭爪后，log step 973 的服务记录开度 22.1 毫米及持物手指接触；log step 985 的撤回脚本全程保持闭爪命令，未安排松开。推断：该次已建立的夹持在脱笼过程中丢失，不能把空手到框视为完成搬运。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：脱笼路径没有先解决星体各尖刺与笼窗的几何互锁。log step 985 在夹住外露尖刺后直接沿负 X 撤回并转向目标框，对应视频 285–287 s 星体受窗框阻挡后失持；后续 log step 1001 的逃逸搜索先把星体点云一次旋到候选终朝向，再检查平移，未检查从初始朝向转过去的连续过程，而 log step 1150 实际同时渐变旋转与平移。log step 1155 事后对该连续路径的估计在中段仅余 0.32 毫米间隙，低于搜索脚本自身使用的 2 毫米避碰界限；视频 321–325.4 s 仍卡在笼窗。这支持脱笼几何路径规划不足，而非将运行预算耗尽当作原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐物理步核对星体与笼框的接触对、抓持解除时刻及解除所需的力；失持与阻挡由多视角前后帧和服务读数共同判断。根因中的路径几何判断结合了 agent 脚本及其点云计算，0.32 毫米仅为该脚本估计，并非真实网格间隙；不能据此断定穿透量或抓持力阈值。六项原生终态指标均未在评分结果中报告，故值留 null。"
+ },
+ "summary_zh": "机器人用细杆拨动、顶托星体，使其部分伸出侧窗，随后多次直接夹取和转动，但直到视频 325.4 s 仍有尖刺卡在笼内，整星没有进入目标区；笼架始终留在系统侧，最终进度为 1/3。断点是星体出笼，表现为窗框阻挡及撤回时失持，日志支持脱笼几何路径规划不足。无状态日志，真实接触力与辅助抓持解除原因无法精确核验。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（星体出笼未达成、入区未达成、笼架留系统侧）、断点与现象与视频帧一致；视频 325 s 星体仍穿在笼窗，目标框为空。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": "2026-10-30T23:17:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--zqnjuwq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a304f1bb8a3f76d895b1abb4ce819b3c588a20675c926d1d5cc6c501f5cb9277",
+   "video_sha256": "11630dec2e4142309f7d7c4436ac497859f40b80e38f2d94ff36c3a3a0dcdd35",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--4wo9hcv.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--4wo9hcv.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e93ab04bee04f5280cae7ec371c19d7cb167e0
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--4wo9hcv.json
@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--4wo9hcv",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.066,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 106392,
+   "sim_steps": 425568,
+   "sim_time_s": 265.98000000290443,
+   "replays": 2,
+   "replay_wall_s": 537.0,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.583,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.467,
+   "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-ikea-lack-i00-privileged--4wo9hcv/replay.mp4",
+  "duration_s": 29.92,
+  "fps": 25.0,
+  "frames": 748,
+  "sha256": "5c582862d91e16c11050824cad73087ba47cbf79720de9c2882fe199f14f1207"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.25,
+      "log_step": null,
+      "text_zh": "观察：视频 0–11.25 s，画面左侧机械臂的二指夹爪抓起后排一根平放桌腿，将其竖起并在桌板角部旋拧；视频 11.25 s 夹爪离开，桌腿仍竖立固定。视频 17.25–25.5 s，同一机械臂抓起后排另一根腿，在另一角部旋拧并松手；视频 29.88 s 两腿仍固定，另两腿平放。"
+     },
+     {
+      "t": 29.88,
+      "log_step": 468,
+      "text_zh": "观察：log step 447 的脚本逐行回放保存的两腿文件，随后保存检查点；log step 468 从该检查点读取的评分器报告为 rows=106392、sim_time_s=265.98000000290443、welded=[true,true,false,false]、assignment=[1,0,-1,-1]，与本次 reward 的 n_actions、sim_time_s 及视频两腿终态一致。报告中 leg_0 高度为 0.011998625048615723 m、轴角为 0.02708037836974986 度；视频 29.88 s 可见其根部位于另一角部螺柱处。"
+     },
+     {
+      "t": 29.88,
+      "log_step": 620,
+      "text_zh": "推断：log step 261 保存、log step 620 最终恢复的是同一两腿文件，结合上述回放报告和视频终态，至少 leg_0 满足装配条件，故终值为真。首根先安装的 leg_1 在终态高度略超上限；无逐帧几何记录，无法从视频确定它何时越界、此前合格区间及第二根何时首次补足合格数量，因此时间区间留空未知，不能将首次竖立直接当作精确达标时点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "画面左侧机械臂的二指夹爪依次夹住后排两根桌腿，提起、竖直对准不同角部螺柱并旋拧；另一机械臂未同时夹持零件。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 25.5 s 第二根桌腿已离开夹爪并留在另一角部；视频 29.88 s 只有这两根腿竖立，另外两根仍平放在工作台前部。"
+     },
+     {
+      "t": 29.88,
+      "log_step": 468,
+      "text_zh": "观察：对应交付文件的回放检查点在 log step 468 报告两根腿已锁定，但 leg_1 的 depth_m=0.012013864016240109 m，严格大于 DAG 的 0.012 m 上限；leg_0 为 0.011998625048615723 m。log step 423 输出的 success.py 使用 off[:,2] <= seat_z_m，log step 6 输出的 seat_z_m=0.012，没有另加公差。"
+     },
+     {
+      "t": 29.88,
+      "log_step": 620,
+      "text_zh": "推断：log step 620 恢复上述文件，且评分回放动作数、仿真总时长与检查点相同；按本 DAG 的精确公差，终态不能计作两根合格腿，故终值为假。14 微米量级的超差在视频中不可辨，无逐帧报告，不能排除两根曾短暂同时达标，因此区间为未知而非空列表。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "画面左侧机械臂的二指夹爪在视频 17.25–25.5 s 抓握、搬运并旋拧第二根桌腿，以增加不同螺柱上的装配数量；首根已装腿由桌板保持。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.88,
+      "log_step": 620,
+      "text_zh": "观察：视频 0–29.88 s 只出现两根桌腿被夹爪提起和旋拧，工作台前部另外两根始终平放；与 oracle 视频 29.8 s 的四角四根竖直装配形态不同。log step 620 最终恢复两腿检查点，故第3根计数从未达到；后续会话测试不属于交付视频。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.88,
+      "log_step": 620,
+      "text_zh": "观察：视频 0–29.88 s 只出现两根桌腿被夹爪提起和旋拧，工作台前部另外两根始终平放；与 oracle 视频 29.8 s 的四角四根竖直装配形态不同。log step 620 最终恢复两腿检查点，故第4根计数从未达到；后续会话测试不属于交付视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 1.066
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_screwed_2",
+   "t": 25.5,
+   "log_step": 468,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 25.5 s 第二根腿旋拧后离手，但恢复交付文件对应的回放检查点（log steps 447、468、620）显示先装的 leg_1 高度为 12.013864 mm，超出精确 12 mm 上限，终态只能确认一根合格。按数量节点，第1根合格可由后来安装的 leg_0 补足，第2根合格数量未能保持到终态，故断在 legs_screwed_2；视频 25.5 s 仅为第二次安装结束的导航锚点，并非声称微小越界恰在此时发生。"
+  },
+  "unmet": {
+   "legs_screwed_1": true,
+   "legs_screwed_2": false,
+   "legs_screwed_3": false,
+   "legs_screwed_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 29.88,
+    "log_step": 468,
+    "evidence_zh": "观察：log step 468 从交付两腿文件的回放检查点读取 Session.status()，其场景评分服务 report.depth_m[1]=0.012013864016240109 m，即 leg_1 原点高于桌板上表面12.013864毫米；inputs/run.json 的 task_text 明确要求0至12毫米，log steps 6、423 的 seat_z_m=0.012 与 off[:,2] <= seat_z_m 严格比较一致。log step 447 逐行回放并保存该检查点，log step 620 恢复同一交付文件，报告的 rows=106392、sim_time_s=265.98000000290443 与正式 reward 一致。视频29.00、29.40、29.80、29.88 s 两根已装腿仍竖立，无法分辨约13.864微米的高度超差；此处数值来自评分服务读数观察。推断：交付终态的 leg_1 竖向位置超出明确规定的装配范围，构成位姿不准；视频29.88 s 仅作终态导航锚点，不表示越界首次发生于此时。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有逐帧状态日志，不能确定首根腿此前是否合格、何时越界或第1个计数节点何时首次达成，前两个节点的完整区间仍未知。log step 468 的评分服务读数支持交付终态 leg_1 的竖向位置超差，但视频无法分辨约13.864微米的偏差，且缺少对应超差时刻的旋拧停止位置及逐帧几何变化记录，不能确定其具体控制或机构原因，故 root_causes 保留为空。log step 618 的第三根腿右臂 IK 失败发生于后续未交付测试，不能作为交付轨迹的现象或第2个计数节点断点的原因。"
+ },
+ "summary_zh": "评分轨迹中机械臂先后抓握、旋拧两根桌腿，另两根始终平放；对应交付文件的 Session.status() 回放服务报告中 leg_1 高度12.013864毫米，超过任务文本与评分器一致规定的12毫米上限，终态只确认1/4节点合格，断点保留为第2根腿拧紧，评分器确认已离手、静止且无仿真崩溃。依据服务读数将 leg_1 的竖向位置超差标为运动·位姿不准，视频无法分辨约13.864微米的偏差，具体控制或机构根因证据不足。无逐帧几何记录，不能排除首根腿此前短暂合格或确定首次达标时刻，故前两节点完整区间仍未知，置信度保持5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频与 log 一致：交付轨迹只装了两根腿（视频约 11.25 s 与 25.5 s 先后竖立并松手，其余两根始终平放）。问题在于 legs_screwed_2 被判 false 以及整个失败叙述（断点、位姿不准）完全建立在 agent 会话里自己复刻的 success.py 对 leg_1 高度 12.0139 mm 的 14 微米超差上，这是 agent 自己的检查输出，视频与评分器结果字段（goal_at_end=0、max_part_depth_mm=1.066，均不含逐腿几何）都不能证实；同时 visual 节点 intervals 却留 null。",
+    "n_issues": 4,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "视频与日志一致：只装了两根腿，另两根始终平放；节点值与回放读数（rows=106392、sim_time 与评分一致）相符。问题在失败层：把 leg_1 座深 12.0139 mm 超过文本写明的 12 mm 上限说成“任务设计问题”并留空现象，但检查器并未错拒（success.py 严格 <=0.012，与任务文本一致），这是交付轨迹里真实的位姿超差，应作位姿不准。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已完整落实：任务设计问题表述已删除，新增运动·位姿不准（leg_1 12.013864 mm > 12 mm），root_causes 为空且 gap_zh 说明原因，summary_zh 同步；数值与 run.json 一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已完整落实：任务设计问题表述已删除，新增运动·位姿不准（leg_1 12.013864 mm > 12 mm），root_causes 为空且 gap_zh 说明原因，summary_zh 同步；数值与 run.json 一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:46:22Z",
+  "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-ikea-lack-i00-privileged--4wo9hcv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--4wo9hcv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--4wo9hcv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--4wo9hcv/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--4wo9hcv/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--4wo9hcv/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b3ea15566f38f3ce3c631d253f860095f57b199219af13c37ab819341e9ec2fe",
+   "video_sha256": "5c582862d91e16c11050824cad73087ba47cbf79720de9c2882fe199f14f1207",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jdw2sbb.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jdw2sbb.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda12e702e942ee8d01bf491d9d724aeadd38c2d
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jdw2sbb.json
@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--jdw2sbb",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "goal_at_end": 1,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 1,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.537,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 69193,
+   "sim_steps": 276772,
+   "sim_time_s": 172.98250000087452,
+   "replays": 2,
+   "replay_wall_s": 781.8,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.657,
+   "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-ikea-lack-i00-privileged--jdw2sbb/replay.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "c1ce793ef0404e70343095cec4b67a4ef70933627c5a45dc061eb4c2ff969c68"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四腿均横放于桌板外的工作台；视频约 0.5–2.5 s 左臂夹爪将第一根腿拿离原处、转为竖直并暂放桌板，右臂随后从上端夹起并移到画面右后角螺柱。视频 3.5–7.0 s 右夹爪带腿旋转下行，视频 7.2–7.4 s 夹爪上撤而该腿保持竖直接合，后续直到视频 29.96 s 未离开该角。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 65,
+      "text_zh": "推断：第一根腿拧紧约在视频 7.0 s，旋拧结束及撤爪前后只能将锁定时点定位到约半秒；log step 65 的本次生成记录报告 leg_1 锁定于 stud 2，交付文件的新进程回放报告（log step 80）确认该腿 welded=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪先夹住第一根横放桌腿并竖放；左爪松开撤离后，右臂二指夹爪重新夹住腿上端、搬到角部螺柱并旋拧。两臂依次接触该腿。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.1,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–9.5 s 左臂夹爪将第二根腿拿离工作台并竖放桌板，视频 10.0–11.5 s 从上端重新夹起、移到画面左后角；视频 12.0–14.0 s 左夹爪带腿旋转，视频 14.2–14.6 s 夹爪撤离而腿保持竖直接合。第一根腿在上述过程中保持原位，至视频 29.96 s 两根均未移离角部。"
+     },
+     {
+      "t": 14.1,
+      "log_step": 68,
+      "text_zh": "推断：累计两腿拧紧约在视频 14.1 s，时点误差约半秒；log step 68 的本次生成检查显示 leg_0、leg_1 均已锁定，交付回放报告（log step 80）确认二者分别占据不同螺柱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住第二根腿并竖放，松开后再从上端抓握，移至另一角部螺柱旋拧；右臂未同时抓稳桌板或该腿。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.7,
+      "log_step": null,
+      "text_zh": "观察：视频 15.0–17.0 s 左臂夹爪将第三根腿拿离原处并竖放桌板，撤爪后右臂从上端夹起，视频 18.5–21.6 s 在画面右前角带腿旋转下行。视频 21.8–22.2 s 右爪张开上撤，第三根腿保持竖直接合；先前两根仍在原角部，至视频 29.96 s 未见装配关系丢失。"
+     },
+     {
+      "t": 21.7,
+      "log_step": 69,
+      "text_zh": "推断：累计三腿拧紧约在视频 21.7 s，时点误差约半秒；log step 69 的本次生成记录报告 leg_2 锁定于 stud 3，交付回放报告（log step 80）确认前三根腿均锁定且分占不同螺柱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪先夹住第三根横放桌腿、竖放并松开；随后右臂二指夹爪从上端重新抓握该腿，搬至右前角螺柱并旋拧。两臂依次接触该腿。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.1,
+      "log_step": null,
+      "text_zh": "观察：视频 23.0–24.5 s 左臂夹爪将最后一根横放桌腿拿离工作台并竖放，随后从上端重新抓起并移至画面左前角。视频 26.0–29.0 s 左夹爪带腿旋转下行，视频 29.2–29.6 s 张爪上撤；视频 29.8–29.96 s 双爪均已离开零件，四腿保持竖直、各在不同角部，画面无可见继续运动。"
+     },
+     {
+      "t": 29.1,
+      "log_step": 80,
+      "text_zh": "推断：累计四腿拧紧约在视频 29.1 s，时点误差约半秒。观察：交付文件的新进程回放报告（log step 80）为 legs=4、welded=[true,true,true,true]、assignment=[1,2,3,0]，末态及保持末指令仿真 1.0 s 后均 goal/released/at_rest=true；reward 同样记录两端点全部通过、deterministic=1。log step 90 记录第二次回放成功且末态与复验状态哈希均与第一次相同。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住最后一根腿、竖放后松开，再从上端抓握并在左前角螺柱旋拧，安装结束张爪上撤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": [
+    0.01199945215053482,
+    0.011999381202025266,
+    0.0119989222170179,
+    0.011999568173375948
+   ]
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": [
+    0.00020165182867841827,
+    0.00020005161319778655,
+    0.00020109759590772753,
+    0.00020178705408827621
+   ]
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": [
+    0.048566421049787076,
+    0.018111801715147924,
+    0.03304544584556869,
+    0.043228363748301225
+   ]
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": 1.2336321740518701e-05
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 6.421858206509717e-05
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 1.537
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人依次将四根桌腿装到不同角部，视频约 7.0、14.1、21.7、29.1 s 结束各次旋拧，视频 29.96 s 四腿仍接合且双爪已撤离。观察：reward 与交付文件的新进程回放报告（log step 80、90）均支持成功，四腿锁定、全体离手静止及保持末指令仿真 1.0 s 后的复验全部通过；原生指标取 log step 80 的回放验收字段及 reward。推断：无逐帧状态日志，毫米级几何与锁定无法直接从画面量出，节点起点按旋拧结束和撤爪前后估计，约有半秒误差；该录像为压缩时长回放，未将 agent 工作时间换算为视频时间。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，四个节点时间（视频 7.0/14.1/21.7/29.1 s）与帧一致，终态四腿竖立于四个角部、双爪撤离；contact_actual 与观察相符，无失败层，无时钟转换问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:29:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--jdw2sbb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--jdw2sbb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "276143231984fe741fb1cd76f9657ceaee8bc6f869aad1fb8080cfe464715640",
+   "video_sha256": "c1ce793ef0404e70343095cec4b67a4ef70933627c5a45dc061eb4c2ff969c68",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jgp76y7.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jgp76y7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e048378bb42060497063a3529c70e1e3b4e0679
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--jgp76y7.json
@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--jgp76y7",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.538,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 87372,
+   "sim_steps": 349488,
+   "sim_time_s": 218.43000000186655,
+   "replays": 2,
+   "replay_wall_s": 528.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.82,
+   "peak_processes": 38,
+   "peak_disk_gb": 1.027,
+   "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-ikea-lack-i00-privileged--jgp76y7/replay.mp4",
+  "duration_s": 29.8,
+  "fps": 25.0,
+  "frames": 745,
+  "sha256": "17ce226df2b8cffc6d1904980c2f59fec735d669bcf6118485e9df897a229e39"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四根白色方柱腿均平放于桌板两侧的工作台上，尚无安装腿。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.6–4.8 s 左臂夹爪夹起一根桌腿、转为竖直并将根部送到画面远侧右角螺柱，右臂指端压住桌板；视频 4.8–7.8 s 左夹爪持续旋拧，约视频 8.0 s 松爪，视频 8.4–9.6 s 该腿根部接合且独立竖立。"
+     },
+     {
+      "t": 29.76,
+      "log_step": null,
+      "text_zh": "推断：视频 8.4–29.76 s 首根腿始终保持角部接合和轴向姿态，与成功参考视频中安装后离手保持的外观一致，按视觉判为第1根拧紧；到达时刻约视频 8.0 s，误差约0.5秒，未能测量毫米级座深。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第1根安装过程中左臂二指夹爪夹住桌腿两侧，先拖动换握，再抬起、竖直搬运和绕腿轴旋拧；右臂同时固定桌板。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：右臂夹爪指端从上方压住桌板表面，与左臂持腿旋拧同时发生；画面未显示右爪包围夹紧桌板，故桌板接触记压/擦。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.6 s 左夹爪抓取另一根平放桌腿并竖起，视频 13.0–16.4 s 在画面远侧左角下压旋拧，右臂指端同时压住桌板；视频 16.6–18.0 s 两夹爪撤离后两个不同角部各留一根竖直桌腿。"
+     },
+     {
+      "t": 29.76,
+      "log_step": null,
+      "text_zh": "推断：视频 16.6–29.76 s 两根已装腿均未离开角部或倾倒，按与成功参考相同的接合、竖直和离手保持线索判为至少2根拧紧；到达约视频 16.4 s，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第2根安装过程中左臂二指夹爪夹住桌腿两侧，先拖动换握，再抬起、竖直搬运和绕腿轴旋拧；右臂同时固定桌板。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：右臂夹爪指端从上方压住桌板表面，与左臂持腿旋拧同时发生；画面未显示右爪包围夹紧桌板，故桌板接触记压/擦。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.8–25.0 s 左夹爪拖动并换握画面前方外侧的平放桌腿，视频 25.2–26.6 s 将其抬离原处、转成竖直并送往近侧右角，视频 26.6–29.0 s 在该角旋拧；视频 29.2–29.76 s 左夹爪张开抬离，第三根腿保持根部接合和竖直，另两根安装腿也仍在。"
+     },
+     {
+      "t": 29.76,
+      "log_step": null,
+      "text_zh": "推断：视频 29.2–29.76 s 可见3个不同角部各有一根离手后保持的竖直桌腿，与成功参考的装配外观一致，判为至少3根拧紧；到达约视频 29.0 s，误差约0.5秒，不将临时竖起阶段计为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 21.8–29.0 s 左臂二指夹爪先夹住平放桌腿拖向台边，随后换为端部夹持，将腿抬起竖直并旋拧在近侧右角；右臂停在桌板旁，未显示同时压板。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.76,
+      "log_step": null,
+      "text_zh": "观察：完整视频 0.0–29.76 s 仅出现3根腿从原处被搬到螺柱安装的过程；视频 29.2–29.76 s 剩余1根白腿仍水平躺在桌板前方的工作台上，近侧左角螺柱空着，机器人未开始搬取该剩余腿。成功参考视频末尾则可见四角均有安装腿。"
+     },
+     {
+      "t": null,
+      "log_step": 380,
+      "text_zh": "观察：log step 355 的控制脚本输出在安装第三根腿后保存87372行；log step 362 备份这一三腿前缀，log step 369、380 恢复它为最终交付文件，评分器 reward.n_actions 也是87372，且 goal_at_end=0、goal_after_settle=0。后续会话抓取第四根腿的测试不计入本段评分视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.538
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_screwed_4",
+   "t": null,
+   "log_step": 380,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 29.2–29.76 s 三根腿已安装，剩余一根仍平放在工作台上；评分片段在左夹爪释放第三根腿后结束，没有开始第四根的安装。log step 355 在第三根后保存87372行，log step 362 备份该前缀，log step 380 将该87372行前缀定为最终交付；第四根相关后续调试没有进入评分片段，故无法定位一个第四根操作失败的视频瞬间。"
+  },
+  "unmet": {
+   "legs_screwed_1": true,
+   "legs_screwed_2": true,
+   "legs_screwed_3": true,
+   "legs_screwed_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 380,
+    "evidence_zh": "观察：视频 0.0–29.76 s 机器人只完成前三根腿的搬取与旋拧，最后一根留在原来的水平放置区；视频 29.2–29.76 s 两爪撤离第三根后，没有转去操作剩余腿。log step 380 交付的是第三根后保存的前缀；不把前缀以后的会话空夹测试作为评分片段的接触现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：缺少第四根的可交付动作与会话中的抓取控制未成功有关，而非从没尝试本身反推：log step 358、360 的脚本监测连续报告剩余 leg2 的 TD grip empty，拖动后位置误差仍160毫米；log step 364、367 改成第二根安装顺序后仍连续空夹、误差160毫米。随后 agent 在 log step 369、380 恢复三腿前缀作为交付。这些是会话诊断证据，只解释为何留下该前缀，不据此给评分视频添加抓取失败；缺乏可核验的接触几何和跟踪数据，根因停在控制大类。"
+   }
+  ],
+  "gap_zh": "无状态日志，视频为压缩时长回放，不将agent时间或日志打印的耗时换算成视频时刻；逐腿座深、横向公差及焊接标志不能由512×288画面精确测得，节点时刻依据旋拧结束、根部接合及松爪后保持，约有0.5秒误差。log step 373 的会话回放自检只报告一根 welded，log step 381 也如此自述，但评分视频 16.6–29.76 s 明显显示第二根安装并保持，视频 29.2–29.76 s 又显示第三根安装并保持；两者不一致，按视频判3根，未使用该自检数组作为本次节点值或原生指标。评分器只给总目标失败，没有逐腿报告；无法证实agent所谓接触混沌是差异原因，也不能判定具体控制子类。"
+ },
+ "summary_zh": "评分视频中机器人依次安装3根桌腿，约在视频 8.0 s、16.4 s、29.0 s 达到相应计数节点，至视频 29.76 s 均保持；第4根仍平放在工作台上，交付前缀没有开始其安装，断点为第4根腿拧紧（首步前）。会话日志反复记录剩余腿抓取空夹，随后 agent 选择三腿前缀交付，支持控制层面的根因；评分器确认目标未满足而离手、静止均合格。日志中的单腿回放自检与评分视频的三腿外观不一致，进度以视频为准，毫米级公差和精确锁定时刻仍缺少状态证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三根腿的到达时刻（约视频 8.0/16.4/29.0 s）与帧一致，第4根仍平放、断点第4根/首步前/没尝试合理；根因按 FAIL-22 以会话证据标为控制并说明限制，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": "2026-10-30T23:33:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--jgp76y7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--jgp76y7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "45bfc263f1d2a11fdda1e4da3ca327ba1d5cf4999dd93ebc6f74eda9eaf7337a",
+   "video_sha256": "17ce226df2b8cffc6d1904980c2f59fec735d669bcf6118485e9df897a229e39",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--v6mbdr8.json b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--v6mbdr8.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d7702f9e1fd400727e8385765cca5bb87f2bb2f
--- /dev/null
+++ b/phase2/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--v6mbdr8.json
@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--v6mbdr8",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.763,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 52219,
+   "sim_steps": 208876,
+   "sim_time_s": 130.54749999994826,
+   "replays": 2,
+   "replay_wall_s": 216.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.444,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.33,
+   "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-ikea-lack-i00-privileged--v6mbdr8/replay.mp4",
+  "duration_s": 29.72,
+  "fps": 25.0,
+  "frames": 743,
+  "sha256": "326828132edf4e4bccaffc383469d1334d75f26708daf08572fbb772656ed5ad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s四腿均为散件；视频0.5–1.5 s右臂夹起一根桌腿并在画面右后角竖起，视频2.0–5.1 s夹爪夹住其上端旋转，视频5.2 s退开后该腿仍立在角部。"
+     },
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "推断：视频5.2 s以后这根腿始终与同一角部连接，视频14.2 s桌板被掀动时该腿随板一起倾斜，视频29.68 s仍连接且沿桌板轴向，支持已经坐实锁定；首次完成取视频约5.1 s，误差约0.5 s，不能从像素精确测量毫米公差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频0.5–5.1 s右臂二指夹爪先夹住第一根桌腿中段搬起、竖起，再夹住上端旋拧；左臂此时未参与。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.24,
+      "log_step": null,
+      "text_zh": "观察：视频5.68–6.24 s右臂夹起第二根桌腿并将其竖放到画面右前方板面，但视频6.24 s根部在角部螺柱内侧，螺柱仍露在根部前方；视频6.88–7.04 s该腿倾倒并离开竖直位置，未坐实在螺柱上。"
+     },
+     {
+      "t": 29.68,
+      "log_step": null,
+      "text_zh": "观察：视频7.2–29.68 s始终只见原来的一根已连接桌腿，没有第二根形成角部装配；评分器goal_at_end=0、goal_after_settle=0，与四腿未完成相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.68–6.24 s右臂二指夹爪夹持第二根桌腿中段，搬起并竖放；后续松开换握，桌腿未锁定。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.4,
+      "log_step": null,
+      "text_zh": "观察：视频11.4、12.5、13.4 s左臂二指夹爪夹持一根斜置桌腿在桌板左边缘下探，视频10.6–14.2 s桌板发生平移、旋转和倾斜；视频16.5–21.5 s左臂又在板面附近反复运动。这些动作中没有新增坐实锁定的桌腿，最终视频29.68 s仍仅一根。"
+     },
+     {
+      "t": null,
+      "log_step": 1240,
+      "text_zh": "观察：log step 1240读取最终四腿生成任务的输出，第三个被操作零件leg_0在标为Seated的行中axis_z=-0.1106，随后标为Clamped的位置z=0.0245；这些脚本标签没有代表成功装配，和视频未出现第三根安装腿相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频11.4、12.5、13.4 s左臂二指夹爪夹持一根斜置桌腿在桌板左边缘下探，视频10.6–14.2 s桌板发生平移、旋转和倾斜；该腿未形成坐实锁定的角部装配。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.68,
+      "log_step": null,
+      "text_zh": "观察：视频22.0–29.0 s左臂在工作台左侧和边缘反复伸爪、回撤，视频29.68 s终帧只有一根桌腿连接，另外三个角部没有安装腿；整个后段没有形成四腿装配。"
+     },
+     {
+      "t": null,
+      "log_step": 1240,
+      "text_zh": "观察：log step 1240中第四个操作零件leg_1的接近位置已在工作台外，Seated与Clamped均报告z=0.0245、axis_z约0；视频没有显示机器人把该零件取回装配。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频22.0–29.0 s左臂执行台边、台外的接近动作，但待装零件所在区域在画面外；无法确认该阶段夹爪是否实际接触桌腿，不能认定抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.lateral_m",
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "report.axis_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 2.763
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_screwed_2",
+   "t": 6.24,
+   "log_step": 1240,
+   "where": "操作中",
+   "evidence_zh": "观察：视频6.24 s右臂将第二根桌腿竖放在板面，根部与右前角仍露出的螺柱有横向偏差；视频6.88–7.04 s该腿倾倒，视频7.2 s后不再竖立。后续改由左臂操作其余零件，直到视频29.68 s仍只有第一根连接，第二根安装步骤从未补成；log step 1240的最终生成任务摘要也未提供第二根成功锁定。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.24,
+    "log_step": 1240,
+    "evidence_zh": "观察：视频6.24 s第二根桌腿根部落在右前角螺柱内侧的板面，螺柱清楚露在根部前方，未被螺母端套住；视频6.88–7.04 s该腿倾倒离开该位置。推断：这是松开换握前未对准装配位置，临时竖放不构成拧紧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 1232所读生成脚本以桌腿和螺柱位姿计算搬运、对齐目标，再松开换握；log step 1240中最终生成任务将第二根标作Seated、Clamped，却没有给出成功锁定，视频6.24 s仍可见腿根与螺柱错位。推断：目标是安装到螺柱，但实际对齐和换握控制未使该目标成立；现有记录不足以进一步区分逆解、轨迹跟踪或接触设计。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有最终交付轨迹的逐腿完整装配报告，第一根锁定时刻由旋拧结束、退爪和随后随板刚性运动推断，约有0.5 s误差，毫米级几何公差无法直接测出。第二根的具体控制失误环节及台外第四根的实际接触无法确定；日志中的其他调试回合曾装好两腿，但不是本次交付的节点证据。视频为压缩时长回放，未将agent时间或仿真时间换算成视频时间。",
+  "unmet": {
+   "legs_screwed_1": true,
+   "legs_screwed_2": false,
+   "legs_screwed_3": false,
+   "legs_screwed_4": false
+  }
+ },
+ "summary_zh": "本次回放完成第1根腿拧紧，第一根在视频约5.1 s完成后一直与桌板连接，终态为1/4；第2根在视频约6.24 s竖放时未对准螺柱，随后倾倒，后续左臂操作也未补齐其余桌腿。断点为第2根腿拧紧，现象是位姿不准，证据支持控制失败但不足以细分；评分器同时报告目标未完成且未全体离手。无状态日志及完整逐腿终态报告，首次锁定时刻和精细公差依赖视觉推断，台外目标的接触不明。",
+ "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（第1根完成、第2根断点、终态1/4）与视频一致；但 legs_screwed_3 的 contact_actual 写成'推/扫'与帧不符：视频11.4–13.4 s左爪实际夹着一根桌腿，应为抓握。根因仅'控制'未细分可接受。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1根完成、第2根断点、终态1/4与视频一致；时钟均为视频时间，contact_actual已按上轮修正为抓握，未发现须改内容的错误。",
+    "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": "2026-10-30T23:42:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--v6mbdr8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--v6mbdr8/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--v6mbdr8/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--v6mbdr8/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "82f95e38cc573f14132da00e67d81c9f68e2091cad9ab7df903c0fdae38d0f48",
+   "video_sha256": "326828132edf4e4bccaffc383469d1334d75f26708daf08572fbb772656ed5ad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2kwdydx.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2kwdydx.json
new file mode 100644
index 0000000000000000000000000000000000000000..0924467f65ae7f64641ff02b29108ed6cc15373a
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2kwdydx.json
@@ -0,0 +1,719 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--2kwdydx",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 4.069,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 93551,
+   "sim_steps": 374204,
+   "sim_time_s": 233.87750000220373,
+   "replays": 2,
+   "replay_wall_s": 227.2,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.439,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.442,
+   "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-ikea-vesken-i00-privileged--2kwdydx/replay.mp4",
+  "duration_s": 29.88,
+  "fps": 25.0,
+  "frames": 747,
+  "sha256": "875e33f7538a346919458f8158bbe6a3e13a8cabf44956302ce3a4dc36104ec6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.8–20.0 s，机器人右夹爪从后部零件盒取出一只短脚并将其竖放在中央空台面；底托盘另放在后部，机器人没有把托盘降到这些脚上。这里按搬出顺序描述第1只准备件，并非已有1只脚扣好。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，三只小脚分别立于空台面，底托盘仍与它们分离；全段未出现脚与底托盘一起移动的接合状态。因此没有至少一只脚扣好的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.8–20.0 s，机器人右侧二指夹爪夹住短脚，搬离零件盒、调姿并放到台面；只完成装配准备，没有发生脚与底托盘的扣合。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.4–25.2 s，机器人左夹爪从后部零件盒取出一只短脚并将其竖放在中央空台面；底托盘另放在后部，机器人没有把托盘降到这些脚上。这里按搬出顺序描述第2只准备件，并非已有2只脚扣好。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，三只小脚分别立于空台面，底托盘仍与它们分离；全段未出现脚与底托盘一起移动的接合状态。因此没有至少一只脚扣好的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.4–25.2 s，机器人左侧二指夹爪夹住短脚，搬离零件盒、调姿并放到台面；只完成装配准备，没有发生脚与底托盘的扣合。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 26.4–29.84 s，机器人左夹爪从后部零件盒取出一只短脚并将其竖放在中央空台面；底托盘另放在后部，机器人没有把托盘降到这些脚上。这里按搬出顺序描述第3只准备件，并非已有3只脚扣好。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，三只小脚分别立于空台面，底托盘仍与它们分离；全段未出现脚与底托盘一起移动的接合状态。因此没有至少一只脚扣好的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 26.4–29.84 s，机器人左侧二指夹爪夹住短脚，搬离零件盒、调姿并放到台面；只完成装配准备，没有发生脚与底托盘的扣合。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 0–29.84 s，机器人仅搬出并摆放三只脚，底托盘始终未与这些脚接合，第四只脚未被搬出；不存在四只脚扣好的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 的脚本加载 f3 检查点后保存 93551 行轨迹；log step 86、90–102 的第四只脚抓取属于 f3 之后的会话测试，没有进入这次交付。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.4 s，机器人搬运的四根长柱插入前左方托盘，形成随后视频 13.2 s 所见的上层模块；底托盘在中央另置，未接受立柱。这不是第1底柱扣合。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，底托盘仍单独平放，未伸出任何底层立柱；立柱收纳架还留在后部。全段没有在底托盘上装柱的动作。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.4 s，机器人搬运的四根长柱插入前左方托盘，形成随后视频 13.2 s 所见的上层模块；底托盘在中央另置，未接受立柱。这不是第2底柱扣合。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，底托盘仍单独平放，未伸出任何底层立柱；立柱收纳架还留在后部。全段没有在底托盘上装柱的动作。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.4 s，机器人搬运的四根长柱插入前左方托盘，形成随后视频 13.2 s 所见的上层模块；底托盘在中央另置，未接受立柱。这不是第3底柱扣合。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，底托盘仍单独平放，未伸出任何底层立柱；立柱收纳架还留在后部。全段没有在底托盘上装柱的动作。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.4 s，机器人搬运的四根长柱插入前左方托盘，形成随后视频 13.2 s 所见的上层模块；底托盘在中央另置，未接受立柱。这不是第4底柱扣合。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，底托盘仍单独平放，未伸出任何底层立柱；立柱收纳架还留在后部。全段没有在底托盘上装柱的动作。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–18.0 s，机器人右夹爪只把另一块散置托盘沿台面移向前缘；它没有被抬到任何底层立柱上。此动作是在清理操作空间，未启动第二层托盘的扣合。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，该托盘仍单独平放在台面前缘；本次没有由底托盘、底柱和第二层托盘构成的架体。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2 s，仅有两托盘之间的一层立柱模块；两块其余托盘尚在台面。之后至视频 29.84 s，机器人只挪托盘和搬短脚，没有向第二层托盘插入第1根中层立柱。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，第二层托盘单独平放，没有中层立柱与其连接。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2 s，仅有两托盘之间的一层立柱模块；两块其余托盘尚在台面。之后至视频 29.84 s，机器人只挪托盘和搬短脚，没有向第二层托盘插入第2根中层立柱。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，第二层托盘单独平放，没有中层立柱与其连接。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2 s，仅有两托盘之间的一层立柱模块；两块其余托盘尚在台面。之后至视频 29.84 s，机器人只挪托盘和搬短脚，没有向第二层托盘插入第3根中层立柱。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，第二层托盘单独平放，没有中层立柱与其连接。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2 s，仅有两托盘之间的一层立柱模块；两块其余托盘尚在台面。之后至视频 29.84 s，机器人只挪托盘和搬短脚，没有向第二层托盘插入第4根中层立柱。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，第二层托盘单独平放，没有中层立柱与其连接。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.4 s，第三层托盘一直以台面为支承，机器人在其上插入顶层立柱；没有把这块托盘装到中层立柱之上的动作。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 29.84 s，上层模块仍留在台面，下面没有中层立柱及其架体；第三层托盘未与中层立柱扣合。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–2.0 s，机器人左夹爪把本次搬运的第1根长柱从后部收纳架夹起，移到前左方第三层托盘的角孔并向下插入；柱离开夹爪后仍竖立，不能据此断言保留焊接已激活。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "推断：视频 0–29.84 s 始终没有脚与底托盘连接，也没有底层和中层架体；任务文本明确保留连接按源顺序依赖前项。故这些预插入的顶层立柱不能获得本节点要求的有效保留焊接，节点从未成立；这不是用 state 节点的 after 边门控可见几何。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 对实际保存的 f3 检查点调用基准 Session.status()，报告 connected=0、success=False、released=True、at_rest=True，保存的 93551 行与评分器 n_actions 一致；视频所见的上层模块及三脚准备状态与该交付相符。这是连接数报告，不是从零总分推测没做动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.4–2.0 s，机器人左侧二指夹爪夹住一根长柱上部，将其搬出收纳架并向第三层托盘角孔压入后松开；右臂没有同时固定该托盘。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–4.4 s，机器人左夹爪把本次搬运的第2根长柱从后部收纳架夹起，移到前左方第三层托盘的角孔并向下插入；柱离开夹爪后仍竖立，不能据此断言保留焊接已激活。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "推断：视频 0–29.84 s 始终没有脚与底托盘连接，也没有底层和中层架体；任务文本明确保留连接按源顺序依赖前项。故这些预插入的顶层立柱不能获得本节点要求的有效保留焊接，节点从未成立；这不是用 state 节点的 after 边门控可见几何。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 对实际保存的 f3 检查点调用基准 Session.status()，报告 connected=0、success=False、released=True、at_rest=True，保存的 93551 行与评分器 n_actions 一致；视频所见的上层模块及三脚准备状态与该交付相符。这是连接数报告，不是从零总分推测没做动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.4–4.4 s，机器人左侧二指夹爪夹住一根长柱上部，将其搬出收纳架并向第三层托盘角孔压入后松开；右臂没有同时固定该托盘。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–6.0 s，机器人左夹爪把本次搬运的第3根长柱从后部收纳架夹起，移到前左方第三层托盘的角孔并向下插入；柱离开夹爪后仍竖立，不能据此断言保留焊接已激活。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "推断：视频 0–29.84 s 始终没有脚与底托盘连接，也没有底层和中层架体；任务文本明确保留连接按源顺序依赖前项。故这些预插入的顶层立柱不能获得本节点要求的有效保留焊接，节点从未成立；这不是用 state 节点的 after 边门控可见几何。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 对实际保存的 f3 检查点调用基准 Session.status()，报告 connected=0、success=False、released=True、at_rest=True，保存的 93551 行与评分器 n_actions 一致；视频所见的上层模块及三脚准备状态与该交付相符。这是连接数报告，不是从零总分推测没做动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–6.0 s，机器人左侧二指夹爪夹住一根长柱上部，将其搬出收纳架并向第三层托盘角孔压入后松开；右臂没有同时固定该托盘。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–8.4 s，机器人左夹爪把本次搬运的第4根长柱从后部收纳架夹起，移到前左方第三层托盘的角孔并向下插入；柱离开夹爪后仍竖立，不能据此断言保留焊接已激活。"
+     },
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "推断：视频 0–29.84 s 始终没有脚与底托盘连接，也没有底层和中层架体；任务文本明确保留连接按源顺序依赖前项。故这些预插入的顶层立柱不能获得本节点要求的有效保留焊接，节点从未成立；这不是用 state 节点的 after 边门控可见几何。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 对实际保存的 f3 检查点调用基准 Session.status()，报告 connected=0、success=False、released=True、at_rest=True，保存的 93551 行与评分器 n_actions 一致；视频所见的上层模块及三脚准备状态与该交付相符。这是连接数报告，不是从零总分推测没做动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.4–8.4 s，机器人左侧二指夹爪夹住一根长柱上部，将其搬出收纳架并向第三层托盘角孔压入后松开；右臂没有同时固定该托盘。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4–13.2 s，机器人双夹爪分别夹持顶托盘两侧，将其抬起、平移并降到四根顶层立柱上；视频 13.6 s 后两爪撤离，画面留下两托盘四柱模块。"
+     },
+     {
+      "t": 29.84,
+      "log_step": 115,
+      "text_zh": "推断：视频 29.84 s，模块仍独立放在台面，脚、底层及中层连接均未完成；任务文本的源顺序保留机制使顶托盘连接尚不能激活。log step 115 对交付检查点的基准状态报告 connected=0，因此可见搭接不等同本节点的有效扣合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.4–13.2 s，左右二指夹爪各自夹住顶托盘一侧边缘，共同抬起、平移、下压并松开；较早的单爪移盘和左爪重新夹柱对中均是这一装配尝试的准备。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–29.84 s，低矮上层模块的顶托盘和四角均在画面内，没有机器人把顶帽送到顶托盘角孔的动作，也没有至少1只顶帽扣好的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 保存的是 f3 检查点；log step 103–114 的顶帽搬运、换手翻转是该检查点之后的会话测试，没有包含在视频中的交付。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–29.84 s，低矮上层模块的顶托盘和四角均在画面内，没有机器人把顶帽送到顶托盘角孔的动作，也没有至少2只顶帽扣好的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 保存的是 f3 检查点；log step 103–114 的顶帽搬运、换手翻转是该检查点之后的会话测试，没有包含在视频中的交付。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–29.84 s，低矮上层模块的顶托盘和四角均在画面内，没有机器人把顶帽送到顶托盘角孔的动作，也没有至少3只顶帽扣好的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 保存的是 f3 检查点；log step 103–114 的顶帽搬运、换手翻转是该检查点之后的会话测试，没有包含在视频中的交付。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.84,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–29.84 s，低矮上层模块的顶托盘和四角均在画面内，没有机器人把顶帽送到顶托盘角孔的动作，也没有至少4只顶帽扣好的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 115,
+      "text_zh": "观察：log step 115 保存的是 f3 检查点；log step 103–114 的顶帽搬运、换手翻转是该检查点之后的会话测试，没有包含在视频中的交付。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 4.069
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 29.84,
+   "log_step": 115,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.8–29.84 s，机器人先后搬出三只脚并竖放到台面，底托盘始终与脚分离，没有把底托盘降到脚上扣合；视频 13.2 s 已搭出的顶柱与顶托盘模块随后保持成型，未见脱落。log step 115 加载 f3 检查点、保存 93551 行轨迹，基准 Session.status() 报告 connected=0、success=False。推断：依任务文本的源顺序保留机制，最早未完成且无上游阻挡的连接步骤是 feet_seated_1；顶柱与顶托盘的焊接尚待上游连接，并无证据显示其插入动作本身失败。视频 29.84 s 为三脚准备后仍未启动扣合的导航锚点，不代表该刻发生瞬时损坏。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 29.84,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 0–29.84 s，机器人先搭上层模块、移开散置托盘，再搬放三只脚；视频 20–29.84 s 没有机器人将底托盘移到脚上并下压扣合的动作，视频 29.84 s 三脚与底托盘仍分离。agent 在 log step 123 自述从未尝试把 tray_0 降到脚上，与所见交付轨迹一致。推断：交付仅完成脚的搬放准备，feet_seated_1 所要求的脚与底托盘扣合动作未启动，符合 docs/TAXONOMY_v2.md §3 的“没尝试”；后续被该前项挡住的节点不另记此现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无逐帧状态日志。视频可见顶柱插入、顶托盘搭接及三只脚的搬放，但看不清微小卡爪和保留焊接状态；节点未达结合底部从未接合、文本规定的机制依赖以及 log step 115 的交付检查点 connected=0 推断。脚的扣合动作未启动，现象标为“没尝试”；未见顶柱插入时脱手、被挡或接触力异常，不把未激活的焊接写成力控失败。会话中 log step 86、90–114 确有后续抓脚、翻帽失败，但这些动作未进入所保存的 f3 轨迹；提前搭上层模块也不足以证明后续不能合法完成源顺序连接，故根因层留空，不从“没尝试”、停止或预算反推原因。评分器未提供逐节点操作通过数及大部分几何指标；native_metrics 中相应值保留 null。"
+ },
+ "summary_zh": "机器人在视频 0–13.6 s 搭出第三层托盘、四根顶柱和顶托盘的局部模块，随后挪开散置托盘、把三只脚竖放到台面，但没有把底托盘降到脚上扣合，也没有继续建立中下层架体；按有效保留连接判据，最终为 0/23。最早未达的依赖链起点为第1只脚扣好，交付中未启动其扣合动作，现象为“没尝试”；顶柱与顶托盘已搭成模块，其保留焊接等待上游连接，未见插入本身的物理失败。log step 115 保存的 f3 检查点报告连接数为0，评分器确认末态及保持末条控制后目标均未达成，离手与静止成立。没有逐帧焊接状态，且后续抓脚、翻帽失败仅存在于会话测试；现有证据不足以确定未启动扣合的根因，根因层留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（全 false、final 0）与视频一致，未发现时钟或会话/交付混淆问题。但断点选在 upper_columns_seated_1（按“最早动手”），而按 DAG 依赖和任务文本，顶柱的焊接只是被上游脚节点挡住；真正没做成的是最早的未达节点 feet_seated_1（托盘从未降到脚上，log 115 的收尾自述也写明 tray_0 落脚、底柱等从未尝试），且现象层缺 没尝试。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点全为 false、final 0 与视频及 log 115 的 connected=0 一致；断点已按上轮意见改为 feet_seated_1，现象 没尝试 有视频支持，根因层留空并有 gap_zh，可接受。未发现需要改动的内容。",
+    "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": "2026-10-30T23:43:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--2kwdydx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--2kwdydx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--2kwdydx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--2kwdydx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e601b2620ce2b25eedb616ec65b68dc0ce805f04531b7f398a0bddb3cc586ab8",
+   "video_sha256": "875e33f7538a346919458f8158bbe6a3e13a8cabf44956302ce3a4dc36104ec6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2omb7mq.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2omb7mq.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2fe5c54e6524102ae9f88aedbbaa843ab8e8db
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--2omb7mq.json
@@ -0,0 +1,530 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--2omb7mq",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.787,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2788,
+   "sim_steps": 11152,
+   "sim_time_s": 6.970000000001259,
+   "replays": 2,
+   "replay_wall_s": 5.6,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.532,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.268,
+   "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-ikea-vesken-i00-privileged--2omb7mq/replay.mp4",
+  "duration_s": 25.56,
+  "fps": 25.0,
+  "frames": 639,
+  "sha256": "f7ba6311b8fb2124e440c2ce3827bfd11a875e40fc24c467647da59f8f3b57d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0 s 四块托盘分散在台面，短脚位于后部零件盒；视频 2.75–8.0 s 左夹爪在盒内操作后空手回升，没有将短脚带至底托盘。视频 13.5–15.0 s 右夹爪抬起底托盘，随后放回，未见短脚随托盘连成一体；视频 25.52 s 场景仍为散件。官方交付文件重放报告（log step 471，log step 472 复核）四项 s1-foot 的 connected、passed 均为 false，未达到至少1只脚扣好的条件。"
+     },
+     {
+      "t": null,
+      "log_step": 470,
+      "text_zh": "观察：log step 470 运行生成器保存 2788 行交付轨迹，只包含左臂取脚尝试、右臂抬放底托盘及静置；log step 471、log step 472 对该文件进行两次官方重放，报告连接数和装配通过数均为 0，最终哈希相同；run.json 的 reward.deterministic=1、goal_at_end=0、goal_after_settle=0。上述动作顺序与本次视频吻合；日志中的其余试验不作为本次节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "左夹爪在视频 2.75–6.5 s 进入零件盒内尝试操作第一只短脚；小件被手指遮挡且分辨率低，无法确定实际触碰面及是否形成对向夹持，不能以闭爪命令当作抓握证据。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 11.5–17.0 s 右臂二指夹爪夹住底托盘边沿，将托盘抬离台面后放回；这是首次装脚步骤中对基件的操作。左臂此时已离开零件盒，没有同时持脚配合。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0 s 四块托盘分散在台面，短脚位于后部零件盒；视频 2.75–8.0 s 左夹爪在盒内操作后空手回升，没有将短脚带至底托盘。视频 13.5–15.0 s 右夹爪抬起底托盘，随后放回，未见短脚随托盘连成一体；视频 25.52 s 场景仍为散件。官方交付文件重放报告（log step 471，log step 472 复核）四项 s1-foot 的 connected、passed 均为 false，未达到至少2只脚扣好的条件。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0 s 四块托盘分散在台面，短脚位于后部零件盒；视频 2.75–8.0 s 左夹爪在盒内操作后空手回升，没有将短脚带至底托盘。视频 13.5–15.0 s 右夹爪抬起底托盘，随后放回，未见短脚随托盘连成一体；视频 25.52 s 场景仍为散件。官方交付文件重放报告（log step 471，log step 472 复核）四项 s1-foot 的 connected、passed 均为 false，未达到至少3只脚扣好的条件。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0 s 四块托盘分散在台面，短脚位于后部零件盒；视频 2.75–8.0 s 左夹爪在盒内操作后空手回升，没有将短脚带至底托盘。视频 13.5–15.0 s 右夹爪抬起底托盘，随后放回，未见短脚随托盘连成一体；视频 25.52 s 场景仍为散件。官方交付文件重放报告（log step 471，log step 472 复核）四项 s1-foot 的 connected、passed 均为 false，未达到至少4只脚扣好的条件。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成底层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少1根底层立柱扣好未成立。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成底层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少2根底层立柱扣好未成立。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成底层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少3根底层立柱扣好未成立。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成底层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少4根底层立柱扣好未成立。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 机器人仅抬放底托盘，其余三块托盘始终分散平放台面，没有将第二层托盘置于任何一组柱端并连接；视频 25.52 s 没有层叠架体。官方重放报告（log step 471）connected=0、operations_passed=0，与视频一致。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成中层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少1根中层立柱扣好未成立。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成中层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少2根中层立柱扣好未成立。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成中层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少3根中层立柱扣好未成立。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成中层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少4根中层立柱扣好未成立。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 机器人仅抬放底托盘，其余三块托盘始终分散平放台面，没有将第三层托盘置于任何一组柱端并连接；视频 25.52 s 没有层叠架体。官方重放报告（log step 471）connected=0、operations_passed=0，与视频一致。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成顶层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少1根顶层立柱扣好未成立。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成顶层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少2根顶层立柱扣好未成立。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成顶层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少3根顶层立柱扣好未成立。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 立柱始终留在后部收纳架，没有立柱被机器人取出并接到托盘上；视频 25.52 s 四块托盘仍平放且分离，未形成顶层立柱与托盘的接合。官方重放报告（log step 471）connected=0、operations_passed=0，与可见散件终态一致，至少4根顶层立柱扣好未成立。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 机器人仅抬放底托盘，其余三块托盘始终分散平放台面，没有将顶层托盘置于任何一组柱端并连接；视频 25.52 s 没有层叠架体。官方重放报告（log step 471）connected=0、operations_passed=0，与视频一致。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 没有出现架体或顶托盘架设，机器人没有将小帽片从零件盒运到顶托盘四角；视频 25.52 s 顶托盘仍是台面散件。官方交付文件重放报告（log step 471）四项 s8-cap 的 connected、passed 均为 false，未达到至少1只顶帽扣好的条件。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 没有出现架体或顶托盘架设，机器人没有将小帽片从零件盒运到顶托盘四角；视频 25.52 s 顶托盘仍是台面散件。官方交付文件重放报告（log step 471）四项 s8-cap 的 connected、passed 均为 false，未达到至少2只顶帽扣好的条件。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 没有出现架体或顶托盘架设，机器人没有将小帽片从零件盒运到顶托盘四角；视频 25.52 s 顶托盘仍是台面散件。官方交付文件重放报告（log step 471）四项 s8-cap 的 connected、passed 均为 false，未达到至少3只顶帽扣好的条件。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.52,
+      "log_step": 471,
+      "text_zh": "观察：视频 0.0–25.52 s 没有出现架体或顶托盘架设，机器人没有将小帽片从零件盒运到顶托盘四角；视频 25.52 s 顶托盘仍是台面散件。官方交付文件重放报告（log step 471）四项 s8-cap 的 connected、passed 均为 false，未达到至少4只顶帽扣好的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": 0
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": 0.4115436612019291
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 1.787
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 6.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.75–6.5 s 左夹爪在零件盒内闭合并开始回升，视频 7.0–8.0 s 夹爪离开盒子时没有短脚随行，之后未再取脚；视频 13.5–15.0 s 右臂只抬起底托盘，未与短脚对接，至视频 25.52 s 仍无装配。推断：第一只脚的取件失败后未修复，因此断点为 feet_seated_1；视频 6.5 s 是回升空取的粗略导航锚点。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.5,
+    "log_step": null,
+    "evidence_zh": "推断：视频 3.0–6.5 s 左夹爪在盒内操作，随后于视频 6.5–8.0 s 回升并撤离，短脚没有离开盒子随夹爪运动，也没有被运向底托盘，说明取件未建立可提起短脚的有效抓持。微小接触被遮挡，不能据此声称夹爪完全没有碰过短脚。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：视频 6.5–8.0 s 的取脚回升未带出短脚；会话诊断 log step 355 使用生成器相同的取脚目标及动作段，短脚在闭爪后主要横移，回升后 z=0.421542 m，接近初始 z=0.421738 m；另一取脚试验 log step 218 也未抬起短脚。这些是会话中的控制诊断证据，支持取脚控制未奏效，不能作为本次逐帧状态。尚不足以区分接触几何、逆解或执行跟踪，因此只标控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志。视频为 512×288 单一斜俯视，小脚在盒内被手指及邻件部分遮挡：可确认未被带出并装配，但不能精确判定短暂对向接触或微滑，左夹爪的接触方式留未知，失败现象中的有效抓持未建立为结合前后帧的推断。控制根因有会话试验支持，具体子型未定；不把会话试验的碰撞、力或关节限位移植到交付视频。原生指标的整体连接误差和评分器速度数值未在 reward 或官方重放 report 中给出，保留 null；生成器会话的 terminal 速度输出不作为评分器原生指标。"
+ },
+ "summary_zh": "观察：交付视频中左臂在零件盒内取脚未带出零件，随后右臂夹起底托盘并放回，23 个装配节点始终未达成，官方交付重放也报告 connected=0、operations_passed=0。推断：断点在第一只脚的取件阶段，未建立有效抓持，会话中同类取脚诊断支持控制问题。观察：无状态日志，盒内微小接触受遮挡，实际接触方式及控制子型无法细分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全部未达成、断点 feet_seated_1（左臂取脚空手回升）与官方重放 connected=0 及视频一致；现象“没建立接触”和根因“控制”（停在大类，未细分）有证据支持且标注为推断，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:37:15Z",
+  "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-ikea-vesken-i00-privileged--2omb7mq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--2omb7mq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dbc78ac437a88726bfa0e1cf330a12bae4b781e533845d4b9da0f4aec1fad072",
+   "video_sha256": "f7ba6311b8fb2124e440c2ce3827bfd11a875e40fc24c467647da59f8f3b57d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--5yhgkas.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--5yhgkas.json
new file mode 100644
index 0000000000000000000000000000000000000000..a55a8c227050a1edfaa7e1d2f78cda3c7b08ffcb
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--5yhgkas.json
@@ -0,0 +1,628 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--5yhgkas",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.01,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1398,
+   "sim_steps": 5592,
+   "sim_time_s": 3.4949999999998402,
+   "replays": 2,
+   "replay_wall_s": 3.3,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.551,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.014,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-ikea-vesken-i00-privileged--5yhgkas/replay.mp4",
+  "duration_s": 24.04,
+  "fps": 25.0,
+  "frames": 601,
+  "sha256": "1341292748fa2f5529e73b60c869fd2ac5729ab9bfcc02d24fe741c5a01ce9c2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍分别平放台面，机器人两夹爪停在零件上方，未见取脚、翻转底托盘或向底孔扣装的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍分别平放台面，机器人两夹爪停在零件上方，未见取脚、翻转底托盘或向底孔扣装的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍分别平放台面，机器人两夹爪停在零件上方，未见取脚、翻转底托盘或向底孔扣装的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍分别平放台面，机器人两夹爪停在零件上方，未见取脚、翻转底托盘或向底孔扣装的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍各自平放台面，没有底层四柱支起第二层托盘，机器人没有抬起或扣装第二层托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，托盘仍分散平放台面，没有中层柱架或第三层水平托盘，机器人没有搬起该托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，立柱仍集中竖放在台面后侧的收纳架中，托盘之间没有支起的立柱，机器人未将立柱从收纳架移到对应托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，四块托盘仍在台面，完全没有向上搭起的架体，也没有托盘被机器人举出画面或扣到顶层柱上。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，没有组起架体或顶托盘，机器人两夹爪保持空闲，未见从零件盒取出顶帽或将其送往托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，没有组起架体或顶托盘，机器人两夹爪保持空闲，未见从零件盒取出顶帽或将其送往托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，没有组起架体或顶托盘，机器人两夹爪保持空闲，未见从零件盒取出顶帽或将其送往托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–24.0 s 的逐秒画面、视频 12.0–15.0 s 的逐0.2秒画面及视频 23.0–24.0 s 的逐0.2秒末段画面中，没有组起架体或顶托盘，机器人两夹爪保持空闲，未见从零件盒取出顶帽或将其送往托盘角孔。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 144 以 VESKEN_BUILD=0 跳过装配，重置后保存1398行停放控制；log step 146 对这份交付文件调用评分器重放，输出 report connected=0、goal=False、released=True、at_rest=True，与本次视频保持零件初始分散布局相符。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.01
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 0.0,
+   "log_step": 144,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–24.0 s 中两臂停在零件上方，四块托盘始终平放台面，未开始取脚或底孔扣装；视频 23.0–24.0 s 逐0.2秒检查仍无装配动作。log step 144 用 VESKEN_BUILD=0 跳过 build_feet()，执行重置、park()和保持后保存交付轨迹；log step 146 重放该文件报告连接数为0。首个必需装配步骤没有启动。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 144,
+    "evidence_zh": "观察：本次视频 0.0、6.0、12.0、18.0、24.0 s 均为两臂空闲、托盘散放、立柱仍在收纳架的场景，未见第一只脚的取件或扣装；视频 0.0–1.0 s 和23.0–24.0 s 的逐0.2秒检查也未见启动动作。log step 144 明确以 VESKEN_BUILD=0 禁用装配并仅保存停放保持轨迹。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话测试中的抓取控制未能形成可用的装配执行方案，导致 agent 最终只交付停放轨迹。log step 122 的脚抓取验证中，foot_0 连续五次失败且接触数为0，仅 foot_1 一次验证成功；log step 128 修改夹爪开度映射后，foot_0、foot_1 多次提升仍失败；log step 138 的后续测试仍报告 foot_1 末端误差13.5–323.3 mm、无接触，foot_2 无候选，foot_3 提升验证失败。log step 143 的 agent 自述小零件抓取受阻，随后 log step 144 跳过整个装配并保存停放轨迹。上述会话测试仅用于解释根因，不作为本次评分片段发生过抓取或碰撞的证据。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；单视角远景不能测量微小连接间隙或接触力，但本次视频始终没有搬件和架体搭建，且 log step 146 对交付文件的评分器重放报告连接数为0，足以判断所有装配节点未达到。推断：根因只能依据会话测试归到控制，尚不能可靠区分抓取接触几何、逆解路径或执行跟踪；agent 在 log step 151 所称盒内不存在无碰撞抓法未获穷尽验证，不能据此归因任务或环境。"
+ },
+ "summary_zh": "本次评分视频中机器人仅停放保持，托盘、立柱及小零件未被组装，23个节点全程未达到；log step 146 对最终交付轨迹的评分器重放也报告连接数为0。断点为第1只脚扣好／首步前，现象为没尝试；会话中多轮脚抓取验证失败后，agent 在 log step 144 禁用装配并保存停放轨迹，支持控制根因，但缺少足以区分具体控制子类的证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：视频 0–24 s 机器人仅停放，23个节点均未达成；log step 146 评分器重放 connected=0；断点首步前/没尝试、根因按 FAIL-22 追溯到会话中抓取验证全失败（控制，推断已标明）均合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:35:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--5yhgkas/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--5yhgkas/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b08e4462cc15c80d809a4f14aacce2ebea33e682c1c62638572658488a9f5ac4",
+   "video_sha256": "1341292748fa2f5529e73b60c869fd2ac5729ab9bfcc02d24fe741c5a01ce9c2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--6qgzd4q.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--6qgzd4q.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b30d7f36e0dac568a427d73ad8faf0eaeb50be6
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--6qgzd4q.json
@@ -0,0 +1,560 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--6qgzd4q",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 4.084,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 265058,
+   "sim_steps": 1060232,
+   "sim_time_s": 662.6450000115627,
+   "replays": 2,
+   "replay_wall_s": 399.6,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.602,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.3,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-ikea-vesken-i00-privileged--6qgzd4q/replay.mp4",
+  "duration_s": 30.04,
+  "fps": 25.0,
+  "frames": 751,
+  "sha256": "dc03ae7b31b25389759c1c7fe719336c5d46c83e286d366c08b33c48a338aafb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.8 s 机器人抬起底托盘后，托盘转动下垂，未见脚随托盘形成连接；视频 8.8–29.3 s 双臂在零件盒和托盘周围反复运动，未见取出脚后对孔压入，未出现至少1只脚扣好的状态。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 236,
+      "text_zh": "观察：视频 29.4–30.0 s 机器人放下底托盘、移开双臂，未形成带脚架体；log step 236、237、238 的最终 s1 生成日志依次记录四只脚 fetch rc=98、SKIPPING（取脚失败并跳过），随后保存该阶段控制行；log step 240、248 将这些行纳入交付文件。因此没有至少1只脚扣好的可见过程，非单凭总评分为零判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约 0.5–5.8 s，机器人一侧二指夹爪夹住部分收纳架立柱并搬开，为取脚清理通道；这些立柱未被装配。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约 6.4–7.4 s 两侧二指夹爪分别夹住底托盘边缘并抬起；随后轮流单手夹持托盘，另一只手伸向零件盒尝试取脚。没有证据表明取脚夹爪真正夹住并带出脚。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "视频约 8.6–11.8 s 及 12.6–16.6 s，一侧夹爪仍夹持托盘，另一侧夹爪的手部/指面在取脚方向抵碰托盘并使其摆动；这是托盘上的实际抵压，未发生脚入孔。四只脚均取失败时，尝试归入尚未达到的首个计数节点，未将其重复记为第2至第4只已装脚的操作。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.8 s 机器人抬起底托盘后，托盘转动下垂，未见脚随托盘形成连接；视频 8.8–29.3 s 双臂在零件盒和托盘周围反复运动，未见取出脚后对孔压入，未出现至少2只脚扣好的状态。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 236,
+      "text_zh": "观察：视频 29.4–30.0 s 机器人放下底托盘、移开双臂，未形成带脚架体；log step 236、237、238 的最终 s1 生成日志依次记录四只脚 fetch rc=98、SKIPPING（取脚失败并跳过），随后保存该阶段控制行；log step 240、248 将这些行纳入交付文件。因此没有至少2只脚扣好的可见过程，非单凭总评分为零判断。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.8 s 机器人抬起底托盘后，托盘转动下垂，未见脚随托盘形成连接；视频 8.8–29.3 s 双臂在零件盒和托盘周围反复运动，未见取出脚后对孔压入，未出现至少3只脚扣好的状态。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 236,
+      "text_zh": "观察：视频 29.4–30.0 s 机器人放下底托盘、移开双臂，未形成带脚架体；log step 236、237、238 的最终 s1 生成日志依次记录四只脚 fetch rc=98、SKIPPING（取脚失败并跳过），随后保存该阶段控制行；log step 240、248 将这些行纳入交付文件。因此没有至少3只脚扣好的可见过程，非单凭总评分为零判断。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.8 s 机器人抬起底托盘后，托盘转动下垂，未见脚随托盘形成连接；视频 8.8–29.3 s 双臂在零件盒和托盘周围反复运动，未见取出脚后对孔压入，未出现至少4只脚扣好的状态。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 236,
+      "text_zh": "观察：视频 29.4–30.0 s 机器人放下底托盘、移开双臂，未形成带脚架体；log step 236、237、238 的最终 s1 生成日志依次记录四只脚 fetch rc=98、SKIPPING（取脚失败并跳过），随后保存该阶段控制行；log step 240、248 将这些行纳入交付文件。因此没有至少4只脚扣好的可见过程，非单凭总评分为零判断。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少1根底层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少2根底层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少3根底层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少4根底层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 机器人只抬动并放回底托盘，其他三块托盘仍分散在台面；视频 29.4–30.0 s 未见柱间架起的水平托盘，第二层托盘未扣到四根对应立柱上。对照成功参考视频 12–20 s 可见的逐层架体，本次完全没有该外形。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少1根中层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少2根中层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少3根中层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少4根中层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 机器人只抬动并放回底托盘，其他三块托盘仍分散在台面；视频 29.4–30.0 s 未见柱间架起的水平托盘，第三层托盘未扣到四根对应立柱上。对照成功参考视频 12–20 s 可见的逐层架体，本次完全没有该外形。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少1根顶层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少2根顶层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少3根顶层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 托盘始终彼此分离，机器人仅从收纳架搬开部分立柱，未将立柱送到底托盘或任何上层托盘角孔中；视频 29.4–30.0 s 可见剩余柱仍在收纳架、散柱与托盘未构成层架，没有至少4根顶层立柱扣好的状态。搬开立柱是取脚前清理通道，并非本节点的装配尝试。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 机器人只抬动并放回底托盘，其他三块托盘仍分散在台面；视频 29.4–30.0 s 未见柱间架起的水平托盘，顶托盘未扣到四根对应立柱上。对照成功参考视频 12–20 s 可见的逐层架体，本次完全没有该外形。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 从未搭出顶层架体，顶托盘仍独立留在台面，机器人没有把顶帽从零件盒运至顶托盘并压入；视频 29.4–30.0 s 仍无架体，不存在至少1只顶帽与顶托盘角孔扣合的可见状态。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 从未搭出顶层架体，顶托盘仍独立留在台面，机器人没有把顶帽从零件盒运至顶托盘并压入；视频 29.4–30.0 s 仍无架体，不存在至少2只顶帽与顶托盘角孔扣合的可见状态。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 从未搭出顶层架体，顶托盘仍独立留在台面，机器人没有把顶帽从零件盒运至顶托盘并压入；视频 29.4–30.0 s 仍无架体，不存在至少3只顶帽与顶托盘角孔扣合的可见状态。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–30.0 s 从未搭出顶层架体，顶托盘仍独立留在台面，机器人没有把顶帽从零件盒运至顶托盘并压入；视频 29.4–30.0 s 仍无架体，不存在至少4只顶帽与顶托盘角孔扣合的可见状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 4.084
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 7.5,
+   "log_step": 237,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.4–7.9 s，机器人一侧夹爪离开底托盘后，托盘在另一侧夹爪中转动下垂；视频 8.6–11.8 s 取脚手反复贴住托盘，未将脚带出，之后换侧尝试仍没有压入脚。log step 235–238 是最终保存的 s1 尝试，四次取脚均失败跳过；视频 29.4–30.0 s 放下托盘后也未修复首只脚装配。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.8–7.4 s 机器人双夹爪已将底托盘抬离台面；视频 7.5–7.9 s 一侧夹爪离开后，托盘相对仍夹住其边缘的夹爪明显转动、远边下垂，未保持抬起时的姿态，随后悬垂于取脚通路前。此处是托盘在抓持中的滑转，未见计划在目标处松开托盘。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 8.6,
+    "log_step": 237,
+    "evidence_zh": "观察：视频 8.6–11.8 s、12.6–13.4 s，机器人取脚手进入托盘与零件盒区域后贴住托盘，托盘随接触摆动，取脚手未带出脚。log step 237 的最终 s1 日志记录 right_hand/tray_0、左右手指/tray_0 等接触相关检查及取脚终点偏差，之后 fetch rc=98 并跳过；log step 238 仍记录 left_hand/tray_0 抵碰相关检查、取脚失败后保存。推断：悬持托盘阻碍了取脚夹爪接近零件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 7.5,
+    "log_step": 238,
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：为腾出一只手取脚而仅夹持底托盘一处边缘，承载布局无法约束托盘绕夹持处转动，托盘下垂后又占据取脚通道，使装配在取脚阶段受阻。视频 7.4–8.8 s 显示从双手抬托盘到单手悬持时的转动，视频 8.8–16.6 s 显示空手反复贴靠托盘；最终尝试的接触检查及取脚失败见 log step 237–238。agent 在 log step 238 自述托盘单手悬垂使所有取脚动作擦碰托盘，与上述帧一致。没有在本次交付中验证可稳定持盘且能取脚的替代接触布局，故不据其自述断言任务无解。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；512×288 单视角中脚、底孔及夹爪局部被托盘遮挡，无法直接量出焊接状态、连接微小间隙或接触力，接触阻挡的作用结合最终阶段日志作推断。节点判假依据未见任何脚被带出并压入、始终无层架的完整视频过程及最终取脚失败日志，不从总评分零反推。log step 233 的抓脚并转向失败属于已被替换的调试尝试，未用于本次现象；最终保存阶段见 log step 235–240。视频时刻直接读帧，未将 agent 时间或仿真总时长换算成视频时间。"
+ },
+ "summary_zh": "本次交付仅搬开部分立柱并抬放底托盘，23个装配节点均未达到，末态虽离手静止，但没有形成架体。断在首只脚装配：视频约 7.5 s 底托盘由双手转为单手持握后滑转下垂，随后阻碍另一只夹爪取脚，根因为托盘抓持和承载布局不适配。脚与孔的细节受遮挡且无逐帧状态日志；已将最终保存轨迹与调试时抓脚、转脚的尝试分开。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "23个节点均未达到与视频一致（全程无层架）；断点 feet_seated_1、托盘滑转下垂与取脚被挡现象、抓取和接触设计根因均有视频和 log step 236–238 支持，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": "2026-10-30T23:40:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--6qgzd4q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--6qgzd4q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7040e4a12aedf2691c5d8c86f2acd6b6e03d6654dcea64bcfc8dae21c4096db7",
+   "video_sha256": "dc03ae7b31b25389759c1c7fe719336c5d46c83e286d366c08b33c48a338aafb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--89gdkcv.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--89gdkcv.json
new file mode 100644
index 0000000000000000000000000000000000000000..4efb037de5482b90f264520368d49cc804fb2476
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--89gdkcv.json
@@ -0,0 +1,580 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--89gdkcv",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 0,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.259,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 222554,
+   "sim_steps": 890216,
+   "sim_time_s": 556.3850000092433,
+   "replays": 2,
+   "replay_wall_s": 352.8,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.923,
+   "peak_processes": 10,
+   "peak_disk_gb": 2.158,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-ikea-vesken-i00-privileged--89gdkcv/replay.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "aa4b8b0cba977a4f7dcb2fe4b6a8cb00dd11d3567476dabf558ed0bb208d9ab2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.8 s，机器人左夹爪在后部零件盒与收纳架附近取件、移件，底托盘仍平放于台面；没有把短脚带到底托盘下侧扣合的动作。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 536,
+      "text_zh": "观察：视频 29.0–29.96 s，四块托盘仍各自平放，松散柱堆在台面上，没有由脚支起的底托盘。全片未见1只脚与底托盘形成连接；log step 536 的已保存前缀检查明确报告四个 s1-foot 操作 connected=false，随后 log step 555、561 只追加保持控制。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.2–1.8 s 的小件提起、移放及视频 2.6–5.8 s、10.0–19.8 s、20.8–28.6 s 的取柱搬运中，机器人左二指夹爪夹住零件后移动；短脚、帽和挡路柱的移开属于首只脚装配前的通路准备，未进行这些零件的后续装配。右臂没有同时握住底托盘配合扣脚。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 20.2–20.5 s，机器人右夹爪伸入后部小件区域后撤回，没有带出短脚；log step 407 的保留分支脚本命令右爪闭合后横向推脚以清路。左爪也在台面低位推拨挡路零件，未形成扣合。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.8 s，机器人左夹爪在后部零件盒与收纳架附近取件、移件，底托盘仍平放于台面；没有把短脚带到底托盘下侧扣合的动作。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 536,
+      "text_zh": "观察：视频 29.0–29.96 s，四块托盘仍各自平放，松散柱堆在台面上，没有由脚支起的底托盘。全片未见2只脚与底托盘形成连接；log step 536 的已保存前缀检查明确报告四个 s1-foot 操作 connected=false，随后 log step 555、561 只追加保持控制。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.8 s，机器人左夹爪在后部零件盒与收纳架附近取件、移件，底托盘仍平放于台面；没有把短脚带到底托盘下侧扣合的动作。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 536,
+      "text_zh": "观察：视频 29.0–29.96 s，四块托盘仍各自平放，松散柱堆在台面上，没有由脚支起的底托盘。全片未见3只脚与底托盘形成连接；log step 536 的已保存前缀检查明确报告四个 s1-foot 操作 connected=false，随后 log step 555、561 只追加保持控制。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.8 s，机器人左夹爪在后部零件盒与收纳架附近取件、移件，底托盘仍平放于台面；没有把短脚带到底托盘下侧扣合的动作。"
+     },
+     {
+      "t": 29.96,
+      "log_step": 536,
+      "text_zh": "观察：视频 29.0–29.96 s，四块托盘仍各自平放，松散柱堆在台面上，没有由脚支起的底托盘。全片未见4只脚与底托盘形成连接；log step 536 的已保存前缀检查明确报告四个 s1-foot 操作 connected=false，随后 log step 555、561 只追加保持控制。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–19.8 s，机器人左夹爪逐根从收纳架搬出长柱，放在台面或已有松散柱旁；这是移开通路内零件，没有在底托盘四角留下1根扣合立柱。"
+     },
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 29.96 s，底托盘上没有扣合立柱；可见长柱仍分散横放于托盘旁和台面上。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–19.8 s，机器人左夹爪逐根从收纳架搬出长柱，放在台面或已有松散柱旁；这是移开通路内零件，没有在底托盘四角留下2根扣合立柱。"
+     },
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 29.96 s，底托盘上没有扣合立柱；可见长柱仍分散横放于托盘旁和台面上。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–19.8 s，机器人左夹爪逐根从收纳架搬出长柱，放在台面或已有松散柱旁；这是移开通路内零件，没有在底托盘四角留下3根扣合立柱。"
+     },
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 29.96 s，底托盘上没有扣合立柱；可见长柱仍分散横放于托盘旁和台面上。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–19.8 s，机器人左夹爪逐根从收纳架搬出长柱，放在台面或已有松散柱旁；这是移开通路内零件，没有在底托盘四角留下4根扣合立柱。"
+     },
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 29.96 s，底托盘上没有扣合立柱；可见长柱仍分散横放于托盘旁和台面上。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，托盘始终分别平放于台面，未见一块托盘被安装到四根底柱上形成第二层；成功参考视频 11.0 s 可见这种完整的两层结构，本运行没有出现。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人搬出的柱均用于台面暂放，未见第二层托盘上伸出的1根已接合中层立柱；视频 29.96 s 仍无第二层托盘结构。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人搬出的柱均用于台面暂放，未见第二层托盘上伸出的2根已接合中层立柱；视频 29.96 s 仍无第二层托盘结构。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人搬出的柱均用于台面暂放，未见第二层托盘上伸出的3根已接合中层立柱；视频 29.96 s 仍无第二层托盘结构。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人搬出的柱均用于台面暂放，未见第二层托盘上伸出的4根已接合中层立柱；视频 29.96 s 仍无第二层托盘结构。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，未出现中层柱支承的第三层托盘；视频 29.96 s 四块托盘仍分散在台面上。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，未见第三层托盘或其上接合的1根顶层立柱；视频 29.96 s 可见的是收纳架内残留柱与台面散柱，没有已组装架体。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，未见第三层托盘或其上接合的2根顶层立柱；视频 29.96 s 可见的是收纳架内残留柱与台面散柱，没有已组装架体。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，未见第三层托盘或其上接合的3根顶层立柱；视频 29.96 s 可见的是收纳架内残留柱与台面散柱，没有已组装架体。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，未见第三层托盘或其上接合的4根顶层立柱；视频 29.96 s 可见的是收纳架内残留柱与台面散柱，没有已组装架体。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，没有托盘被抬高并装到顶层柱端，四块托盘均留在台面高度；此处不是参考成功视频中架顶超出上沿的遮挡情形。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人只在台面高度移开小件和柱，未形成顶托盘所在的架顶，也没有向架顶装入1只帽的动作；视频 29.96 s 仍是散件布局。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人只在台面高度移开小件和柱，未形成顶托盘所在的架顶，也没有向架顶装入2只帽的动作；视频 29.96 s 仍是散件布局。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人只在台面高度移开小件和柱，未形成顶托盘所在的架顶，也没有向架顶装入3只帽的动作；视频 29.96 s 仍是散件布局。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–29.96 s，机器人只在台面高度移开小件和柱，未形成顶托盘所在的架顶，也没有向架顶装入4只帽的动作；视频 29.96 s 仍是散件布局。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 2.259
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 20.3,
+   "log_step": 407,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0–19.8 s，机器人为取脚反复搬走盒内小件与挡路柱；视频 20.2–20.5 s，右夹爪在小件盒附近推拨后退回，未带起新脚，随后左爪继续清柱，到视频 29.96 s 仍未把任何脚扣入底托盘。log step 407、409、412 的脚本沿清障检查点继续，log step 536 恢复并保存清障前缀，log step 555、561 只补保持行；log step 571 确认最终交付为 222554 行。推断：最先未修复的步骤是首只脚装配的取件与通路准备，视频 20.3 s 仅作为停滞操作的导航锚点，不代表发生了插入失败。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 448,
+    "evidence_zh": "观察：会话测试 log step 96、100、101 的持脚移放多次报 IK failed；log step 448、452 的托盘夹取测试在闭爪和抬手后接触列表仍为空，托盘位置保持 [0,0,0.408]；log step 498、508 的剩余脚接近路径检测分别报右臂连杆与 column_0_2、column_0_3 接触。log step 536 最终保存的是清障前缀，视频 0.0–29.96 s 也只见散件搬移，未进入扣脚。推断：取脚及抓持基盘所需的接近、抓取控制没有被整合为可交付的装配动作；这些会话测试解释为何交付停在准备阶段，不能作为视频中的碰撞或脱手现象。具体属于抓取设计、逆解还是跟踪问题，现有证据不足以细分。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，单一斜俯视画面中的微小脚、帽和指面接触部分受遮挡，不能测量亚毫米间隙或焊接状态；但全片没有脚与底托盘的接合动作，也未形成任何架层，可判各装配节点未达。交付为清障前缀，会话中的若干失败抓取、后续抬盘和试插均未被保留；视频没有清楚显示一次瞄准连接孔的操作如何失败，故现象层留空。根因只依据会话测试概括为控制，不把测试时刻换算成视频时刻；评分器未报告的原生连续指标保留 null。"
+ },
+ "summary_zh": "评分轨迹的23个装配节点均未达成；机器人只移开短脚、帽和收纳架立柱以清理通路，视频 29.96 s 四块托盘仍分散于台面。断点在第一只脚的装配准备，最终保存清障前缀并追加静置；评分器还记录保持后 at_rest_after_settle=0。没有逐帧状态日志，且交付中没有清楚的对孔失败事件，因此现象层留空；控制根因由会话测试推断，虽规则允许使用这些证据，但它们不能唯一确定交付停在准备阶段的原因，故置信度由6降至5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（23 个装配节点均未达、断点 feet_seated_1、contact_actual）与视频一致：视频 0–30 s 只见清障搬柱，托盘始终平放。问题在根因：控制根因完全建立在 agent 会话测试（IK failed、抓盘测试接触为空、路径检测）上，这些不是被评分交付轨迹的观察，视频也不支持，应留空并写入 gap_zh。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "23个节点均未达、断点 feet_seated_1、contact_actual 与视频一致（视频只见清障搬柱，托盘始终平放）。根因'控制'依据会话测试，03 与 CASES FAIL-22 允许作根因证据且标签已声明不作为视频现象，第1轮已定，无新证据，不再重复。",
+    "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": "2026-10-30T23:42:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--89gdkcv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--89gdkcv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--89gdkcv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--89gdkcv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2efbcbd16af26980972a6ec353e397262cb3a39ab82f2d87000badae47a8125d",
+   "video_sha256": "aa4b8b0cba977a4f7dcb2fe4b6a8cb00dd11d3567476dabf558ed0bb208d9ab2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--zgd2d5j.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--zgd2d5j.json
new file mode 100644
index 0000000000000000000000000000000000000000..3920030226da49c82fb7debe0ed22e20244f483b
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--zgd2d5j.json
@@ -0,0 +1,628 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--zgd2d5j",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.01,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 5708,
+   "sim_steps": 22832,
+   "sim_time_s": 14.269999999996083,
+   "replays": 2,
+   "replay_wall_s": 9.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.354,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "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-ikea-vesken-i00-privileged--zgd2d5j/replay.mp4",
+  "duration_s": 27.2,
+  "fps": 25.0,
+  "frames": 680,
+  "sha256": "ed4f5bb1393b64caeba719387233e3b2cb9d7c161eba2c348643ee460433584e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：四块托盘始终分开放在台面，机器人未拿起小脚或底托盘，也未把小脚送入底孔；视频 0.0 s、3.5–14.25 s 的加密帧及视频 26.2–27.16 s 均无脚与底托盘连接的变化。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：四块托盘始终分开放在台面，机器人未拿起小脚或底托盘，也未把小脚送入底孔；视频 0.0 s、3.5–14.25 s 的加密帧及视频 26.2–27.16 s 均无脚与底托盘连接的变化。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：四块托盘始终分开放在台面，机器人未拿起小脚或底托盘，也未把小脚送入底孔；视频 0.0 s、3.5–14.25 s 的加密帧及视频 26.2–27.16 s 均无脚与底托盘连接的变化。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：四块托盘始终分开放在台面，机器人未拿起小脚或底托盘，也未把小脚送入底孔；视频 0.0 s、3.5–14.25 s 的加密帧及视频 26.2–27.16 s 均无脚与底托盘连接的变化。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：立柱始终留在台面后部收纳架，机器人在视频约 4.0–9.0 s 仅空手经过收纳架和预定孔位上方，没有立柱离架并接到底托盘；视频 27.16 s 四块托盘仍分开、没有伸出立柱的底层架体。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：立柱始终留在台面后部收纳架，机器人在视频约 4.0–9.0 s 仅空手经过收纳架和预定孔位上方，没有立柱离架并接到底托盘；视频 27.16 s 四块托盘仍分开、没有伸出立柱的底层架体。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：立柱始终留在台面后部收纳架，机器人在视频约 4.0–9.0 s 仅空手经过收纳架和预定孔位上方，没有立柱离架并接到底托盘；视频 27.16 s 四块托盘仍分开、没有伸出立柱的底层架体。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：立柱始终留在台面后部收纳架，机器人在视频约 4.0–9.0 s 仅空手经过收纳架和预定孔位上方，没有立柱离架并接到底托盘；视频 27.16 s 四块托盘仍分开、没有伸出立柱的底层架体。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频约 9.0–14.0 s 机器人右夹爪在后部零件上方移动，托盘没有被提起；视频 0.0 s 至 27.16 s 四块托盘仍各自平放，没有第二层托盘与四根底柱接合。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有第二层托盘架体，全部立柱仍在后部收纳架；未见机器人取出中层立柱并装到托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有第二层托盘架体，全部立柱仍在后部收纳架；未见机器人取出中层立柱并装到托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有第二层托盘架体，全部立柱仍在后部收纳架；未见机器人取出中层立柱并装到托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有第二层托盘架体，全部立柱仍在后部收纳架；未见机器人取出中层立柱并装到托盘。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 托盘各自留在台面，未出现第二、三层托盘之间的柱架，第三托盘没有被搬起或接合。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有升起的第三层托盘，立柱仍集中直立在后部收纳架；机器人未搬运或安装上层立柱。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有升起的第三层托盘，立柱仍集中直立在后部收纳架；机器人未搬运或安装上层立柱。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有升起的第三层托盘，立柱仍集中直立在后部收纳架；机器人未搬运或安装上层立柱。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 没有升起的第三层托盘，立柱仍集中直立在后部收纳架；机器人未搬运或安装上层立柱。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 四块托盘始终分开放在台面，未出现逐层升高的架体，也没有顶托盘被举起安装的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 未出现任何层架或被举起的顶托盘，也未见机器人取出顶帽安装；视频 27.16 s 托盘仍分散于台面，夹爪已回停。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 未出现任何层架或被举起的顶托盘，也未见机器人取出顶帽安装；视频 27.16 s 托盘仍分散于台面，夹爪已回停。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 未出现任何层架或被举起的顶托盘，也未见机器人取出顶帽安装；视频 27.16 s 托盘仍分散于台面，夹爪已回停。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.16,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.16 s 未出现任何层架或被举起的顶托盘，也未见机器人取出顶帽安装；视频 27.16 s 托盘仍分散于台面，夹爪已回停。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "观察：log step 95 对已保存的5708行交付轨迹执行独立重放，工具报告 connected=0、operations_passed=0；log step 104–105 重建并核对同一交付文件，行数与哈希一致。这与视频中零件未装配的画面一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": 0.01
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 0.0,
+   "log_step": 104,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–27.16 s 机器人只空手悬停、经过收纳架上方后回停，没有拿脚、拿底托盘或向底孔插入的动作；第一只脚的装配从未启动。log step 94 的交付脚本仅含悬停航点与回停，log step 104 保存同一5708行轨迹，log step 105 重放确认文件一致。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 104,
+    "evidence_zh": "观察：视频 0.0 s 四块托盘分散、立柱在收纳架，视频约 4.0–14.0 s 两臂空手经过零件上方，视频 26.2–27.16 s 已回停而零件布局不变；没有对第一只脚实施抓取或扣入。log step 94、104 所示交付动作没有脚装配段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 会话内未解决用于脚装配准备的运动控制，是最终只交付悬停轨迹的技术障碍。log step 54 定义底托盘翻转及零件盒接近测试；log step 60 的翻转测试在25度返回失败，log step 65–66 修改控制后仍在90度返回失败，log step 75 换用批量逆解后翻转起点与随后航点仍失败；这些是会话测试，未计入评分视频的现象或进度。log step 94、104 最终脚本保留悬停而未实现抓脚和扣入，agent 在 log step 108 明述翻转、抓取及压入动作尚未完成开发。证据支持运动控制实现受阻，但不能区分接触方案、逆解与反馈控制各自的贡献，故只标控制。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法精确测量接触力、微小间隙及焊接触发时刻；但视频显示没有零件搬运或装配，交付文件重放报告也为零连接，故23个节点均判未达而非未知。控制根因依据会话测试作保守推断，缺少实际抓脚、翻盘和压入的完整执行，无法进一步细分。评分器仿真时长与视频时长不同，未进行时钟换算，所有时间锚均直接取自视频。"
+ },
+ "summary_zh": "评分轨迹中双臂仅空手经过零件上方并回停，全部零件保持分散，23个装配节点均未达到。断点为第1只脚扣好／首步前，现象为没尝试；会话中多次翻转及接近测试的运动控制失败，支持控制实现受阻这一保守根因。没有逐帧状态日志或完整抓脚压入过程，无法进一步区分控制子类；会话中未交付的碰撞测试未计入本次现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频显示双臂仅空手悬停经过零件后回停，零件布局始终不变，23个节点均未达；首步前/没尝试的断点正确。根因“控制”依据会话测试并明确声明保守，符合 CASES FAIL-22 的写法；agent 未超时（剩约1875 s），文件未把停止当原因。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": "2026-10-30T23:37:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--zgd2d5j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--zgd2d5j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e5274284a34e214b597e563203fdeb067d65e4833c59da30cd79c31751283d37",
+   "video_sha256": "ed4f5bb1393b64caeba719387233e3b2cb9d7c161eba2c348643ee460433584e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xfzzb4m.json b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xfzzb4m.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7232bee0d05cc40fd99bedb9aa9b3e0d54c13a5
--- /dev/null
+++ b/phase2/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--xfzzb4m.json
@@ -0,0 +1,552 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--xfzzb4m",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "live_rows": 111345,
+   "sim_steps": 445380,
+   "control_steps": 111345,
+   "sim_time_s": 278.3625000031747,
+   "elapsed_s": 10703.5,
+   "service_time_s": 425.0,
+   "calls": 1791,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "video_rendered": 1,
+   "replay_success": 0,
+   "replays": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "rows_match": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "bad_trajectory": 0,
+   "sim_breakdown": 0,
+   "replay_crash": 0,
+   "replay_wall_s": 0.0,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "live_replay_mismatch": 0,
+   "replays_skipped": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.267,
+   "peak_processes": 15,
+   "peak_disk_gb": 1.414,
+   "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-ikea-vesken-i00-standard--xfzzb4m/replay.mp4",
+  "duration_s": 278.4,
+  "fps": 10.0,
+  "frames": 2784,
+  "sha256": "1870466e7b6f043f8aa0f94b70b8232fd28dc1c10dfc23f4cd10ecaabca63fa9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 105.5,
+      "log_step": 486,
+      "text_zh": "观察：视频 104.5–107.0 s 右夹爪在零件盒中夹取白色小件后移向前方，左夹爪同时夹住前方托盘边缘；小件离开盒子并随右夹爪移动，仅为取件，尚无脚与托盘连接。"
+     },
+     {
+      "t": 131.0,
+      "log_step": 610,
+      "text_zh": "推断：视频 122–131.5 s 双臂在托盘角部试装，log step 608–610 的脚本执行试压、回退、张开右夹爪；视频 132–134.5 s 托盘被右臂扫动而改变倾角，之后可见操作区的散落小件，未见脚随托盘保持连接。agent 在 log step 631 自述释放的零件已落到台面，故不把 log step 613 的“可能留在角部”算作完成。孔与脚端局部被夹爪及画面下沿遮住，不能从这些帧量出连接门限。"
+     },
+     {
+      "t": 255.8,
+      "log_step": 995,
+      "text_zh": "推断：视频 252–255.8 s 右夹爪再次在左手所持托盘下侧试装后张开，视频 256.4–257.0 s 可见小件落在托盘旁台面，未随托盘连接。agent 在 log step 997 也自述脚释放后落下。随后只有回收尝试与撤手，视频 277.3–278.3 s 仍未装成；首个脚连接最终为假。"
+     },
+     {
+      "t": 278.3,
+      "log_step": 1046,
+      "text_zh": "观察：本次无重置或恢复（run.json 的 sim_total.reset=0、reward.resumes=0），日志属于同一在线操作；服务末次 control_steps=111345、sim_time_s=278.3625，和视频时长 278.4 s 一致。推断：控制频率为400 Hz，log step 995 的 control_steps=102345 对应视频 255.86 s，已用视频 255.6–255.8 s 的右夹爪张开核对；这里只将服务控制步用于定位，不将 agent 工作时间当视频时间。评分器没有逐项连接计数，整体 success=0 本身不用于推出本节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 65–76 s 两夹爪分别夹持托盘两侧边缘并翻转；视频 104.5–131.5 s 及视频 252–255.8 s，左夹爪夹住托盘边缘保持悬起，右夹爪夹住白色脚件送向托盘下侧试装。两手各自夹持零件，未观察到成功扣合。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": 1047,
+      "text_zh": "推断：视频 0–278.3 s 中，机器人始终只在准备托盘、取小件和反复尝试首个脚连接，没有形成至少2只脚与底托盘连为一体的结果；视频 277.3–278.3 s 托盘仍分散在台面，小件落在操作区。agent 在 log step 1047 自述“没有确认任何卡扣连接”，与末帧未装成架体一致。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": 1047,
+      "text_zh": "推断：视频 0–278.3 s 中，机器人始终只在准备托盘、取小件和反复尝试首个脚连接，没有形成至少3只脚与底托盘连为一体的结果；视频 277.3–278.3 s 托盘仍分散在台面，小件落在操作区。agent 在 log step 1047 自述“没有确认任何卡扣连接”，与末帧未装成架体一致。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": 1047,
+      "text_zh": "推断：视频 0–278.3 s 中，机器人始终只在准备托盘、取小件和反复尝试首个脚连接，没有形成至少4只脚与底托盘连为一体的结果；视频 277.3–278.3 s 托盘仍分散在台面，小件落在操作区。agent 在 log step 1047 自述“没有确认任何卡扣连接”，与末帧未装成架体一致。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 立柱在后方收纳架内；视频 25.5–29.5 s 左夹爪只在收纳架处夹取、提起并放回一根立柱，未把它送入托盘角孔。此后到视频 278.3 s 立柱仍在收纳架内，所有托盘上均未出现至少1根已接合的底柱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 25.5–29.5 s 左侧二指夹爪夹住收纳架中一根立柱，提起后放回；这是准备性抓取测试，未运到托盘安装，右臂没有协同操作立柱。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 立柱在后方收纳架内；视频 25.5–29.5 s 左夹爪只在收纳架处夹取、提起并放回一根立柱，未把它送入托盘角孔。此后到视频 278.3 s 立柱仍在收纳架内，所有托盘上均未出现至少2根已接合的底柱。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 立柱在后方收纳架内；视频 25.5–29.5 s 左夹爪只在收纳架处夹取、提起并放回一根立柱，未把它送入托盘角孔。此后到视频 278.3 s 立柱仍在收纳架内，所有托盘上均未出现至少3根已接合的底柱。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 立柱在后方收纳架内；视频 25.5–29.5 s 左夹爪只在收纳架处夹取、提起并放回一根立柱，未把它送入托盘角孔。此后到视频 278.3 s 立柱仍在收纳架内，所有托盘上均未出现至少4根已接合的底柱。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 机器人移动、倾转的是台面上的单块托盘，没有将托盘安装到四根立柱上；视频 278.3 s 四块托盘仍分散，未出现已连接的第二层托盘。成功参考视频 12–22 s 可见托盘和立柱形成多层架体，本次没有这一结果。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少1根与相应托盘接合的中层立柱。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少2根与相应托盘接合的中层立柱。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少3根与相应托盘接合的中层立柱。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少4根与相应托盘接合的中层立柱。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 机器人移动、倾转的是台面上的单块托盘，没有将托盘安装到四根立柱上；视频 278.3 s 四块托盘仍分散，未出现已连接的第三层托盘。成功参考视频 12–22 s 可见托盘和立柱形成多层架体，本次没有这一结果。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少1根与相应托盘接合的顶层立柱。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少2根与相应托盘接合的顶层立柱。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少3根与相应托盘接合的顶层立柱。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 没有第二、第三层架体形成；视频 278.3 s 立柱仍在后方收纳架内，托盘分开放在台面，未出现至少4根与相应托盘接合的顶层立柱。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 机器人移动、倾转的是台面上的单块托盘，没有将托盘安装到四根立柱上；视频 278.3 s 四块托盘仍分散，未出现已连接的顶托盘。成功参考视频 12–22 s 可见托盘和立柱形成多层架体，本次没有这一结果。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 未形成带顶托盘的架体，机器人没有在架顶进行装帽；视频 278.3 s 托盘仍分散在台面。推断：不存在至少1只顶帽扣入已装好顶托盘的结果；本次不是参考成功视频中架顶出画而无法计数的情况。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 未形成带顶托盘的架体，机器人没有在架顶进行装帽；视频 278.3 s 托盘仍分散在台面。推断：不存在至少2只顶帽扣入已装好顶托盘的结果；本次不是参考成功视频中架顶出画而无法计数的情况。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 未形成带顶托盘的架体，机器人没有在架顶进行装帽；视频 278.3 s 托盘仍分散在台面。推断：不存在至少3只顶帽扣入已装好顶托盘的结果；本次不是参考成功视频中架顶出画而无法计数的情况。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 278.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–278.3 s 未形成带顶托盘的架体，机器人没有在架顶进行装帽；视频 278.3 s 托盘仍分散在台面。推断：不存在至少4只顶帽扣入已装好顶托盘的结果；本次不是参考成功视频中架顶出画而无法计数的情况。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_lateral_error",
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "connector_axis_tilt",
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "floor_contact_N",
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "orientation_deg",
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_part_depth_mm",
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "t": 131.0,
+   "log_step": 610,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 122–131.5 s 机器人左夹爪保持托盘、右夹爪持脚试压并释放（log step 608–610）；没有形成随后随托盘运动的脚连接，agent 在 log step 631 也确认该件落到台面。视频 252–257 s 的重试仍以小件留在台面结束，直到视频 278.3 s 未修复，所以断在第1只脚的装配。视频 25.5–29.5 s 的立柱操作是原位取放测试（log step 162、166），并未开始把立柱扣入托盘。"
+  },
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 131.0,
+    "log_step": 608,
+    "evidence_zh": "推断：视频 130–131.5 s 右手在所持托盘角部执行试压和释放，脚未被卡扣保留；log step 608 的在线服务读数显示试压后右臂关节力矩出现约2.5 N·m的负载、末端停在指令位置附近，log step 609 回退后负载下降，却没有建立保持连接。视频 255.6–257.0 s 再次释放后，小件仍在台面，log step 997 也自述卡扣未扣住。按“插不到位、卡扣没扣上”标接触力异常，未将释放后的落件另计为放后不稳；确切卡爪受力不可见。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人已能夹持小件与托盘，但双臂相对运动及对孔试压未形成有效的装配接触。视频 132–134 s 右臂撤离时把左手所持托盘明显带偏，log step 616 的服务实际右TCP为[0.526,-0.373,0.285] m，脚本目标为[0.400,-0.300,0.400] m，关节命令与实测最大偏差约0.75 rad；log step 618 随后同步关节目标。后续 log step 985–995 的小步插入、静置和释放仍未扣住（视频 252–257 s），log step 1017、1035 回收时闭爪近零且关节力矩达到87 N·m；agent 在 log step 1036 停止尝试。证据支持持件装配与接触控制失败，尚不足以细分为抓取设计、逆解、反馈或参数问题。"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志或分项卡扣/保留焊接读数；视频是单一俯视视角，首脚对孔区域常被夹爪及下沿遮住，不能直接核对毫米级间隙、卡爪回弹或短暂焊接激活。无可见的脚随盘保持运动，结合试压前后、散落零件和后续重试判未达；无法确定具体是针端/孔位估计偏差、夹持相对姿态还是接触行程导致未触发，根因只到控制。replays=0、replays_skipped=1，不能把 live_matches_replay=0 当作已证实的回放分歧。原生指标均未在 reward 中逐项报告，值保留 null。"
+ },
+ "summary_zh": "机器人先原位夹取并放回立柱，再双手翻转托盘、左手持盘右手取脚，反复尝试首个脚卡扣；视频末帧仍是分散托盘和散落小件，23个装配节点均未达。断点为第1只脚扣好，试压后释放没有保持连接，重试与回收也未修复，证据支持装配接触控制失败。孔与脚端常被夹爪和画面下沿遮挡，且没有逐帧状态或分项连接读数，不能确定未扣合的具体几何或力学原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "23个节点均未达与末帧（托盘分散、立柱仍在架内）一致；断点 feet_seated_1、接触力异常与根因停在“控制”均有证据支持，推断与观察已区分。孔区被夹爪遮挡，细节无法用视频进一步核实，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:37:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xfzzb4m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--xfzzb4m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3481ddb020c351492a01503840e2a59b9d4ba79f09ae6f1c188db710b745e7b4",
+   "video_sha256": "1870466e7b6f043f8aa0f94b70b8232fd28dc1c10dfc23f4cd10ecaabca63fa9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--4uwchzc.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--4uwchzc.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aa172357b185f13a6c02682e8d51df7c1e1c7c
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--4uwchzc.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--4uwchzc",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 1,
+   "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": 3025,
+   "submitted_actions": 3050,
+   "sim_steps": 3025,
+   "physics_steps": 3025,
+   "sim_time_s": 121.00000000000772,
+   "final_reward": 1.0,
+   "replay_wall_s": 1651.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 3025,
+   "strict_replay_required": 0,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 11996,
+   "agent_records": 1,
+   "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-rope-threading-03-i01-privileged--4uwchzc/replay.mp4",
+  "duration_s": 121.067,
+  "fps": 15.0,
+  "frames": 1816,
+  "sha256": "ce7404cef85abbc9fd59e8d129437fd2dddad0e3294d166ac8fdb80b4ebb84b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绳索呈U形平放桌面，未贯穿任何环。视频20.1–22.9 s右爪夹住抬起的绳端，沿青环孔轴送入；视频23.3–25.2 s主视角可见绳端伸至青环另一侧，腕部视角可见绳段位于孔内。"
+     },
+     {
+      "t": 23.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频22.9–24.3 s的前后与腕部视角，青环首次完整贯穿约在视频23.3 s，时间不确定约0.5 s；精确厚度边界净空无法由像素独立测量。"
+     },
+     {
+      "t": 36.8,
+      "log_step": 46,
+      "text_zh": "观察：视频36.0–37.6 s两爪分别夹住青环远侧的相邻绳段，随后右爪张开退回，视频40.0–48.0 s左爪拉着绳索而青环孔内仍有连续黄色绳段；log step 46的服务输出也列出左右手均持rope。"
+     },
+     {
+      "t": 121.0,
+      "log_step": 207,
+      "text_zh": "观察：视频48.0–120.0 s的后续操作及视频120.0、120.2、120.4、120.6、120.8、121.0 s末尾帧中，青环穿越保持；评分器reward的strict_goal_reached=1、all_success=1、deterministic=1。log step 207记录第二次交付文件回放成功，其末态任务判据输出包含R1:-1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右二指夹爪先夹住绳端附近绳段，抬起并送过青色R1；视频36.0–37.6 s左二指夹爪在环另一侧夹住相邻绳段，两爪短暂共同握绳，之后右爪松开、左爪拉过。视频28.0–32.0 s右爪贴着青环停留，log step 46的服务监测还记录右夹爪压靠R1的forcing事件；此接触没有使已穿环关系丢失。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频52.0–56.4 s左爪持绳转向绿环，绳端随左爪接近孔口；视频57.6–60.6 s左爪沿孔轴前进，腕部视角显示绳端和夹爪从绿孔内部通过，主视角中的青环穿越同时保留。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 60,
+      "text_zh": "推断：结合视频58.0–60.6 s绿环相对夹爪和绳段的连续位置变化，首次完整贯穿约取视频58.8 s，时间不确定约0.8 s。log step 60的任务判据输出为R1:-1、R2:1且thickness_clear=true，作为已保留交付前缀的补充证据，不以agent工作时间换算视频时间。"
+     },
+     {
+      "t": 98.4,
+      "log_step": 117,
+      "text_zh": "观察：视频64.0–98.4 s左爪保持握住穿过绿孔的绳段，右爪多次调整姿态接应绳端；视频98.4–100.0 s右爪接稳后左爪张开，视频104.0–108.0 s绳端随右爪上移而青、绿孔内绳段仍连续。"
+     },
+     {
+      "t": 121.0,
+      "log_step": 207,
+      "text_zh": "观察：视频108.0–121.0 s未见绳索退出绿环；末尾多视角仍显示青、绿两环之间的连接绳段。评分器strict_goal_reached=1，log step 207的第二次文件回放成功，末态任务判据包含R2:1且无歧义。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住绳端附近绳段，转向并送过绿色R2；随后左爪维持穿环绳段，右二指夹爪在绿环另一侧反复调整并接握绳端。视频98.4 s前后两爪短暂共同握绳，左爪松开后右爪把绳端提离绿环，保持该穿越。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      118.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 99.2,
+      "log_step": null,
+      "text_zh": "观察：视频96.0–98.4 s左爪仍握住绳索，右爪在绳端附近闭合接握；视频99.2–104.0 s左爪张开后绳端随右爪上移，未掉回桌面。"
+     },
+     {
+      "t": 118.0,
+      "log_step": null,
+      "text_zh": "观察：视频112.0–114.0 s右爪持绳端对准紫色R3，右下腕部视角可见紫色圆孔；视频115.2–119.4 s右爪向孔内推进，绳段逐渐在孔中心伸向另一侧，前两环的黄色绳段同时保持。"
+     },
+     {
+      "t": 118.0,
+      "log_step": 129,
+      "text_zh": "推断：结合视频116.4–119.4 s腕部视角中绳段与紫环的前后关系，完整贯穿约取视频118.0 s，遮挡和透视造成约1 s时间不确定。log step 129的最终任务判据输出为R1:-1、R2:1、R3:1，ambiguous=false、thickness_clear=true，支持该贯穿而非绕过管壁。"
+     },
+     {
+      "t": 121.0,
+      "log_step": 207,
+      "text_zh": "观察：视频120.0–121.0 s每0.2 s检查的末尾帧中右爪继续持绳，紫孔内黄色绳段及青、绿环关系保持，场景已近静止；评分器严格成功行3025、replay_hold_steps=0、replay_tolerance_needed=0。log step 159与207分别记录两次文件回放成功，支持最终材料方向、净空和共同静止确认已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "准备紫环穿越时，左二指夹爪固定绿环附近绳段，右二指夹爪接握露出的绳端，视频98.4 s前后两爪共同握绳；左爪随后松开，右爪单独抬起、转向并送绳端穿过紫色R3，直到视频121.0 s仍夹持绳端。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "交付轨迹中，机器人约在视频23.3 s、58.8 s和118.0 s依次完成青、绿、紫三环贯穿，前两环关系在换手和后续送绳中保持，终态3/3。评分器两次回放均严格成功，无额外保持或阈值放宽；记录的一次forcing未导致仿真崩溃，failure为null。无逐帧状态日志，穿环起点为多视角估计，精确净空及0.5秒共同确认由严格成功判定支持；reward未单列maximum_speed_m_s，故native_metrics数值留null，log step 207另有末态任务判据读数0.0049504153 m/s。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三环节点时间（视频约23.3/58.8/118.0 s）与帧一致，终态3/3，failure为null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": "2026-10-30T23:27:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--4uwchzc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--4uwchzc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6011e0e2df83f088bb636886b77410c39c0c577ccc3cc3b2502b4a5199c2e902",
+   "video_sha256": "ce7404cef85abbc9fd59e8d129437fd2dddad0e3294d166ac8fdb80b4ebb84b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--fticgxf.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--fticgxf.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bdfea39f38ada322e41da44e8f4f1e3e94c1222
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--fticgxf.json
@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--fticgxf",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 5,
+   "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": 2867,
+   "submitted_actions": 2892,
+   "sim_steps": 2867,
+   "physics_steps": 2867,
+   "sim_time_s": 114.68000000000673,
+   "final_reward": 1.0,
+   "replay_wall_s": 1537.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 2867,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 18,
+   "agent_resets": 28,
+   "agent_sim_steps": 0,
+   "agent_records": 8,
+   "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-rope-threading-03-i01-privileged--fticgxf/replay.mp4",
+  "duration_s": 114.733,
+  "fps": 15.0,
+  "frames": 1721,
+  "sha256": "ae578827b7397495ec67afbe4a41dfaeee0e59032c3948fbeba4881db5537bb8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的黄色绳索呈弧形铺在桌上，三个环孔均未穿绳。"
+     },
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–13 s，机器人右夹爪夹住绳端后方绳段向青环送绳；视频 11.5 s 主画面可见绳端越过青环至另一侧，右侧腕部视角显示黄色绳段位于青色孔内。首次贯穿约为视频 11.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5 s，左夹爪已夹住青环另一侧伸出的绳段，右夹爪仍夹住送入侧绳段；视频 22–30 s 左爪拉绳、右爪换到青环前方绳段固定，青环孔内始终有连续绳段。"
+     },
+     {
+      "t": 114.666,
+      "log_step": null,
+      "text_zh": "推断：视频 114.1–114.67 s 的末段保持三环穿绳构型，未见绳端退回；inputs/run.json 的评分器字段 all_success=1、replays=2、deterministic=1、strict_goal_reached=1、success_in_hold_only=0，支持该环最终满足唯一穿越、规定方向和净空，并通过全绳速度及共同保持窗口验收。精确余量无法由像素独立量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右二指夹爪先夹持绳端后方绳段并送过青环；左二指夹爪在另一侧接住后拉出。视频 18.5 s 可见两爪同时夹住不同绳段，随后右爪换握青环前绳段以防退回。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "观察：视频 50–55 s，机器人左夹爪握绳向绿环后侧推进；右下腕部视角中，绳端从青环方向伸入绿色孔并继续向另一侧增长，视频 53–55 s 的绳段明显长于视频 51–52 s。主画面的绿环局部被左爪遮挡。"
+     },
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 52、52.3、52.6、53 s 的连续送绳画面和视频 64–65 s 右夹爪在绿环后侧接住绳端，首次完整贯穿取视频 52.5 s，误差约0.5秒；未将夹爪遮挡当作穿环关系丢失。"
+     },
+     {
+      "t": 65,
+      "log_step": null,
+      "text_zh": "观察：视频 64–65 s，右二指夹爪合拢夹住绿环另一侧的绳段，左爪仍夹住送入侧；视频 66–74 s 右臂拉出绳端，左爪随后换握绿环前绳段，右下视角可见黄色绳段从绿孔穿出。"
+     },
+     {
+      "t": 114.666,
+      "log_step": null,
+      "text_zh": "推断：视频 114.1–114.67 s 的末段保持三环穿绳构型，未见绳端退回；inputs/run.json 的评分器字段 all_success=1、replays=2、deterministic=1、strict_goal_reached=1、success_in_hold_only=0，支持该环最终满足唯一穿越、规定方向和净空，并通过全绳速度及共同保持窗口验收。精确余量无法由像素独立量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左二指夹爪握住绳段送过绿环，右二指夹爪在远侧夹住伸出段并拉出；视频 64–65 s 两爪共同持绳，之后左爪换握绿环前绳段保持已穿环关系。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      112.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 100,
+      "log_step": null,
+      "text_zh": "观察：视频 98–100 s，机器人右夹爪已夹住末端附近绳段，左夹爪仍夹住较靠前绳段；视频 104–108 s 左爪张开退回，右爪携绳端向紫环对准。"
+     },
+     {
+      "t": 112.2,
+      "log_step": null,
+      "text_zh": "观察：视频 111.5–113 s 的右下腕部视角中，紫环进入画面，黄色绳端逐渐从紫孔另一侧露出；视频 112.2 s 已见伸出端，视频 112.5–113.5 s 伸出长度继续增加，绳段经过孔内而非绕紫色管壁。首次完整贯穿约为视频 112.2 s，误差约0.5秒。"
+     },
+     {
+      "t": 114.666,
+      "log_step": null,
+      "text_zh": "观察：视频 113.7、113.9、114.1、114.3、114.5、114.67 s，右爪保持夹绳，右下视角持续显示绳段穿过紫孔，没有退出。"
+     },
+     {
+      "t": 114.666,
+      "log_step": null,
+      "text_zh": "推断：视频 114.1–114.67 s 的末段保持三环穿绳构型，未见绳端退回；inputs/run.json 的评分器字段 all_success=1、replays=2、deterministic=1、strict_goal_reached=1、success_in_hold_only=0，支持该环最终满足唯一穿越、规定方向和净空，并通过全绳速度及共同保持窗口验收。精确余量无法由像素独立量测。"
+     },
+     {
+      "t": null,
+      "log_step": 146,
+      "text_zh": "观察：log step 145 的生成脚本输出列出 R1 负向、R2 正向、R3 正向各一次穿越及最终 success；log step 146 将同一动作数组末行重复25次后保存，共2892行。此记录只辅助确认交付内容；上述节点时间均取自评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "准备紫环穿入时，左二指夹爪握住绿环前绳段，右二指夹爪换抓末端附近绳段，视频 98–100 s 两爪共同持绳。左爪随后松开退回，右爪单独送绳穿过紫环并保持至视频结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分视频中，机器人通过夹持、双臂接应和换握，约在视频 11.5 s、52.5 s、112.2 s 分别完成青环、绿环、紫环穿绳，三项关系保持到视频 114.67 s。评分器两次回放均成功，且在提交动作内达到严格目标，故终态为3/3，无失败断点。没有逐帧状态日志，局部到达时刻约有0.5秒误差；精确孔缘净空、材料方向及共同静稳窗口由评分结果支持，评分器未单独报告 maximum_speed_m_s 数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三环节点时间（视频约 11.5/52.5/112.2 s）与帧一致，终态 3/3 有评分器字段支持，无断点；接触标注与实际双臂抓握相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:20:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--fticgxf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--fticgxf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b4703c517ce51dec82be2c720963f066ab47af4d6f10975fe77b7f9febabb9e",
+   "video_sha256": "ae578827b7397495ec67afbe4a41dfaeee0e59032c3948fbeba4881db5537bb8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--rg7ex6n.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--rg7ex6n.json
new file mode 100644
index 0000000000000000000000000000000000000000..344569ac34603a9d0435617833e3c55e306a2986
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--rg7ex6n.json
@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--rg7ex6n",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 1296,
+   "submitted_actions": 1296,
+   "sim_steps": 1346,
+   "physics_steps": 1346,
+   "sim_time_s": 53.83999999999903,
+   "final_reward": 0.0,
+   "replay_wall_s": 454.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 51,
+   "agent_resets": 8,
+   "agent_sim_steps": 45109,
+   "agent_records": 48,
+   "agent_replays": 8,
+   "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-rope-threading-03-i01-privileged--rg7ex6n/replay.mp4",
+  "duration_s": 53.933,
+  "fps": 15.0,
+  "frames": 809,
+  "sha256": "d10a05fc3f2ffe35436dd6f6e126a2a26e50f6f1e310f08cde4a2f795bda9ffa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色绳索呈大弧形放在桌面，三个环孔均未穿绳。"
+     },
+     {
+      "t": 41.5,
+      "log_step": null,
+      "text_zh": "观察：视频 40.5–42.3 s 右夹爪夹着绳端从青环右侧送向左侧；约视频 41.5 s 绳端及所夹绳段已越过青环，右下腕部视角可见绳段贯穿孔内，长绳主体仍在另一侧。达到时间按画面估计，误差约 0.5 s。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 339,
+      "text_zh": "推断：视频 42.3–53.8 s 穿青环关系持续存在，末段换手失败后绳端摆动但未退回青环右侧。log step 339 对最终文件所用 1076 行前缀的检查为仅 R1:-1、无歧义且 thickness_clear=True，与视频相符，支持青环局部穿越成立；此抽样不作为逐帧状态日志。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住桌面绳端并将其抬起、调整方向，再送过青色 R1；视频约 18–43 s 可见绳端随右爪移动。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 47.0,
+      "log_step": 357,
+      "text_zh": "观察：视频 44–51 s 右爪停在青环处持绳，左爪靠近同一绳端作接应及闭合动作，尚未携绳移向绿环。agent 在 log step 357 自述要将右爪所持末端转交左爪以穿 R2。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 359,
+      "text_zh": "观察：视频 51.1–53.8 s 右爪松开后绳端向上弹动，左爪没有带着绳端离开；绿环孔始终未见黄色绳段贯穿。log step 359 的最终保存输出为 SIMULTANEOUS_HANDOFF None None、left handoff still did not latch、SAVED 1296；评分器 submitted_actions=1296，与交付行数一致。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 321,
+      "text_zh": "推断：与成功参考视频 120.0 s 中绳段明确穿过绿色孔的状态对照，本次终态绳索仍局限于青环附近，故绿环未达成。log step 321 的 R2 正反两次穿越属于先前测试，其后另建最终文件，不能计入本次评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 44–51 s 右夹爪保持夹住绳端，左夹爪靠近并闭合尝试接应，为随后穿绿环换手；随后右爪松开。仅右爪的持绳得到画面确认，左爪未成功建立抓握，不能把此处记为已完成换手。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 53.8,
+      "log_step": 361,
+      "text_zh": "观察：视频全程机器人先持绳穿青环，之后在青环附近换手，未将绳端送向紫环；视频 53.8 s 腕部视角中的紫孔没有绳段贯穿。成功参考视频 120.0 s 右下视角可见黄色绳段穿过紫孔，本次没有该状态；agent 在 log step 361 也报告最终运行停在换手处。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r2_threaded",
+   "t": 50.7,
+   "log_step": 359,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 47–51 s 机器人为继续送绳进行双爪换手，左爪闭合后绳端仍留在右爪处；视频约 51.1 s 右爪松开，绳端弹起，左爪未接住，直至视频 53.8 s 都未继续穿绿环。log step 359 记录最终文件在换手未锁持后保存 1296 行；log step 357 指明此换手用于接下来的 R2 穿越。"
+  },
+  "unmet": {
+   "r1_threaded": true,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 50.7,
+    "log_step": 359,
+    "evidence_zh": "观察：视频 50.5–51.5 s 左夹爪的接应闭合没有形成持绳，右爪按计划放开后绳端从左爪前方弹向上方；视频 52–53.8 s 左爪未带绳移动。log step 359 同时报告两爪持物为 None，接应未锁持。此处失败的是左爪所需抓握未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：最终交付的换手动作未能使左爪建立有效夹持：视频 47–51.5 s 显示左爪接近、闭合，但右爪放开后绳端自行摆动而未被左爪承接；log step 347 的接应尝试已报告 left did not latch，最终 log step 358–359 重放该前缀后同步开右爪、闭左爪仍报告未锁持。证据支持换手接触执行失败，尚不能区分夹持点布局与末端跟踪误差。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；青环局部穿越时间依据多视角画面估计，精确径向余量及材料坐标仅有最终文件前缀的抽样检查可辅助，无法逐帧核验。评分器未报告 maximum_speed_m_s，故原生指标填 null；日志中其他测试的速度和 R2 穿越不代表最终交付。左爪接应位置有夹爪遮挡，缺少最终换手的接触对和指尖误差，根因保留在控制层，不细分。"
+ },
+ "summary_zh": "本次评分轨迹约在视频 41.5 s 完成青环局部穿越并保持至结束，绿环与紫环均未穿过，终态为 1/3。机器人随后为穿绿环进行换手，左爪未建立抓握，右爪松开后绳端弹开，动作停在该处；最终保存记录与视频一致。无逐帧状态日志，精确净空、全绳速度及换手控制子因不能完整核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "青环穿越约视频 41.5 s、终态 1/3、断点 r2_threaded（换手未锁持）与帧一致，未发现需改的错误；换手根因归控制层为保守标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:24:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--rg7ex6n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--rg7ex6n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47095e3893118725ba762fe741ce6b88a538e9c8b852aaca5af307352576c73c",
+   "video_sha256": "d10a05fc3f2ffe35436dd6f6e126a2a26e50f6f1e310f08cde4a2f795bda9ffa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--t4wcew4.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--t4wcew4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e677b297f17a1ba81bbdb1ea5945798d3d33d150
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--t4wcew4.json
@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--t4wcew4",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 32,
+   "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": 2201,
+   "submitted_actions": 2201,
+   "sim_steps": 2251,
+   "physics_steps": 2251,
+   "sim_time_s": 90.04000000000288,
+   "final_reward": 0.0,
+   "replay_wall_s": 862.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 24,
+   "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-rope-threading-03-i01-privileged--t4wcew4/replay.mp4",
+  "duration_s": 90.133,
+  "fps": 15.0,
+  "frames": 1352,
+  "sha256": "563f0835ceb356fe9b342ad66e8b0411d7679146c5b52c9977ce45a14d39cb46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      10.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色绳索呈U形放在桌上，青、绿、紫三孔中均无绳段贯穿。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：视频 9.2–10.4 s 右夹爪夹住绳端附近向青环送进；视频 10.0–10.2 s 主视角可见短绳端伸至青环靠绿环的一侧，右下腕部视角可见短端越过青孔。连续运动支持青环出现一次规定方向的贯穿，约视频 10.0 s 达成，时间误差约0.2秒；精确径向余量不能由像素核实。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 155,
+      "text_zh": "观察：视频 10.4–10.8 s 右夹爪张开，短绳端离开两指并向下坠；视频 10.6 s 绳端已落到青孔下方，视频 10.8 s 孔内不再有贯穿绳段。log step 154–155 的最终录制脚本在首次穿青环后主动张爪，再开始换握送绳。"
+     },
+     {
+      "t": 89.8,
+      "log_step": 158,
+      "text_zh": "观察：视频 12.0–88.0 s 右夹爪在青环下缘附近反复下降、合拢和转腕，黄色绳段未被重新送过青孔；视频 89.2–90.0 s 仍未恢复贯穿。log step 158 的最终录制过程输出R1、R2、R3的crossings均为空，随后log step 159记录保存2201行动作；这些末段输出与视频终态相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂二指夹爪在桌面夹住黄色绳端附近绳段，将其提起、转向并送过青环；视频 10.4–10.8 s 主动松开。随后仅右爪反复换握，未见恢复有效持绳；左臂始终停放，未形成双臂协作。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 86.0,
+      "log_step": 155,
+      "text_zh": "推断：视频 84.0–88.0 s 右爪在青环下方完成末次取绳动作后停住，绳索未随爪向绿孔转移。log step 154–155 的最终录制脚本在五轮青环送绳之后安排“为R2重新抓绳”，且抓取失败便断言停止；log step 158–159的末次循环、断言退出及2201行保存记录与视频顺序相符。因此将末次取绳计作绿环步骤的准备尝试，不计作已穿绿环。"
+     },
+     {
+      "t": 89.8,
+      "log_step": 158,
+      "text_zh": "观察：视频 0.0–90.0 s 绳段始终没有进入绿色环孔，末段绿孔仍为空；log step 158 的最终录制过程输出R2 crossings为空。对照成功参考视频 120.0 s，参考的腕部视角有连续绳段穿过绿孔，本次没有该形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 84.0–88.0 s 为绿环准备取绳时，右夹爪在青环下方合拢，但指尖与绳段交界受夹爪和环遮挡，绳索未随爪搬运，无法确认是否发生触碰；没有证实抓握，也未触及绿环。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 89.8,
+      "log_step": 158,
+      "text_zh": "观察：视频 0.0–90.0 s 左臂保持停放，右臂的动作集中在桌面绳端和青环附近，没有把绳端送到紫环；末段仍无绳段贯穿紫孔。log step 158 的最终录制过程输出R3 crossings为空；成功参考视频 120.0 s 右下视角可见黄色绳段贯穿紫孔，本次缺少这种形态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r1_threaded",
+   "t": 10.5,
+   "log_step": 155,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.0 s 右夹爪将短绳端送过青孔，但视频 10.4–10.8 s 张爪后短端下坠并退出孔口；之后直到视频 90.0 s 均未恢复青环贯穿。log step 154–155的最终录制脚本主动释放唯一持绳的右爪再换握，log step 158–159显示末段三环均无有效穿越并保存该轨迹，因此断点是最先达到后丢失且未修复的青环步骤。"
+  },
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 10.5,
+    "log_step": 155,
+    "evidence_zh": "观察：视频 10.0–10.4 s 短绳端已经越过青孔；视频 10.4–10.8 s 右夹爪按脚本张开后，绳端立即下坠、退出青孔，无法自行保留穿环关系。后续视频 12.0–88.0 s 的重复换握未恢复该关系。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 10.5,
+    "log_step": 155,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 154–155 的最终录制脚本在初次穿青环后，先对唯一持绳的右爪执行open_gripper及hold，随后才测绳位并重抓孔下绳段；期间左爪没有接应。视频 10.4–10.8 s 正是在这次释放时短端下坠退孔，之后换握也未能有效带动短端，说明该换握接触布局没有维持已穿短端的支承与张力。未在本次录制中验证可保持贯穿的替代换握方案。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，青环短暂贯穿依据多视角连续运动判断，无法核实0.1毫米径向余量、两侧厚度边界的精确净空及材料穿越坐标；评分器也未报告maximum_speed_m_s。绿环准备取绳时指尖局部被遮挡，实际触碰方式未知。log step 165关于先前多次试验成功穿青环及可达性的自述，不作为本次节点进度或不可达根因；log step 164后来写出的gen.py含后续绿环、紫环动作，但log step 158–159已保存的2201行轨迹和视频未包含这些穿环动作。"
+ },
+ "summary_zh": "评分轨迹仅在视频约 10.0–10.5 s 短暂穿过青环，随后右爪释放换握时绳端下坠退孔，后续未修复，最终节点为0/3。断点为青环操作中，单爪换握缺少对已穿短端的持续支承；末段仅为绿环重新取绳，未穿绿孔，紫环未尝试。没有状态日志，精确净空、全绳速度及末次取绳的实际接触仍无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "青环在视频约10.0–10.5 s短暂贯穿、随后张爪退孔、绿紫环未达成，节点、断点和单一现象/根因与帧一致；无法由帧核实的净空已在gap_zh说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:34:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--t4wcew4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--t4wcew4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "24d3f733dcdec4cbee1e155df91da3655e64c2a26e2548173615ed7ab6ae6ceb",
+   "video_sha256": "563f0835ceb356fe9b342ad66e8b0411d7679146c5b52c9977ce45a14d39cb46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--wmugey3.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--wmugey3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd0d96b54cfb7bf9a587f9965c1a83f412cd6fd
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--wmugey3.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--wmugey3",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 1370,
+   "submitted_actions": 1395,
+   "sim_steps": 1370,
+   "physics_steps": 1370,
+   "sim_time_s": 54.79999999999901,
+   "final_reward": 1.0,
+   "replay_wall_s": 649.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1370,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 17,
+   "agent_resets": 3,
+   "agent_sim_steps": 12731,
+   "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": 0.738,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.054,
+   "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-rope-threading-03-i01-privileged--wmugey3/replay.mp4",
+  "duration_s": 54.867,
+  "fps": 15.0,
+  "frames": 823,
+  "sha256": "bd60dd23c6afeeb3cc868060040b512094caea7edbd40b6ad5a21f7b295347c8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.7 s，机器人右夹爪夹住黄色绳段向青环孔内推进；视频 17.0 s 主视角可见夹爪前端已越到环的另一侧，腕部视角可见黄色绳段经过青色圆孔，后续视频 24.0–27.0 s 左夹爪接住出孔绳段、右夹爪张开退回，绳索仍留在孔内。"
+     },
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "推断：结合穿入前后多视角连续变化，将青环局部贯穿的起点记为视频约 17.0 s，精度约半秒；视频 28.0–54.8 s 后续送绳没有将该段退出青环。精确厚度净空不能由像素独立测量，终态结合 inputs/run.json 的评分器字段 success=1、all_success=1、strict_goal_reached=1 确认。"
+     },
+     {
+      "t": 24.7,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–25.3 s 左右夹爪在青环两侧各夹住一段黄色绳索；视频 26.3–27.0 s 右夹爪张开并退开，左夹爪保留绳段，绳索随左夹爪后续运动而移动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右二指夹爪先从桌面夹起绳端附近绳段并送过青环；视频 24.0–25.3 s 左夹爪在出口侧夹住另一绳段，与右夹爪短暂同时持绳，随后右夹爪松开，由左夹爪继续牵引。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–35.7 s 机器人左夹爪持绳转向绿环，视频 36.0–37.0 s 黄色绳端及夹爪前端进入绿环孔并伸到另一侧，腕部视角可见绳段从绿色圆孔内延伸。视频 41.3–43.0 s 左夹爪退开，右夹爪带绳端离开绿环出口，绳身仍从绿孔穿过。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "推断：结合送入和换手后的多视角，将绿环贯穿起点记为视频约 36.0 s，精度约半秒；后续视频 43.0–54.8 s 该关系保持。精确方向和厚度净空以连续送绳轨迹及 inputs/run.json 的评分器严格成功结果共同支持。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0–40.7 s 左夹爪保持穿过绿环的绳段，右夹爪从出口侧闭合夹住绳端附近另一段；视频 41.3–43.0 s 左夹爪张开并后退，绳端随右夹爪上移，完成接应。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左二指夹爪接绳后持绳送入绿环；视频 39.0–40.7 s 右夹爪在绿环出口侧夹住另一绳段，与左夹爪同时持绳，随后左夹爪松开退回，右夹爪继续拉送。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 50.3,
+      "log_step": null,
+      "text_zh": "观察：视频 47.0–49.7 s 机器人右夹爪持绳端接近紫环；视频 50.0–51.0 s 右下腕部视角中紫色圆孔迎面扩大，黄色绳段沿孔内延伸至夹爪侧，右夹爪将该段送过环孔。视频 53.8、54.0、54.2、54.4、54.6、54.8 s 均保留绳段穿过紫孔的终态，右夹爪继续持绳。"
+     },
+     {
+      "t": 50.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频 49.7–51.0 s 连续推进和最终穿孔形态，将紫环贯穿起点记为视频约 50.3 s，精度约半秒；inputs/run.json 的评分器记录两次回放 all_success=1、deterministic=1、strict_goal_reached=1、success_in_hold_only=0，支持三个环的材料顺序、规定方向、净空及共同静止确认最终合格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪在绿环出口接绳后单独持住靠近绳端的绳段，抬起、对准并送过紫环，末尾保持夹持；左夹爪已张开退回，没有共同抓持紫环操作中的绳端。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右夹爪起绳并穿青环，交给左夹爪穿绿环，再由右夹爪接绳穿紫环；三个节点分别约在视频 17.0 s、36.0 s、50.3 s 达成并保持至视频 54.8 s，最终完成 3/3。评分器两次回放均成功，且 strict_goal_reached=1，无失败断点。没有状态日志，局部起点为多视角视觉近似，精确净空、材料方向及全绳速度与共同确认窗口依评分器严格成功支持；奖励字段未报告 maximum_speed_m_s，原生指标值留空，未将 agent 在 log step 96 的速度自述当作评分测量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，三节点时间（视频约17.0/36.0/50.3 s）与帧一致，无失败断点，final 与评分器字段一致。",
+    "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": "2026-10-30T23:25:01Z",
+  "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-rope-threading-03-i01-privileged--wmugey3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--wmugey3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e495252f97def515c68f253307b9c6d8846717949b4e51451c75fa87fb13bd46",
+   "video_sha256": "bd60dd23c6afeeb3cc868060040b512094caea7edbd40b6ad5a21f7b295347c8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--552bwen.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--552bwen.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd903f8bdc4e978bf4aaa47c07b26139dbfa836
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--552bwen.json
@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--552bwen",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 22,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 19933,
+   "live_rows": 19933,
+   "sim_steps": 19933,
+   "physics_steps": 19933,
+   "steps": 19297,
+   "elapsed_s": 10069.8,
+   "replay_wall_s": 4674.9,
+   "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-rope-threading-03-i01-standard--552bwen/replay.mp4",
+  "duration_s": 797.4,
+  "fps": 15.0,
+  "frames": 11961,
+  "sha256": "3f38305a11c385869e69b2c01f48a1a5b97e4362d86705ef3e8c61e884e02f5e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.5,
+      47.5
+     ],
+     [
+      53,
+      64
+     ],
+     [
+      79,
+      86.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黄色绳索呈大U形躺在桌面，两端均未贯穿青环，青环孔内没有绳段。"
+     },
+     {
+      "t": 31,
+      "log_step": 95,
+      "text_zh": "观察：视频 30.0–33.0 s，右夹爪夹着绳端从青环右侧向左送入；视频 31.0 s 主视角可见黄色端头露在环的另一侧，右下腕部视角可见绳段穿过孔内而非跨过管壁。视频 34.0–46.5 s 转腕时仍保持该局部关系；视频 47.0–48.0 s 退回右侧，端头退出，故第一段约记为视频 30.5–47.5 s。"
+     },
+     {
+      "t": 53,
+      "log_step": 107,
+      "text_zh": "观察：视频 48.0–52.5 s，右夹爪和绳端都退到青环右侧；视频 53.0 s 再次可见端头在青环左侧，腕部画面可见横贯孔内的绳段。视频 64.0–65.0 s 夹爪沿环边向下退出，视频 66.0–77.5 s 绳段在环右下方，不保持穿环，第二段约记为视频 53.0–64.0 s。"
+     },
+     {
+      "t": 81,
+      "log_step": 116,
+      "text_zh": "推断：视频 78.0–86.0 s，右夹爪保持夹持同一短绳端，再沿青环轴线送回孔内，长绳仍从右侧下垂；结合前后持绳连续性及 log step 116 返回的右TCP位置[0.0501,-0.0236,0.3350]，判断约视频 79.0 s 恢复局部穿青环。该次端头被夹爪遮住，区间及孔内路径的把握低于前两段；视频 86.5–89.0 s 转腕后端头脱离、落回，区间末端约记视频 86.5 s。"
+     },
+     {
+      "t": 120,
+      "log_step": 131,
+      "text_zh": "观察：视频 118.0–124.0 s，右夹爪虽再次进入青环，但黄色绳端已在右侧桌面，未随夹爪穿孔；log step 131 的夹爪开度与 agent 穿环自述不能替代这一画面。"
+     },
+     {
+      "t": 550,
+      "log_step": 214,
+      "text_zh": "观察：视频 544.0–568.0 s，右夹爪推入的是回折绳段，短端折回环的右上方，腕部视角可见黄色绳段贴近或跨在青色管壁上；视频 574.0–670.0 s 绳索继续搭绕环边，未形成判据要求的无歧义、净空合格的单次穿越。log step 214 的西侧点数只检验了局部位置，不能证明唯一穿越。"
+     },
+     {
+      "t": 797.33,
+      "log_step": 257,
+      "text_zh": "观察：视频 775.0–797.33 s，包括视频 796.4–797.33 s 末秒，绳索在青环附近形成回折，两条绳段返回右侧，腕部视角可见绳段搭在环缘；终态不是合格的单次穿青环。agent 在 log step 257 自述绳索已平放桌面，与这里的画面不符，以视频为准。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪实际夹持黄色绳端附近绳段，提起、送入青环并多次重抓；后段改夹绳索中段，形成回折后再推向青环。多次未夹中时，张开的指端还拨动桌面绳段；左夹爪未同时持绳。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36,
+      "log_step": 100,
+      "text_zh": "观察：视频 34.0–46.5 s，右夹爪持绳从青环转向后方绿环，但转腕后仍顶在青环孔缘，绳段没有进入绿色孔；log step 100 提交绿环路径后，服务返回右TCP[0.0604,0.0233,0.3392]，并未到达脚本目标[-0.0254,0.20,0.3133]。"
+     },
+     {
+      "t": 65,
+      "log_step": 108,
+      "text_zh": "观察：视频 53.0–71.0 s 的再次转移仍停在青环附近，随后右夹爪下探青环支杆处，再撤回右侧；视频 86.5–90.0 s 以及视频 564.0–572.0 s 的重试也未把绳端送进绿环。"
+     },
+     {
+      "t": 797.33,
+      "log_step": 252,
+      "text_zh": "观察：已检查的视频全程粗采样、上述转移密集画面和视频 796.4–797.33 s 末秒中，绿环圆孔均没有黄色绳段贯穿。成功参考视频约 60.0–120.0 s 可见绳段进入绿孔的形态，本回合缺少这一可见关系；log step 252 虽执行了标为transitR2的动作，服务返回的右TCP仍在青环附近。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪实际夹住绳段，试图从青环转向绿环；持绳转腕时指部与青环孔缘相抵，后续脱绳。未出现左夹爪接应或双臂同时持绳。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 797.33,
+      "log_step": 252,
+      "text_zh": "观察：视频全程粗采样及视频 775.0–797.33 s 的末次动作中，右夹爪始终没有带绳到紫环，绳索停留在桌面或青环附近；紫环无贯穿绳段。log step 252 输出虽列出threadR3路径，右TCP实际仅到[0.0634,-0.0607,0.3432]，画面仍在青环处，因此不把脚本中的紫环命令算成已开展的紫环实物操作，也不赋予紫环实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r2_threaded",
+   "t": 35,
+   "log_step": 100,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 35.0–46.5 s，机器人右夹爪持绳向绿环转移时卡在青环孔缘，未到绿环；log step 100 的服务返回TCP也停在青环附近。后续虽重新送绳、退让和重抓，至视频 797.33 s 绿环仍未贯穿，因此这是最早尝试后始终未修复的步骤；青环当时的局部关系后来曾恢复。"
+  },
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 35,
+    "log_step": 100,
+    "evidence_zh": "观察：视频 35.0–46.5 s，右夹爪在青环内转腕，指部顶住青色孔缘，机器人手臂姿态改变但夹爪没有离开青环前往绿环；视频 58.0–63.5 s 再次停在同处。log step 102 的服务观测显示等待期间TCP仅约毫米量级变化；log step 105 的服务安全监测（机器人API返回的接触力和驱动力记录）报告该段压靠力峰值577.5 N，支持发生阻挡接触。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 86.5,
+    "log_step": 122,
+    "evidence_zh": "观察：视频 79.0–86.0 s 右夹爪仍提着绳索，视频 86.5–90.0 s 为向绿环转移而转腕后，绳端离开夹持处、落向桌面，右夹爪继续空转；log step 122 的服务返回右夹爪开度由此前约0.0068 m降到0，并且实际TCP仍停在青环附近。该次持绳转移没有完成，绿环直到视频结束也没有穿过。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 脚本在 log step 100 把青环到绿环的转移设计为一段连续持绳转腕：第一航点就把朝向青环轴线的夹爪旋向绿环，随后横移；move_path在 log step 90 的实现只求航点IK并插值关节，没有核对夹爪是否已清出青环孔缘。视频 34.0–46.5 s 可见夹爪尚套在青环处便开始转腕并被挡；log step 108 后续选择的环下路线又在视频 65.0–70.0 s 抵住支杆。这支持跨环转移路线未处理好环及支杆的几何阻挡，而不是目标环顺序读错或单纯时间不足。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或评分器逐环穿越记录，不能精确核验0.1毫米径向余量、材料坐标方向及共同静止窗口；原生速度指标未报告。青环第三次送入（视频约79.0–86.5 s）的短端被指部遮挡，依据持绳连续性、邻近画面和服务TCP反馈推断，区间边界约有0.5–1秒不确定性；后段搭绕/回折不计为无歧义的合格穿越。时间主要取自所检查的帧，未把agent工作时间换算成视频时间。"
+ },
+ "summary_zh": "机器人曾短暂建立青环局部穿越，最高进度1/3，但未能把绳段送入绿环，末态三环均未满足（0/3）。最早未修复的断点是绳穿绿环：持绳转移路线在尚未清出青环时转腕，导致孔缘阻挡及后续脱绳，最后绳索仍在青环附近回折。无逐帧状态日志，青环第三次短暂恢复及精确净空存在推断；末态以视频为准，不采信agent关于绳索已平放桌面的自述。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "未发现需要修改的内容：青环三段区间、绿/紫环未穿、末态0/3与帧一致；断点取最早尝试后未修复的绿环转移并给出帧与服务读数证据，被挡/没保持住有视频和log 105/122支持。青环第三段为已标注的推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:34:22Z",
+  "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-rope-threading-03-i01-standard--552bwen/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--552bwen/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8c25c63866caca71046697a73b7b1b043ad033579ba23245c1b017663b3110bc",
+   "video_sha256": "3f38305a11c385869e69b2c01f48a1a5b97e4362d86705ef3e8c61e884e02f5e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--oybivvy.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--oybivvy.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bedbfa903ac1e21f4c265f1ab092f789658ea6c
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--oybivvy.json
@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--oybivvy",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 26,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11220,
+   "live_rows": 11220,
+   "sim_steps": 11220,
+   "physics_steps": 11220,
+   "steps": 5134,
+   "elapsed_s": 10791.7,
+   "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-rope-threading-03-i01-standard--oybivvy/replay.mp4",
+  "duration_s": 448.867,
+  "fps": 15.0,
+  "frames": 6733,
+  "sha256": "68cbbe4d1e8861e953ff338c81f8fdc75a848068f81849665f10e7cf63a960c9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 黄色绳索平放桌面，青环孔内没有贯穿绳段。"
+     },
+     {
+      "t": 185,
+      "log_step": 574,
+      "text_zh": "观察：视频 183–189 s 左夹爪夹起绳段并向青环送入；腕部视角中绳端与夹爪位于青孔下方，随后移到环另一侧附近，黄色绳段并未从青孔内部贯穿。log step 574 启动 execute_thread_r1.py（agent 叙述见 log step 575）。"
+     },
+     {
+      "t": 310,
+      "log_step": 844,
+      "text_zh": "观察：视频 307–311 s 再次持绳经过青环附近时，腕部视角仍显示青孔在绳端上方；视频 325 s 自由绳端留在青环右侧外部，未形成成功示例中孔内连续绳段的形态。"
+     },
+     {
+      "t": 448.8,
+      "log_step": 1035,
+      "text_zh": "观察：视频 430–448.8 s 最后一轮送环后，绳索仍在青环外侧下垂；末秒的主视角与右下视角均没有青孔内部贯穿绳段。log step 1035 的现场服务返回 done=False，评分字段 live_success=0；未以零分单独判断节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 178–189 s、302–311 s 左二指夹爪夹住黄色绳段并将其提离桌面，向青环送绳；早段右夹爪多次空夹，未见双臂同时持绳。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 314,
+      "log_step": 844,
+      "text_zh": "观察：视频 311–318 s 左夹爪持绳接近绿环；左腕视角中绿色孔沿在绳端旁，绳端未从孔内穿出，随后向右上方移动，绳索脱离夹爪并落回桌面。"
+     },
+     {
+      "t": 345,
+      "log_step": 875,
+      "text_zh": "观察：视频 339–352 s 左夹爪再次在绿环附近移动，主视角黄色自由端仍在青环右侧，绿孔内没有连接两侧的黄色绳段。"
+     },
+     {
+      "t": 448.8,
+      "log_step": 1035,
+      "text_zh": "观察：视频 443–448.8 s 左夹爪移到后方，绳索留在青环右侧和下方；右下视角可见绿孔中无贯穿绳段。相比成功示例参考视频 60–120.8 s 的连续穿绿孔形态，本次未建立绿环关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 311–317.5 s 左二指夹爪夹着绳段向绿环送入，黄色绳索随夹爪移动；右臂未接应。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 319,
+      "log_step": 844,
+      "text_zh": "观察：视频 318–319 s 左夹爪从绿环附近抬向后方紫环区域，绳索随即离开夹爪回落；左腕视角出现紫孔时，夹爪前没有送入孔内的绳端。"
+     },
+     {
+      "t": 448.8,
+      "log_step": 1035,
+      "text_zh": "观察：视频 443–448.8 s 左腕视角再次看到紫色孔沿，孔内没有黄色绳索；主视角绳索自由端仍在青环右侧。成功示例参考视频 120.8 s 的腕部视角能明确看见黄色绳段贯穿紫孔，本次没有该形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 317.5–318 s 左夹爪仍夹住绳段，从绿环附近开始向后方紫环区域移送；视频约 318.5 s 绳段脱离，之后夹爪空行至紫环附近，未发生紫孔内送绳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r1_threaded",
+   "t": 185,
+   "log_step": 574,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 183–189 s 左夹爪已经夹起绳段，但送入青环时绳端从青孔下方经过，未贯穿孔；视频 307–311 s 及 430–448.8 s 的重试仍未修复青环关系。因此青环是最早尝试后始终未完成的步骤，后续空夹经过绿环、紫环不构成修复。"
+  },
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 185,
+    "log_step": 574,
+    "evidence_zh": "观察：视频 184–188 s 左夹爪持绳横向经过青环，左腕画面中青色孔口位于绳端上方，绳端绕过孔下方而未进入；视频 307–311 s 的再次送入也显示同样的孔外路径。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有逐帧状态日志，也没有逐环穿越方向、次数或净空的服务读数；精确厚度边界、0.1毫米余量及全绳速度不能从像素量化，maximum_speed_m_s 未由评分器报告。已依据多视角、持绳前后连续帧及成功参考形态判断未穿环；接触释放的具体受力机制未能确认，不另推断抓持失效根因。时间均取本次视频帧，未将 agent 工作时间换算为视频时间。 log step 569 的入口 FK 是候选 IK 解的正运动学，log step 570–571 只核对当前位置；虽然 log step 563–564 曾提交包含同一入口目标的轨迹，但这些记录没有足以确定根因的逐段目标与实测对照，也未验证绳端与环的目标几何和抓握方案。log step 1029 是写脚本，log step 1035 是执行输出，后者未同时打印对应目标；不能据此把位置差直接归因为反馈控制。现有证据无法区分规划（入口点或环位置估计）、抓握与反馈控制，故根因留空。"
+ },
+ "summary_zh": "本次连续现场运行多次空夹，后来左夹爪确实夹起绳索，但送入青环时绳端沿孔下方经过，三个穿环节点均未达到，终态为0/3。最早未修复的步骤是青环穿绕，现象为位姿不准；现有日志不足以区分规划、抓握与反馈控制，删除原反馈控制归因，因根因证据不足将置信度由7降为6。没有逐帧状态日志，精确净空、穿越历史和全绳速度无法独立量化。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（三环均未穿）、断点（r1_threaded，操作中）与位姿不准现象与视频一致；但根因“反馈控制”的证据是误读：log step 569–571 的0.103米偏差只是“当前TCP”与尚未执行的IK候选入口点之间的距离，并非执行后的跟踪误差；step 1029是写文件而非执行。该根因没有证据支持。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三环均未穿、断点 r1_threaded（操作中）、位姿不准现象与视频一致；上一轮指出的反馈控制根因已删除，根因留空并写明缺口，合理。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": "2026-10-30T23:42:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--oybivvy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--oybivvy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--oybivvy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--oybivvy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "161513418a4a79c5810ecd555116a35881ba80d5055daa8d47ceb7d2151134b4",
+   "video_sha256": "68cbbe4d1e8861e953ff338c81f8fdc75a848068f81849665f10e7cf63a960c9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rjrxpx2.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rjrxpx2.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b4e84eb659277a60aecab5bba0084951d36306
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rjrxpx2.json
@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--rjrxpx2",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 5,
+   "live_success": 1,
+   "replay_success": 1,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 3414,
+   "live_rows": 3414,
+   "sim_steps": 3414,
+   "physics_steps": 3414,
+   "steps": 3274,
+   "elapsed_s": 3953.0,
+   "replay_wall_s": 784.2,
+   "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": 0.215,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.919,
+   "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-rope-threading-03-i01-standard--rjrxpx2/replay.mp4",
+  "duration_s": 136.6,
+  "fps": 15.0,
+  "frames": 2049,
+  "sha256": "11134e7ede0568bff5ba4d2b237844cf5fef09a4495625ed04b9a43e02de21d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      12.0
+     ],
+     [
+      27.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色绳索呈弧形放在桌上，青环孔内没有绳段。"
+     },
+     {
+      "t": 10.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 9.6–10.4 s 机器人右夹爪夹住绳端向青环推进；视频 10.0–11.6 s 绳端随夹爪到达青环另一侧，黄色绳段从孔内连接回右侧长绳，腕部视角可见绳段位于孔内。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 44,
+      "text_zh": "观察：视频 11.6–12.2 s 机器人右夹爪持绳回撤，视频 12.2 s 绳端和夹爪均已退回青环右侧；视频 14.0–26.0 s 机器人在孔外放下、重新抓取并举起绳段。故首次穿环区间在约视频 12.0 s 结束。"
+     },
+     {
+      "t": 27.7,
+      "log_step": 63,
+      "text_zh": "观察：视频 26.7–27.7 s 机器人右夹爪握住离绳端一段距离的位置，将伸出的绳端送过青环；视频 27.3 s 绳端开始突出到孔另一侧，视频 27.7 s 主视角与右下腕部视角均显示绳段贯穿孔内。视频 30.0–32.0 s 左夹爪合拢接住绳端，右夹爪松开后左臂将绳拉出。"
+     },
+     {
+      "t": 136.53,
+      "log_step": 198,
+      "text_zh": "推断：视频 32.0–136.53 s 后续换握、送绳过程中青环内始终保留一条绳段，未见退回孔外；末秒逐帧仍成立。结合 log step 198 的机器人服务终止状态 done=True、reason=success，以及评分字段 live_success=1、replay_success=1、live_matches_replay=1，终态按本次评分规则记为真；精确净空由成功判定支持，区间边界为视觉近似。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪先单独夹绳端送入青环并回撤，重抓后于视频 27.3 s 左右再次送绳；视频 30.0–31.0 s 左右夹爪分别夹住绳段进行接力，随后右爪松开、左爪持绳拉过青环。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.3,
+      "log_step": 81,
+      "text_zh": "观察：视频 45.0–50.0 s 机器人左夹爪夹绳向绿环送入，腕部视角中的绳端停在绿环近侧边缘附近，未见完整穿出；视频 51.0–57.0 s 又退回、放下并重新抓取。此次接近不计为已穿绿环。"
+     },
+     {
+      "t": 65.2,
+      "log_step": 94,
+      "text_zh": "观察：视频 63.0–65.2 s 机器人左夹爪再次持绳向绿孔推进，约视频 64.8 s 绳端越过绿孔，视频 65.2–66.0 s 腕部视角可见绳段穿过绿环孔内并伸到另一侧；视频 68.0–72.0 s 右夹爪到远侧夹住绳段，左夹爪松开后右臂继续拉绳。"
+     },
+     {
+      "t": 136.53,
+      "log_step": 198,
+      "text_zh": "推断：视频 66.0–136.53 s 绿环处保持单条贯穿绳段，后续牵拉和换手未将绳端抽回；视频 135.53–136.53 s 的逐帧终态及 log step 198 的机器人服务 reason=success 与评分字段 replay_success=1 一致，记 final=true。穿越方向依据从桌面长绳经青环再到绿环远侧的连续绳路判断；精确净空无法由像素独立量测，首次达到时刻约有半秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 45.0–65.2 s 机器人左二指夹爪夹绳尝试并重新送入绿环；视频 68.0–72.0 s 右夹爪在绿环远侧接应，两爪短暂分别夹住绳段后左爪松开，右爪持绳拉出。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      128.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 118.7,
+      "log_step": null,
+      "text_zh": "观察：视频 110.0–118.7 s 机器人在已穿青、绿两环的绳索上换握，右夹爪夹持一段绳索，伸出的绳端在紫环外；左腕视角可见紫孔旁的绳端，未见贯穿。"
+     },
+     {
+      "t": 128.8,
+      "log_step": 189,
+      "text_zh": "观察：视频 123.0–126.0 s 绳端在紫环旁经过，视频 126.0–127.7 s 机器人右夹爪先回撤调整；视频 128.4–129.2 s 再向前送绳，左腕视角显示绳端越过紫环并突出到另一侧，约视频 128.8 s 起可沿黄色绳段穿过紫孔追踪至两侧。"
+     },
+     {
+      "t": 136.53,
+      "log_step": 198,
+      "text_zh": "推断：视频 129.2–136.53 s 机器人右夹爪继续夹绳，紫环贯穿关系保持；视频 135.53–136.53 s 逐帧未见回撤或脱孔。log step 198 的机器人服务报告 control_steps=3414、done=True、reason=success，评分字段 success=1、replay_success=1、deterministic=1 支持三环材料顺序、方向、完整性和联合静止验收均通过；未将 agent 工作时间换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 110.0–116.0 s 左夹爪持绳牵拉出供紫环操作的绳长，右夹爪夹住更靠后的绳段接手，左爪随后松开；视频 118.0–136.53 s 右夹爪单独保持夹持并调整伸出绳端，将其送过紫环，结束时仍持绳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人最终完成青、绿、紫三个穿环节点，终态为3/3；青环约在视频 10.0–12.0 s 短暂贯穿后被回撤抽出，约视频 27.3 s 重新穿过，绿环、紫环分别约在视频 64.8 s、128.8 s 穿过并保持至结束。机器人通过夹持伸出绳端和双臂换手继续送绳，评分器的现场与回放成功字段均为1，无失败断点。无状态日志，穿越边界时间由多视角帧近似判断；精确孔径净空、全绳最大速度及0.5秒联合确认无法从像素独立量测，终态由成功判定支持，maximum_speed_m_s未报告数值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，三个穿环节点及时间与帧一致：青环首次穿过后退出再重穿（视频 11 s 穿、13 s 已退出、28 s 重穿），终态 3/3，无失败断点，未发现需修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:27:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "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-rope-threading-03-i01-standard--rjrxpx2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--rjrxpx2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eafa263107070aa6b0ac01eeb4ad6405a26e2880c4494f0b2b208222c3c70fe3",
+   "video_sha256": "11134e7ede0568bff5ba4d2b237844cf5fef09a4495625ed04b9a43e02de21d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rkfgdnw.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rkfgdnw.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b08e4b2daba1f55515e4a418045b9fc3bb8d0a
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--rkfgdnw.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--rkfgdnw",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 49,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 12341,
+   "live_rows": 12341,
+   "sim_steps": 12341,
+   "physics_steps": 12341,
+   "steps": 6203,
+   "elapsed_s": 8456.5,
+   "replay_wall_s": 2608.9,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.361,
+   "peak_processes": 15,
+   "peak_disk_gb": 1.049,
+   "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-rope-threading-03-i01-standard--rkfgdnw/replay.mp4",
+  "duration_s": 493.733,
+  "fps": 15.0,
+  "frames": 7406,
+  "sha256": "1bdcc5b301cd32cc15d7c38323c3330b04faaed3a1ab5bef90b58ff5026e0026"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.5,
+      37.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色绳索平铺桌面，三个环孔内均无贯穿绳段。"
+     },
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 32.5–35.5 s，机器人右夹爪夹住绳端附近，主视图中短绳端已伸到青环左侧，长绳段留在右侧；右侧腕部视角可见黄色绳段进入青色圆孔内部并延伸至另一侧，与成功参考中的贯穿线索一致。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 115,
+      "text_zh": "推断：沿视频初态左侧的材料起点，经长绳段、右夹爪至短绳端追踪，这次青环穿越朝向绿环侧，未见第二次穿越；局部关系约在视频 32.5 s 建立。起止时间各约有 0.5 s 误差；此为视觉判断，未测得精确径向净空。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–39.5 s，右夹爪转腕并向左上方移绳，原先横穿青孔的短端随之移出，长绳段折成悬垂绳圈；视频 39.5 s 青环与绳圈已分开。推断：合格的单次青环关系约在视频 37.5 s 消失；逐帧检查这段移动，没有把夹爪松动本身当成关系丢失。"
+     },
+     {
+      "t": 493.66,
+      "log_step": 345,
+      "text_zh": "观察：视频 45.0 s 后的全程粗查及视频 110.0–129.0 s 的密查显示，后续夹爪在青环旁运动时绳索仍留在桌面；视频 492.7–493.66 s，绳圈平铺在三环下方，青孔没有绳段，故终态为假。agent 在 log step 346 自述“从未穿过环孔”，与视频早期可见的短暂青环穿越不一致；进度采用视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 30.0–43.5 s，右二指夹爪夹住黄色绳端附近并提起、送向青环及后方环组；左臂当时停在原位。后续左右臂虽有扫绳和夹取动作，未见两爪同时夹住绳索，故不记双臂抓握。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.5,
+      "log_step": 117,
+      "text_zh": "观察：视频 40.0–43.5 s，右夹爪持绳在绿环上方及近侧摆动；主视图虽出现绳段与绿孔重叠，另一固定视角和腕部视角没有显示绳端从绿孔背离青环的一面穿出。log step 117 的服务状态为 control_steps=1043；按 log step 12 的 25 Hz 控制率对应视频约 41.72 s，已与此处持绳姿态核对，非使用 agent 工作时间换算。"
+     },
+     {
+      "t": 150,
+      "log_step": 177,
+      "text_zh": "观察：视频 140.0–160.0 s，右夹爪再次在绿环旁转动，但桌面绳圈没有随夹爪上移，绿孔没有贯穿绳段。log step 177 的脚本打印“R2 done True”仅是运动函数返回值，不能替代视频中的穿环结果。"
+     },
+     {
+      "t": 493.66,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–493.66 s 的全程粗查中没有出现成功参考里绳段从绿孔贯穿并连接下一环的形态；视频末秒绿孔清晰为空，绳索在下方桌面。因此本节点未达成，终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 36.5–43.5 s，右夹爪仍夹住同一绳段向后方环组搬动，在绿环附近转腕和提拉；实际接触为右夹爪与绳索的夹持，没有形成绿孔贯穿。后续视频 140.0–160.0 s 的夹爪动作为空载。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 115,
+      "text_zh": "观察：视频 40.5–43.5 s，右夹爪仍持绳向后上方摆动，绳圈停在青绿环附近；视频 44.25 s 绳索已回落桌面。log step 115 的脚本在绿环逆解失败后仍提交标为 R3 的运动，视频中没有绳段到达并贯穿后方紫孔。"
+     },
+     {
+      "t": 175,
+      "log_step": 177,
+      "text_zh": "观察：视频 165.0–180.0 s，右夹爪在环组附近执行另一轮动作，黄色绳圈仍在桌面，未被携到紫环。log step 177 的“R3 done True”同样只是 agent 脚本的运动返回值。"
+     },
+     {
+      "t": 493.66,
+      "log_step": null,
+      "text_zh": "观察：全程粗查没有发现黄色绳段进入紫环的过程；对照成功参考视频 120.9 s 腕部视角中明显穿出紫孔的黄色绳段，本次视频 492.7–493.66 s 绳索整体仍在桌面，末端附近腕部视角可见绳索低于环组，故紫环终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 40.5–43.5 s，右夹爪在向后方环组送绳的动作中夹持绳段；结合 log step 115，此段属于其 R3 运动尝试。绳索未送到紫孔，随后回落桌面；没有观察到另一夹爪接绳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r1_threaded",
+   "t": 37.5,
+   "log_step": 115,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 32.5–35.5 s 右夹爪曾将短绳端送穿青孔；视频 36.0–39.5 s 右夹爪转腕、抬移绳段后，青孔不再保持原来的单次贯穿关系，后续直至视频 493.66 s 未恢复。推断：首个未修复的失败是绳穿青环，约以视频 37.5 s 为导航锚点；机器人当时仍在持绳操作。"
+  },
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 37.5,
+    "log_step": 115,
+    "evidence_zh": "观察：视频 36.0–39.5 s 机器人右夹爪改变所夹绳段的方向和位置，短绳端离开原先贯穿青孔的位置，绳圈转到环外；视频 44.25 s 后绳索回到桌面。此处丢失的是绳与环的空间关系，右夹爪在关系丢失时仍持绳，未见在环上完成放置后再失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：log step 115 的脚本在 R1 后读取并打印 TCP，但没有按实际位姿或穿环关系决定是否继续；move 返回 True 只表示提交过程未提前返回。R2 首个逆解失败时 move 在构造、提交动作之前返回 False，主程序仍无条件调用 R3，夹持命令持续为 grip=0.002；R1 后确有 ac.observe(seconds=0.5)，不能称为完全无停顿。视频 35.5 s 短绳端仍横穿青孔，视频 36.0–39.5 s 右夹爪持绳转腕、抬移，短端退出青孔，视频 41.5–43.5 s 绳圈已随夹爪移到绿环附近。推断：跨阶段策略在中间路径失败、青环目标位姿也未实际到达时仍推进后续持绳动作，未保住已有穿环关系，支持推理/规划失误；不能把这段移动说成已执行成功的 R1→R2，也不能仅凭失去关系就归于跟踪控制。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐环穿越、净空读数。青环短暂达成及丢失按多视角连续画面判断，约有 0.5 s 时间误差，无法验证 0.1 mm 余量、各厚度边界的精确净空和全绳最大速度；maximum_speed_m_s 未由评分器报告，保留 null。绿环附近持绳时有投影重叠和局部遮挡，但前后及其他视角未显示规定方向的完整贯穿；末态三环未穿可判断。agent 在 log step 344 声称机械卡住，未提供可定位的阻挡接触证据，不将其当作已证实的碰撞或环境故障。 根因区分仍有缺口：log step 115 在 R1 动作后、调用 R2 之前已打印右 TCP x=0.1107 m，偏离该段目标 x=0.021 m，不能断言偏差只出现在后续阶段；缺少同步关节目标、实际轨迹及接触读数，无法判定该偏差对退绳的贡献。log step 256 的 153.2 mm 误差仅能补充说明后段执行偏差，不能证明视频 37.5 s 断点由控制失效导致；也未验证保持青环关系的替代动作方案。"
+ },
+ "summary_zh": "机器人右夹爪实际夹起绳索，约在视频 32.5–37.5 s 短暂形成青环穿越，之后持绳转腕移绳使关系丢失且未修复；绿环、紫环均未达成，峰值 1/3，终态 0/3。断点为绳穿青环，表现为送绳位姿不准；log step 115 在 R2 逆解失败后仍继续 R3 持绳动作，结合视频退绳过程，支持跨阶段推理/规划失误。无逐帧状态及逐环几何读数，精确净空与最大速度无法复核；首段实际 TCP 已偏离目标，其对退绳的贡献不能排除，故归因仍为推断，置信度由 6 降至 5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点与时间基本可信：视频 32.5–37.5 s 青环短暂穿越、之后丢失，r2/r3 未达成，断点 r1 合理。主要疑点在根因：log step 115 的脚本本身就把右夹爪在青环后直接按序带去绿环（C1→C2），持绳拖离青孔，更像规划/接触设计而非控制层失效；现有证据未区分，应补充或改判。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "复核第二轮：视频 32.5–37.5 s 青环短暂穿越、之后绳被带离、r2/r3 全程未达成、断点 r1、位姿不准与推理/规划根因均有视频及 log 支持，且已按第一轮意见改为不采信未执行的 R1→R2 路径。未发现需改内容。",
+    "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": "2026-10-30T23:44:08Z",
+  "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-rope-threading-03-i01-standard--rkfgdnw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--rkfgdnw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--rkfgdnw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--rkfgdnw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e47e811451852360fa10791eb04977b2e6b2369f7fbe172d3f8466e7dda3f445",
+   "video_sha256": "1bdcc5b301cd32cc15d7c38323c3330b04faaed3a1ab5bef90b58ff5026e0026",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--smg3xvq.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--smg3xvq.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e15311ad24bda7b1d8df0b37cf014cd2eb15cf
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--smg3xvq.json
@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--smg3xvq",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "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": 21962,
+   "live_rows": 21962,
+   "sim_steps": 21962,
+   "physics_steps": 21962,
+   "steps": 9741,
+   "elapsed_s": 10820.0,
+   "replay_wall_s": 5665.3,
+   "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-rope-threading-03-i01-standard--smg3xvq/replay.mp4",
+  "duration_s": 878.533,
+  "fps": 15.0,
+  "frames": 13178,
+  "sha256": "44bd47f2e265b25be420c3c15cf0cd27614e3cb5fe68e19ff5d2640b8171db1e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 黄色绳索呈U形平放在三个立环前方，青环孔内没有绳段。"
+     },
+     {
+      "t": 319.5,
+      "log_step": 220,
+      "text_zh": "观察：视频 244–319.5 s 左爪夹住绳段并向桌面中央搬移，绳段随爪离开原位，但夹持点始终在青环孔下方；视频 319.5–324 s 左爪停滞，绳索没有穿过青孔。log step 220 的执行输出记录该搬移动作TCP误差37.1毫米后脚本停止发送后续路径。"
+     },
+     {
+      "t": 848.0,
+      "log_step": 408,
+      "text_zh": "观察：视频 752–840 s 右爪闭合后将另一段绳索抬离桌面并送向青环右侧，左爪仍夹住原绳段；视频 842–848 s 右爪向环靠近后停下，黄色绳索仍在孔的一侧。log step 408 记录本次穿环路径TCP误差13.7毫米后中止。"
+     },
+     {
+      "t": 878.46,
+      "log_step": 435,
+      "text_zh": "观察：视频 850–878.46 s 机器人多次小幅调整右爪，最后黄色绳索仍从青环旁垂下，右下腕部视角可区分绳段与青环孔，未见贯穿；视频 877.6、877.8、878.0、878.2、878.46 s 均保持此关系。成功参考视频 40 s 则能看到绳段横贯青孔；该参考只用于辨认可见判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：早期由左二指夹爪单独夹住绳索起点侧附近的绳段搬移；视频 752–840 s 右二指夹爪后来夹住另一段并将其抬起、送向青环，左爪持续夹住原段，形成双臂分别抓持同一根绳索的协作。视频 878.46 s 两侧绳段仍分别连在闭合夹爪之间。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 绿色立环在桌面后方，黄色绳索平放在其前方，绿孔内无绳段。"
+     },
+     {
+      "t": 878.46,
+      "log_step": null,
+      "text_zh": "观察：完整视频按约20秒间隔粗查，并加密检查视频 244–335 s、370–600 s、740–878.46 s；机器人一直围绕抓绳、接应和青环操作，没有将绳索送入后方绿孔。视频 760、840、848、878.46 s 主视角中的绿孔内均无黄色绳段，绳索位于绿环前下方；成功参考视频 70 s 的腕部视角可见绳段贯穿绿孔。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 绳索完整地平放在三个环前方，未延伸到后方紫环处。"
+     },
+     {
+      "t": 878.46,
+      "log_step": null,
+      "text_zh": "观察：视频 0–878.46 s 的粗查及抓取、接应、末段穿青环尝试的加密帧中，绳索始终在桌面前部与青环一侧之间，没有被送往更后方紫环；视频 878.46 s 主视角可追踪黄色绳索从左爪经前方U形弯至右爪，两爪间绳段没有延伸到紫环位置。成功参考视频 120.9 s 右下视角可见黄色绳段贯穿紫色孔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "r1_threaded",
+   "t": 319.5,
+   "log_step": 220,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 312–319.5 s 左爪持绳向青环下方搬移后停滞，log step 220 记录TCP误差37.1毫米并中止路径。机器人随后改做接应、退回和右爪穿环重试，但视频 842–878.46 s 仍未将绳段贯穿青孔；最早未修复的语义步骤为绳穿青环。"
+  },
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": false,
+   "r3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 319.5,
+    "log_step": 220,
+    "evidence_zh": "观察：视频 319.5–324 s 左爪持绳停在青环孔下方；视频 842–848 s 及 870–878.46 s 右爪的穿环重试也停在青环一侧，黄色绳段没有到达孔另一侧。log step 220、408、435 分别记录搬移或穿环路径跟踪误差37.1、13.7、18.7毫米后中止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 319.5,
+    "log_step": 220,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人未能维持持绳搬移和穿环路径的实际末端跟踪。log step 219–220 的执行检查显示左爪TCP误差由6.2毫米升至37.1毫米；log step 405 已生成可通过逆解检查的右爪局部穿环路径，执行至 log step 408 仍因13.7毫米误差停止；降低步幅、降低目标高度后的 log step 434–435 再次因18.7毫米误差停止。视频 319.5 s 与 848–878.46 s 的停滞及绳索仍在环外与这些记录吻合。该证据支持路径跟踪控制不足，不能进一步断言其物理来源是关节限位或固定物碰撞。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，不能精确计算穿越材料坐标、径向净空、全绳最大速度及联合确认窗口；评分器未报告maximum_speed_m_s，故原生指标值为null。主视角和腕部视角已足以判定三个孔均未贯穿。日志中的部分数值数组被原运行截断，且缺少逐帧固定物接触记录，无法把跟踪停滞进一步归于特定碰撞或硬限位。控制步计时核对：服务log step 220的control_steps=7987，对应7987×0.04=视频319.48 s，与视频319.5 s左爪停滞吻合；21962个物理步×0.04=878.48 s也与视频总长878.533 s相符。"
+ },
+ "summary_zh": "机器人先用左爪抓持并搬移绳段，随后尝试双臂接应，最后由右爪抬绳接近青环，但三个穿环节点始终未达成，终态为0/3。断点为绳穿青环：视频约319.5 s 的左爪搬移出现明显跟踪误差，后续右爪重试仍未完成贯穿，日志与视频支持反馈控制不足。缺少逐帧状态和固定物接触记录，精确净空、速度以及跟踪停滞的更深物理原因无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个穿环节点均未达成（视频 0、319、878 s 帧可见绳未穿青/绿/紫孔），终态0/3、断点r1_threaded、时钟换算（7987×0.04≈319.5 s）与视频一致。根因“反馈控制”是对跟踪误差中止的保守推断，已声明为推断；日志只显示误差升高，无法在轨迹/逆解与控制之间进一步区分，未发现需要修改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-10-30T23:31:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--smg3xvq/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"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--umzcqgf.json b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--umzcqgf.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f25228d01204560386b21fcd5bc35325740d36a
--- /dev/null
+++ b/phase2/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--umzcqgf.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--umzcqgf",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
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+   "success_pending_review": 0,
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+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 1,
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+   "deterministic": 1,
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+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 1751,
+   "live_rows": 1751,
+   "sim_steps": 1751,
+   "physics_steps": 1751,
+   "steps": 1625,
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+   "gpu_lost": 0,
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+   "peak_disk_gb": 0.391,
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+   "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-rope-threading-03-i01-standard--umzcqgf/replay.mp4",
+  "duration_s": 70.133,
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+  "final": 3,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.5,
+      24.8
+     ],
+     [
+      33.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黄色绳索整条铺在桌面，青环孔内没有绳段。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：视频 9.067–9.600 s，右夹爪持绳端由青环右侧送至左侧；视频 9.600、12.267、14.400 s 的主视角与腕部视角可追踪绳端及后续绳段穿过青色孔内，首次局部贯穿约记为视频 9.5 s，时点误差约半秒。"
+     },
+     {
+      "t": 24.8,
+      "log_step": null,
+      "text_zh": "观察：视频 20.267–24.533 s，右夹爪退出后绳段仍跨过青环；视频 24.533–25.067 s，绳端下落并从青环退回，视频 25.600–32.533 s 绳端留在青环右侧、桌面附近，青环内不再有贯穿绳段。丢失时点约视频 24.8 s。"
+     },
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 31.467–32.533 s，右夹爪重新提起桌面绳端；视频 33.067–34.133 s，右夹爪将绳端再次送到青环左侧，腕部视角显示绳段经青孔连接至右侧余绳，恢复时点约视频 33.5 s。视频 36.267–38.933 s，左夹爪接住绳端后右夹爪退出，绳段继续留在青孔内。"
+     },
+     {
+      "t": 70.0,
+      "log_step": null,
+      "text_zh": "推断：视频 39.200–70.067 s，青孔内绳段持续连接桌面余绳与绿环方向的绳段，末秒无退回；评分器字段 success=live_success=replay_success=1、live_matches_replay=1，支持青环最终满足有向唯一贯穿及净空判据。精确径向余量无法由像素单独核验。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住绳端附近绳段并提起、送过青环；视频 36.267–37.333 s 左夹爪在青环另一侧夹住露出的绳段，与右夹爪短时共同持绳，随后右夹爪松开退出，左夹爪接走。此前右夹爪曾单独穿环，首次换手后绳端掉回桌面，右夹爪再次抓起重穿。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      40.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.133,
+      "log_step": null,
+      "text_zh": "观察：视频 22.400–26.667 s，左夹爪虽向绿环移动，黄色绳端却从青环滑回桌面；视频 26.133 s 的腕部视角中绿色孔内没有贯穿的黄色绳段，首次空手送入动作不计穿绿环。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "推断：视频 38.933–41.333 s，成功接绳的左夹爪把绳端从青环侧向绿环另一侧推进；视频 40.267、41.333 s 的腕部视角显示黄色绳段从绿色孔内延续到夹爪处，主画面可追踪其与青环内绳段相连。局部贯穿约从视频 40.0 s 起成立，时点误差约半秒；依据后续持续贯穿及最终成功判定，未把稍后的加深送绳另作新节点。"
+     },
+     {
+      "t": 50.133,
+      "log_step": null,
+      "text_zh": "观察：视频 47.467–49.067 s，左夹爪在绿环处持绳，右夹爪靠拢并夹住孔另一侧露出的绳段；视频 49.600–50.667 s 左夹爪松开退走，绳段随右夹爪保留在绿孔中，没有随左夹爪退回。"
+     },
+     {
+      "t": 70.0,
+      "log_step": null,
+      "text_zh": "推断：视频 51.200–70.067 s，右夹爪继续带绳前往紫环，青环至绿环的绳段未抽出；视频 69.000–70.067 s 终态与成功参考视频的贯穿布局相符，评分器 live_success=replay_success=1 支持绿环最终满足局部几何判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住由青环接来的绳端并送过绿环；视频 47.467–49.067 s 右夹爪在绿环出口侧闭合夹住露出绳段，左夹爪仍夹持，双臂短时共同持绳；随后左夹爪松开退出，右夹爪接走绳端。"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      68.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.667,
+      "log_step": null,
+      "text_zh": "观察：视频 56.000–64.533 s，左夹爪已空手停在旁边，右夹爪持绳端多次向紫环送入和退回；视频 58.667、62.933 s 的右下腕部视角可见绳端靠近紫孔，孔前后绳段受夹爪和下缘遮挡，不能仅据绳端投影位于孔内确认完整、净空合格的贯穿。"
+     },
+     {
+      "t": 68.5,
+      "log_step": 229,
+      "text_zh": "推断：视频 65.067–67.733 s，右夹爪退回并转腕改变夹持绳段的朝向；视频 68.267–68.800 s 再次推进，右下腕部视角中黄色绳段延伸穿过紫色孔内，视频 69.000–70.067 s 保持该布局。结合最后送绳动作及评分器最终成功，将紫环合格贯穿起点估在视频 68.5 s；精确净空及更早试探期间是否曾短暂合格无逐帧状态可核验。"
+     },
+     {
+      "t": 70.0,
+      "log_step": 235,
+      "text_zh": "观察：视频 69.000、69.200、69.400、69.600、69.800、70.000 及 70.067 s，右夹爪仍夹着绳端，紫孔内绳段保持，未再抽回；log step 235 读取现场服务保存的结果为 done=True、reason=success，评分器字段 live_success=1、replay_success=1、deterministic=1、live_matches_replay=1。任务允许继续持绳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪从绿环换手后持续夹住绳端附近绳段，带绳接近紫环、退回、转腕后再次送入，并在终态继续持绳；左夹爪在这段操作中已松开绳索并停在旁边。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次现场连续尝试最终完成青、绿、紫三个穿环节点；青环约视频 9.5 s 首次贯穿，约视频 24.8 s 绳端脱落退回，约视频 33.5 s 重穿恢复，绿环约视频 40.0 s 达成。右夹爪最终退回转腕并重新送绳，紫环约视频 68.5 s 达成并保持至末帧，现场服务与重放评分均成功，无未修复断点。没有逐帧状态日志，节点起点约有半秒误差，早期紫环试探的瞬时净空无法精确判定；有向唯一穿越、毫米级净空及全绳速度与共同确认窗口由成功判定支持，评分器未报告 maximum_speed_m_s 数值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，三节点最终为真，青环中途丢失与重穿、绿环、紫环的时点与视频抽帧大致一致；无断点，contact_actual 与观察相符，未发现需修改之处（逐帧贯穿由评分器成功字段支持）。",
+    "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": "2026-10-30T23:31:29Z",
+  "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-rope-threading-03-i01-standard--umzcqgf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--umzcqgf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e5486b737826968a7fc5a2bb334b6501cb0e81aa3c1b65df8d836d105f0ae68",
+   "video_sha256": "efa2e4e80b1447fd6710a5059f774dba5b6054f8149b00d51e14a5bb217dbccc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--7cpr3xd.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--7cpr3xd.json
new file mode 100644
index 0000000000000000000000000000000000000000..000dca894cbe8327b8b65cbc6135039f14353be6
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--7cpr3xd.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--7cpr3xd",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 35,
+   "submitted_actions": 35,
+   "sim_steps": 85,
+   "physics_steps": 85,
+   "sim_time_s": 3.400000000000002,
+   "final_reward": 0.0,
+   "replay_wall_s": 66.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "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": 40,
+   "agent_sim_steps": 187,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.525,
+   "peak_memory_gb": 1.103,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.488,
+   "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-rope-threading-06-i01-privileged--7cpr3xd/replay.mp4",
+  "duration_s": 3.467,
+  "fps": 15.0,
+  "frames": 52,
+  "sha256": "5c622a858eb60ee5243fd71a0c6675d68319fe363cbe8f12a8f4486309240917"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s起始帧，青色壁孔G1的腕部视图中未见绳段贯通，长绳仍盘在隔墙右侧桌面，机器人未将绳端送向孔口。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 198,
+      "text_zh": "观察：逐帧检查视频0.00–3.40 s（含视频2.47–3.40 s末段），青色壁孔G1的腕部视图中未见绳段贯通，长绳仍盘在隔墙右侧桌面，机器人未将绳端送向孔口；log step 198的交付录制代码仅执行hold(35)，保存35行轨迹。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s起始帧，隔墙左侧绿色环A内为空，绳索始终留在隔墙右侧桌面，没有绳段到达或贯穿绿色环。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 198,
+      "text_zh": "观察：逐帧检查视频0.00–3.40 s（含视频2.47–3.40 s末段），隔墙左侧绿色环A内为空，绳索始终留在隔墙右侧桌面，没有绳段到达或贯穿绿色环；log step 198的交付录制代码仅执行hold(35)，保存35行轨迹。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s起始帧，紫色壁孔G2附近未出现从孔内延伸的绳段，机器人和绳索均未向隔墙后部穿孔位置移动。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 198,
+      "text_zh": "观察：逐帧检查视频0.00–3.40 s（含视频2.47–3.40 s末段），紫色壁孔G2附近未出现从孔内延伸的绳段，机器人和绳索均未向隔墙后部穿孔位置移动；log step 198的交付录制代码仅执行hold(35)，保存35行轨迹。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s起始帧，右后侧琥珀色环B内没有贯通绳段，绳索仍在其前方桌面盘曲，没有被夹爪举起送入环内。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 198,
+      "text_zh": "观察：逐帧检查视频0.00–3.40 s（含视频2.47–3.40 s末段），右后侧琥珀色环B内没有贯通绳段，绳索仍在其前方桌面盘曲，没有被夹爪举起送入环内；log step 198的交付录制代码仅执行hold(35)，保存35行轨迹。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s起始帧，红色壁孔G3的腕部视图中未见贯通绳段，绳索仍盘在隔墙右侧桌面，没有被机器人送穿红孔。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 198,
+      "text_zh": "观察：逐帧检查视频0.00–3.40 s（含视频2.47–3.40 s末段），红色壁孔G3的腕部视图中未见贯通绳段，绳索仍盘在隔墙右侧桌面，没有被机器人送穿红孔；log step 198的交付录制代码仅执行hold(35)，保存35行轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 0.0,
+   "log_step": 198,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.00–3.40 s中双臂停留在初始悬空位置，夹爪有起始张开变化，但没有接近、夹取或送动桌面绳索；青色壁孔G1没有被穿过。log step 198明确录制hold(35)并保存基线，log step 204对此35行交付的两次评分重放报告success=false、deterministic=true。首个穿孔步骤未启动。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 198,
+    "evidence_zh": "观察：视频0.00–3.40 s内绳索始终在桌面原处盘曲，机器人未开始抓绳或穿青色孔；log step 198提交脚本只保持关节35步，log step 206中agent也明确自述交付为“settling hold, rope untouched”。会话调试中的抓绳动作不在此评分视频内。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话中未形成可重复执行的接近及抓绳控制，最终只交付保持基线。依据是log step 62虽一度报告in hand rope及绳端升高，但log step 64随后的接近动作抛出IK残差22.4毫米错误；log step 93、124、156–157的反复抓取调试均报告held=None，log step 201最后的多航点接近仍输出safe_move unreachable/False；log step 198已保存仅hold(35)的轨迹，log step 206明确承认任务未解。这些是会话证据，支持一般控制瓶颈，不能当作评分局发生了空夹或碰撞的证据。"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有状态日志；评分器未报告maximum_speed_m_s，故该原生指标填null。评分视频足以判定五孔均未贯穿；接近、逆解、抓取几何和守卫限制的问题只在会话调试中有记录，无法唯一分离其对最终基线选择的贡献，根因保留在“控制”层，不细分或把会话接触现象移到评分局。"
+ },
+ "summary_zh": "观察：评分视频0.00–3.40 s显示绳索始终盘在隔墙右侧桌面，五个穿孔节点均未达到，最终为0/5。观察：log step 198保存的交付只执行35步保持，故断点是穿青色壁孔G1的首步前，现象为没尝试；推断：log step 64、93、124、156–157、201的会话调试支持接近与抓绳控制未可靠解决这一根因。观察：没有状态日志或全绳最大速度字段，控制子类的相对贡献不能独立确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频0.00–3.40 s（35步保持）中机器人未动、绳索原处不变，五节点均未达成，断点G1/首步前/没尝试与log step 198、204一致；根因“控制”来自会话证据并明确标为推断，符合FAIL-22，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": "2026-10-30T23:21:31Z",
+  "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-rope-threading-06-i01-privileged--7cpr3xd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--7cpr3xd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fb9a2fd9dc3d0bdad63171c09f15c08c2b22dde8f9b56f6c8d395395e99754a5",
+   "video_sha256": "5c622a858eb60ee5243fd71a0c6675d68319fe363cbe8f12a8f4486309240917",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--ig6ksug.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--ig6ksug.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab014b56e3579771b687cca9b9a5b7b7f52801a
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--ig6ksug.json
@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--ig6ksug",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 25,
+   "submitted_actions": 25,
+   "sim_steps": 75,
+   "physics_steps": 75,
+   "sim_time_s": 3.0000000000000018,
+   "final_reward": 0.0,
+   "replay_wall_s": 65.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 103,
+   "agent_resets": 2,
+   "agent_sim_steps": 4801,
+   "agent_records": 1,
+   "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-rope-threading-06-i01-privileged--ig6ksug/replay.mp4",
+  "duration_s": 3.067,
+  "fps": 15.0,
+  "frames": 46,
+  "sha256": "69473099a721da0de800898908ac46886e61d6f4f88e2935da6b44ffe5fdbe2e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s逐帧可见双臂基本保持初始姿势，黄色绳索留在隔墙右侧桌面，未出现通过青色壁孔并延伸到隔墙左侧的绳段；腕部视图中绳与青环的投影重叠未形成贯通。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.00–3.00 s的末段全部帧及视频3.00 s末帧仍保持上述未穿孔状态；本节点从未达成。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s，隔墙左侧绿色立环内及周围没有绳段，黄色绳索始终留在隔墙右侧；机器人未向绿色环送绳。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.00–3.00 s的末段全部帧及视频3.00 s末帧仍保持上述未穿孔状态；本节点从未达成。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s，高位总览中绳索维持在右前侧桌面，没有任何绳段从后部紫色壁孔伸到隔墙左侧；机器人未向该孔送绳。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.00–3.00 s的末段全部帧及视频3.00 s末帧仍保持上述未穿孔状态；本节点从未达成。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s，右后侧琥珀色立环附近没有贯通环孔的绳段，右臂夹爪保持在初始位置，桌面绳圈未被提起或送入该环。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.00–3.00 s的末段全部帧及视频3.00 s末帧仍保持上述未穿孔状态；本节点从未达成。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.00 s，隔墙左侧没有从红色壁孔伸出的绳段；绳索维持在右侧桌面，双臂未执行向红色孔送绳或拉绳的动作。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.00–3.00 s的末段全部帧及视频3.00 s末帧仍保持上述未穿孔状态；本节点从未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 0.0,
+   "log_step": 76,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.00–3.00 s中机器人没有抓绳、提绳或送绳动作。log step 76的agent脚本仅录制hold(25)并保存基线；log step 82确认文件存在，log step 83对该基线发起重放。评分器报告submitted_actions=25、agent_records=1，与视频的保持动作相符。推断：评分交付未启动穿绳工作，以任务入口G1穿孔定位首步前断点；后续会话测试不属于该交付。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 76,
+    "evidence_zh": "观察：视频0.00–3.00 s逐帧显示双臂基本保持初始姿势，绳索没有离开右侧桌面的原始位置；log step 76保存的动作仅为hold(25)，没有启动G1穿孔所需的抓绳或送绳。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/提供了本次及成功参考视频和完整会话日志，但没有状态日志；评分器未报告最终maximum_speed_m_s。log step 784、790、852的穿孔及换手测试属于其他会话试验，不能作为评分回放的进度或接触事实。推断：现有记录不足以确定未用操作轨迹替换保持基线的具体根因，也不足以把某次测试的控制问题归为本断点的原因，故根因层留空。"
+ },
+ "summary_zh": "观察：评分视频0.00–3.00 s中，机器人基本保持初始姿势，绳索始终留在隔墙右侧桌面，五个穿孔节点均未达成，最终为0/5。观察：log step 76只录制并保存25步保持基线，评分器也报告提交25步动作；推断：断点为G1穿孔的首步前，现象为没尝试，后续会话试验不计入评分进度。推断：未替换该基线的具体根因证据不足，根因层留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频0–3 s（两端帧）确认双臂保持初始姿势、绳留在隔墙右侧，五节点未达成；评分交付仅为hold(25)（log step 76/83，submitted_actions=25）。首步前/没尝试按D37（交付已保存并重放后被时限截断，照常标注）成立；根因层留空并有gap_zh，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": "2026-10-30T23:21:26Z",
+  "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-rope-threading-06-i01-privileged--ig6ksug/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--ig6ksug/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "37bde25cf7b8d394936b55f65351300fa88e66ae71ef05bffbb491350712732c",
+   "video_sha256": "69473099a721da0de800898908ac46886e61d6f4f88e2935da6b44ffe5fdbe2e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--iylayq8.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--iylayq8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aa62ee4440e8d6c1615d7db2e6c2ad4a4c5fe1a
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--iylayq8.json
@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--iylayq8",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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,
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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": 395,
+   "submitted_actions": 395,
+   "sim_steps": 445,
+   "physics_steps": 445,
+   "sim_time_s": 17.799999999999798,
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+   "replay_wall_s": 2474.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
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+   "agent_sessions": 1,
+   "agent_resets": 13,
+   "agent_sim_steps": 2682,
+   "agent_records": 12,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.525,
+   "peak_memory_gb": 1.083,
+   "peak_processes": 12,
+   "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-rope-threading-06-i01-privileged--iylayq8/replay.mp4",
+  "duration_s": 17.867,
+  "fps": 15.0,
+  "frames": 268,
+  "sha256": "016f350f4e86b26777beeead6fbdf337a4b592e7f45bbd2d9bbe51a6fbd6c5e0"
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+ "progress": {
+  "method": "visual",
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+  "base": 0,
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+  "nodes": {
+   "g1_threaded": {
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+    "intervals": [
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+      null
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+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s，绳索盘在隔墙右侧桌面，尚未贯通青色壁孔；机器人右夹爪随后夹住绳端，视频 3.5–6.8 s 将其举起并送向 G1。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 267,
+      "text_zh": "推断：视频 7.0–7.4 s，机器人右夹爪将绳端送到隔墙左侧，青色孔腕部视图可见绳段穿过孔内，估计视频 7.3 s 达成（约±0.3 s）。log step 267 的服务几何结果为 crossing_sequence=((G1,-1),)、ambiguous=False、thickness_clear=True；log step 268 保存该185行动作前缀，log step 333 重放此同一前缀得到相同结果，与视频动作一致。时间取自视频。"
+     },
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–17.8 s，绳段持续从 G1 内延伸至隔墙另一侧，机器人后续重新抓绳没有将它抽回；视频 16.8–17.8 s 密集检查中这一关系保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右侧二指夹爪夹住绳端，将其从桌面举起并送过G1；视频 3.5–7.4 s 可见绳端随右夹爪运动，左夹爪此阶段停在原位。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": 409,
+      "text_zh": "观察：视频 9.4–12.0 s，机器人左夹爪来到 G1 左侧绳段附近，数次调整与闭合，绳端没有被夹起送往绿色环；绿色环孔一直空着。log step 409 将这次动作说明为朝 A 继续穿绳所需的接绳，log step 413–414 返回接近误差约0.060 m及 held=None。"
+     },
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.8 s 的总览中，绳索始终没有贯穿绿色环A；视频 16.8–17.8 s 绿色环仍为空。参考成功视频 10–15 s 可见绳段穿过绿色环并向后延伸，本次没有这一关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 7.6–9.2 s，机器人右夹爪仍伸在G1孔内，上撤时抵住孔缘；这是继续朝A接绳过程中实际发生的夹爪与青色孔缘接触。随后左夹爪在G1旁调整并空夹，未观察到夹住绳段，因此不记成功抓握或双手持绳。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.8 s，机器人仅在桌面取绳、G1孔口及其左侧接绳区活动，没有将绳段送往紫色壁孔G2；结尾绳索仍聚在G1附近和隔墙右侧桌面，没有该孔两侧连续贯通的绳段。参考成功视频 20 s 的相应孔内贯通形态在本次没有出现。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.8 s，机器人仅在桌面取绳、G1孔口及其左侧接绳区活动，没有将绳段送往琥珀色环B；结尾绳索仍聚在G1附近和隔墙右侧桌面，没有该孔两侧连续贯通的绳段。参考成功视频 25 s 的相应孔内贯通形态在本次没有出现。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–17.8 s，机器人仅在桌面取绳、G1孔口及其左侧接绳区活动，没有将绳段送往红色壁孔G3；结尾绳索仍聚在G1附近和隔墙右侧桌面，没有该孔两侧连续贯通的绳段。参考成功视频 40 s 的相应孔内贯通形态在本次没有出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "a_threaded",
+   "t": 10.5,
+   "log_step": 409,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.4 s 后G1穿越保留，机器人右夹爪在孔口未能上撤，随后左夹爪在视频 9.4–12.0 s 接近G1旁绳端并闭合，却没有带走绳端；此后直到视频 17.8 s 仍停在这一接绳位置，绿色环未贯通。log step 409 明确该接绳用于继续穿A，log step 418、436–438 将这一未完成的后续动作保存到最终395行交付中。"
+  },
+  "unmet": {
+   "g1_threaded": true,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 8.0,
+    "log_step": 375,
+    "evidence_zh": "观察：视频 7.6–9.2 s，机器人右夹爪的手指仍伸入G1，向上调整后仍停在青色孔缘处，孔缘限制了撤离。相应记录中 log step 374 命令右末端上移至z=1.25 m，log step 375 返回末端仍在z≈1.059 m、位置误差约0.191 m；log step 376 的服务接触监测记录按压力98.9 N。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 10.5,
+    "log_step": 414,
+    "evidence_zh": "观察：视频 10.2–12.0 s 及视频 15.0–17.8 s，机器人左夹爪在G1左侧绳段旁调整和闭合，没有夹住绳段并将其带离原处，绳索没有向A移动。log step 414 与最终一次闭合后的 log step 437 均返回 held=None；此处缺少的是继续穿A所需的持绳接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人意图先保留G1再重新抓绳送向A，但末端动作未实现所需位置和接触。视频 7.6–12.0 s 可见右夹爪留在孔缘、左夹爪停在绳段旁；log step 374–375 的上撤误差约0.191 m，log step 409、413 的重新抓绳接近误差约0.060 m，log step 436–437 最后一次接近仍有约0.041 m误差且未持绳。该控制问题使接绳及穿A一直未完成；现有证据不足以细分接触设计、轨迹或跟踪控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，无法逐帧量出各孔亚毫米净空、精确接触对及全绳各点速度；G1方向与厚度判断由可见穿孔过程和同一已保存前缀的服务几何反馈相互支持。最终评分字段未报告maximum_speed_m_s，原生指标留null；log step 437 的速度仅是交付前会话观测，不当作评分器终值。夹爪与孔缘局部遮挡及缺少控制内部数据，使根因仅能归到控制，不能确定更细子类。"
+ },
+ "summary_zh": "评分轨迹约在视频 7.3 s 完成青色壁孔G1穿越，并保持至视频 17.8 s，最终完成1/5个节点。继续穿绿色环A所需的接绳未完成：右夹爪滞留G1孔缘，左夹爪多次接近闭合却未持绳，之后未再推进，G2、B、G3也未贯通。没有状态日志，精确净空和最终全绳速度不可核实，根因只能稳妥归为控制。",
+ "conf": 7,
+ "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 5–17.5 s：G1 在约 7–7.5 s 起有绳穿过并保持到结尾，绿环A始终为空，G2/B/G3未碰，标注与画面一致；未发现需改的节点、断点或现象。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:25:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--iylayq8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--iylayq8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40c6c12be344c7804164424c43009e8884e2157f3b926d8b7e32ff98f622b13d",
+   "video_sha256": "016f350f4e86b26777beeead6fbdf337a4b592e7f45bbd2d9bbe51a6fbd6c5e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--j3yspfg.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--j3yspfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff24341b2bb2b48746ff7f72a843fe048989ceb0
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--j3yspfg.json
@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--j3yspfg",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 185,
+   "submitted_actions": 185,
+   "sim_steps": 235,
+   "physics_steps": 235,
+   "sim_time_s": 9.399999999999975,
+   "final_reward": 0.0,
+   "replay_wall_s": 8184.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 26,
+   "agent_resets": 26,
+   "agent_sim_steps": 1843,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.051,
+   "peak_memory_gb": 2.311,
+   "peak_processes": 16,
+   "peak_disk_gb": 1.25,
+   "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-rope-threading-06-i01-privileged--j3yspfg/replay.mp4",
+  "duration_s": 9.467,
+  "fps": 15.0,
+  "frames": 142,
+  "sha256": "a90798f08b7291802c3750547b993ef00a4545d775a4e1f6b2ede06c0a9fc541"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 总览中绳索盘在隔墙右侧桌面，左侧没有从青色壁孔G1延出的绳段。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–4.8 s 右夹爪夹持绳段抬起并送向G1；视频 4.2–6.6 s 的密集帧及视频 8.4–9.4 s 末段显示，短绳端在右夹爪前向上伸出，与青色孔投影重叠，但总览中未见绳段延到隔墙左侧，左腕视图也未见绳从孔中伸出。"
+     },
+     {
+      "t": 9.4,
+      "log_step": 213,
+      "text_zh": "推断：结合视频 0.0–9.4 s 的送绳过程及终态，G1未形成贯通孔两侧的穿绕关系，故全程未达成。log step 205、213显示交付文件仅含125行已保存动作加60行保持动作；log step 176的G1穿越和log step 178的换手属于此前调试，视频中左臂始终没有接绳，不能计入本次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 1.6–2.8 s 右侧二指夹爪在桌面绳段两侧闭合，视频 2.8–4.8 s 绳随右夹爪离开原位置并被送向G1，随后持续夹持；左夹爪没有参与接绳。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、3.0、5.0、7.0、9.4 s 总览中绿色立环A孔内没有贯通绳段；本次仅右夹爪在隔墙右侧抓绳并向G1送绳，左臂未移动到绳上，绳未被送到A。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–9.4 s 总览中绳索始终位于隔墙右前侧，右夹爪只移向靠前的G1，未携绳到隔墙后部的紫色壁孔G2，左侧也没有可通向G2的绳段；G2未形成穿绕关系。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、3.0、5.0、7.0、9.4 s 总览中右后侧琥珀色立环B始终空着，绳段及右夹爪均在其前方，没有向B穿绳的动作。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6–5.2 s 的右腕密集近景及视频 8.4–9.4 s 末段可见青色孔旁的红色壁孔G3为空；右夹爪一直对着G1，未将绳段送入G3。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 5.0,
+   "log_step": 213,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.0 s 起右夹爪的送绳动作逐渐停止，至视频 9.4 s 仍在G1前持绳，没有形成孔两侧贯通的绳段，也没有换手或转向其他孔。log step 205、213显示agent将125行录制前缀末行重复60次保存为185行交付；因此断点是尚未完成的G1穿绕。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "本次没有状态日志，也没有交付前缀末端的原生逐孔穿越、净空和速度读数。视频能定位G1尚未完成，但交付在送绳途中转入保持，未见足以确认的滑脱、碰撞阻断或完整推送后的偏位事件，故现象留空，不能将短前缀本身当成位姿不准。log step 200、205、206、213仅证实增量保存及前缀交付，log step 223自述仿真耗时与预算不足；这些不足以证明错误规划、接触设计、跟踪故障或保存操作出错，故根因留空，不把停止或预算当作根因。此前调试中的穿孔和换手不是本次视频的进展；亚毫米净空及全绳速度无法从视频定量核实。"
+ },
+ "summary_zh": "评分轨迹中右夹爪抓起绳段并送向青色壁孔G1，随后持绳停在孔前，未形成贯通两侧的穿绕关系；其余四孔未尝试，最终为0/5。断点为G1操作中，交付只有125行动作前缀加60行保持动作，此前调试中的G1穿越及换手不属于这次评分轨迹。缺少提交前缀末端的原生几何读数，且视频未显示明确的接触或运动故障，现象和根因均留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "各节点均未达成、断点G1操作中、现象与根因留空并写明缺口，与视频和log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": "2026-10-30T23:20:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--j3yspfg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--j3yspfg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8b49b6e3a19cf1207a6380eeaffdd9d67342671ef409c2be89d5a5c9ec6d9d9",
+   "video_sha256": "a90798f08b7291802c3750547b993ef00a4545d775a4e1f6b2ede06c0a9fc541",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--puyf5tu.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--puyf5tu.json
new file mode 100644
index 0000000000000000000000000000000000000000..c561914e68ea7dc4d4f59665028203c0110ac43c
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--puyf5tu.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--puyf5tu",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 1,
+   "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": 1359,
+   "submitted_actions": 1384,
+   "sim_steps": 1359,
+   "physics_steps": 1359,
+   "sim_time_s": 54.35999999999902,
+   "final_reward": 1.0,
+   "replay_wall_s": 1677.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1359,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 113,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.525,
+   "peak_memory_gb": 1.29,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.087,
+   "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-rope-threading-06-i01-privileged--puyf5tu/replay.mp4",
+  "duration_s": 54.4,
+  "fps": 15.0,
+  "frames": 816,
+  "sha256": "05153e58f5693cf3330c3ccce7a43c01466069e6f89dbc7baa36dc564a5abe60"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频3.4–4.0 s的两侧腕部近景显示，右夹爪夹持的绳端从青色壁孔G1右侧送到左侧；约视频3.8 s已越过孔口，视频4.2–5.6 s左夹爪接住绳端、右夹爪松开退回，随后绳段持续贯通G1。首次达成时刻为目视估计，误差约0.5 s。"
+     },
+     {
+      "t": 54.33,
+      "log_step": 378,
+      "text_zh": "推断：上述穿孔后的连续画面及视频54.33 s终帧未见该绳段抽出；log step 378保存了已解决检查点的1359行动记录并追加25条保持动作，评分器对交付轨迹报告success=1、strict_goal_reached=1、strict_goal_row=1359、deterministic=1。因此该孔最终满足单次有向全厚度穿越及共同终局要求；精确净空、无歧义和全绳低速窗口由严格评分结果支持，不能从像素独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频4.2–5.6 s左右二指夹爪在G1两侧短暂同时夹持同一根绳完成交接；此前由右夹爪抓绳送孔，随后由左夹爪抓持拉出。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频7.2–8.4 s左夹爪夹持绳端送入绿色立环A，约视频7.6 s绳端到达另一侧；视频9.0–10.0 s左夹爪退出后绳仍贯通环孔，视频12.0–16.0 s重新夹持并向后方牵引，原穿绕关系保留。首次达成时刻误差约0.5 s。"
+     },
+     {
+      "t": 54.33,
+      "log_step": 378,
+      "text_zh": "推断：上述穿孔后的连续画面及视频54.33 s终帧未见该绳段抽出；log step 378保存了已解决检查点的1359行动记录并追加25条保持动作，评分器对交付轨迹报告success=1、strict_goal_reached=1、strict_goal_row=1359、deterministic=1。因此该孔最终满足单次有向全厚度穿越及共同终局要求；精确净空、无歧义和全绳低速窗口由严格评分结果支持，不能从像素独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频6.0–9.0 s左侧二指夹爪捏住绳端送过绿色立环A，随后松开、绕到环另一侧重新夹住绳端；右夹爪在此阶段未夹绳。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.8,
+      "log_step": null,
+      "text_zh": "观察：视频18.4–19.2 s左夹爪持绳端向紫色壁孔G2送入，约视频18.8 s绳端穿到隔墙右侧；视频22.0–24.0 s右夹爪接住并向右拉出，绳段仍从G2孔内延续到两侧。首次达成时刻误差约0.5 s。"
+     },
+     {
+      "t": 54.33,
+      "log_step": 378,
+      "text_zh": "推断：上述穿孔后的连续画面及视频54.33 s终帧未见该绳段抽出；log step 378保存了已解决检查点的1359行动记录并追加25条保持动作，评分器对交付轨迹报告success=1、strict_goal_reached=1、strict_goal_row=1359、deterministic=1。因此该孔最终满足单次有向全厚度穿越及共同终局要求；精确净空、无歧义和全绳低速窗口由严格评分结果支持，不能从像素独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频18.4–19.2 s左侧二指夹爪夹绳送过G2；视频22.0–23.2 s右夹爪在另一侧闭合接住绳端，短暂双爪持绳后左爪松开、右爪牵引。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–26.6 s右夹爪持绳端通过琥珀色立环B，约视频26.6 s近景显示绳端已越过环面；视频27.4–29.0 s左夹爪在G2附近夹住绳段，右夹爪松开退回后绳仍从B孔内延伸。视频31.0–35.0 s右夹爪从另一侧重新抓绳，穿绕保留；首次达成时刻误差约0.5 s。"
+     },
+     {
+      "t": 54.33,
+      "log_step": 378,
+      "text_zh": "推断：上述穿孔后的连续画面及视频54.33 s终帧未见该绳段抽出；log step 378保存了已解决检查点的1359行动记录并追加25条保持动作，评分器对交付轨迹报告success=1、strict_goal_reached=1、strict_goal_row=1359、deterministic=1。因此该孔最终满足单次有向全厚度穿越及共同终局要求；精确净空、无歧义和全绳低速窗口由严格评分结果支持，不能从像素独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频26.0–26.6 s右侧二指夹爪夹绳送过B；视频27.4–28.6 s左夹爪夹住G2附近的上游绳段、右夹爪仍夹持B处绳端，协同稳定后右爪松开，随后绕到B另一侧再抓绳。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.6,
+      "log_step": null,
+      "text_zh": "观察：视频37.0–37.6 s右夹爪夹绳端穿入红色壁孔G3，约视频37.6 s绳端伸到隔墙左侧；视频38.0–48.0 s右夹爪调整后保持在孔旁，视频53.33–54.33 s的末段近景仍见红环内贯通绳段。首次达成时刻误差约0.5 s。"
+     },
+     {
+      "t": 54.33,
+      "log_step": 378,
+      "text_zh": "推断：上述穿孔后的连续画面及视频54.33 s终帧未见该绳段抽出；log step 378保存了已解决检查点的1359行动记录并追加25条保持动作，评分器对交付轨迹报告success=1、strict_goal_reached=1、strict_goal_row=1359、deterministic=1。因此该孔最终满足单次有向全厚度穿越及共同终局要求；精确净空、无歧义和全绳低速窗口由严格评分结果支持，不能从像素独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频35.0–38.0 s右侧二指夹爪捏持绳端，从B处移向红色壁孔G3并送过孔；左夹爪已张开停在G2旁，本阶段由右夹爪操作绳端。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人依次将同一根绳穿过G1、A、G2、B、G3，首次贯通约为视频3.8、7.6、18.8、26.6、37.6 s；视频末秒仍保留五孔关系，评分器success=1且strict_goal_reached=1，最终5/5。观察：log step 378已成功保存解决轨迹，log step 379的模型过滤中断发生在保存之后，故本次保持成功标签。证据缺口：无状态日志，也无独立成功参考视频；各孔起始时刻约有0.5 s目视误差，亚毫米净空、材料方向及共同低速确认由严格成功结果补充，评分器未报告maximum_speed_m_s数值，原生指标留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，五个节点均到达且final=5/5，时间与接触标注在抽查帧中基本合理，评分器strict_goal_reached=1支持终局，无失败层；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": "2026-10-30T23:18:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--puyf5tu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--puyf5tu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8059fced81c3e565b89962024ed8672cdf433a6e1c3930da881a9a0f12197f41",
+   "video_sha256": "05153e58f5693cf3330c3ccce7a43c01466069e6f89dbc7baa36dc564a5abe60",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--uvfvddj.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--uvfvddj.json
new file mode 100644
index 0000000000000000000000000000000000000000..9085e42d563724f02a825ca159cb0c5cee486557
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--uvfvddj.json
@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--uvfvddj",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 192,
+   "submitted_actions": 192,
+   "sim_steps": 242,
+   "physics_steps": 242,
+   "sim_time_s": 9.67999999999997,
+   "final_reward": 0.0,
+   "replay_wall_s": 298.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 17,
+   "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-rope-threading-06-i01-privileged--uvfvddj/replay.mp4",
+  "duration_s": 9.733,
+  "fps": 15.0,
+  "frames": 146,
+  "sha256": "ff87a993bc9276c8d040c243c0d8f0c83252afee192f1787ea8789a5b990d6d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的总览中绳索盘在隔墙右前侧桌面，未穿过青色壁孔G1。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.7–5.7 s，右夹爪闭合夹住绳段并将其抬离原来的桌面位置，随后持绳转腕、向隔墙前方移动；左夹爪没有接绳。"
+     },
+     {
+      "t": 6.53,
+      "log_step": 73,
+      "text_zh": "观察：视频 6.53 s 的总览及腕部视图中，绳段仍在G1前侧弯曲，未贯通青色孔到隔墙另一侧；视频 8.33–9.67 s 逐帧检查仍为这一关系。log step 73记录保存pre-G1检查点192行，后续push输出在保存之后；log step 74的agent自述提交的是该检查点。"
+     },
+     {
+      "t": 9.67,
+      "log_step": null,
+      "text_zh": "推断：对照成功参考视频 5.0 s 中青环两侧延续的贯通绳段，本次视频 0.0–9.67 s 没有相应关系；左腕视图里青环与远处绳圈的投影重叠不能计为穿越，结合总览及右腕视图判定G1始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.7–5.7 s 右侧二指夹爪闭合夹住绳段，抬绳并转腕，随后持绳移向青色壁孔G1前方；余绳随之离开原位。左夹爪未参与持绳，本次提交没有送绳穿孔动作。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绳索完整盘放在隔墙右前侧桌面，此孔没有穿绳关系。"
+     },
+     {
+      "t": 9.67,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.0–9.67 s 的总览、关键动作近景及最后一秒，绿色环A在隔墙左侧；总览中该侧没有绳段，右夹爪所持绳仍在隔墙右前侧，未送到绿环。对照成功参考视频 15.0 s 中绳从绿环内连续伸出的关系，本次没有该贯通关系。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绳索完整盘放在隔墙右前侧桌面，此孔没有穿绳关系。"
+     },
+     {
+      "t": 9.67,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.0–9.67 s 的总览、关键动作近景及最后一秒，机器人仅在隔墙右前侧持绳准备G1，未将绳移到隔墙后部紫色壁孔G2；总览中后部区域没有绳段。对照成功参考视频 25.0 s 的紫孔贯通近景，本次没有相应穿越。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绳索完整盘放在隔墙右前侧桌面，此孔没有穿绳关系。"
+     },
+     {
+      "t": 9.67,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.0–9.67 s 的总览、关键动作近景及最后一秒，琥珀色环B位于右后侧，环内始终没有贯通绳段；右夹爪从绳圈取绳后向前方G1移动，没有在B环送绳。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绳索完整盘放在隔墙右前侧桌面，此孔没有穿绳关系。"
+     },
+     {
+      "t": 9.67,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.0–9.67 s 的总览、关键动作近景及最后一秒，右夹爪持绳停在青色壁孔G1前方，未移向红色壁孔G3，隔墙另一侧亦没有伸出的绳段。对照成功参考视频 45.0–50.0 s 的红孔贯通近景，本次没有该关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 6.53,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.53 s 右夹爪已持绳移到G1前方，此后直到视频 9.67 s 只保持该准备姿态，没有绳贯通青孔。log step 73显示脚本在pre-G1处保存192行检查点，随后才执行push；评分器n_actions=192。推断：本次受评尝试止于G1的持绳准备，断点为G1操作中；此视频时间仅锚定进入最终保持姿态的位置。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话试验表明agent尚未解决持绳送入G1的精细操作，故只留下送入前检查点：log step 57中右夹爪持续持绳，推进时eff读数由2.2升至18.9而cross始终为空；log step 66中多次推进后绳段前端仍停在相近位置并输出stalled out、cross=[]；log step 68改用小步推进仍输出cross=[]。这些是会话试验而非本次视频中的施力事实，仅支持宽泛的控制能力不足；不能据此断定本次发生碰撞，或细分为抓取设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有本次状态日志，评分器也未报告最终maximum_speed_m_s或逐孔几何数据。log step 73–74表明提交文件止于pre-G1检查点，后续推进试验未被保存；视频只显示夹绳、抬绳、转腕和送入前保持，未显示可以诊断的送入失败事件，因此现象层留空（CASES.md FAIL-23）。推断：会话试验支持一般控制根因，但不足以确定本次准备姿态未继续完成穿孔的具体物理机制。"
+ },
+ "summary_zh": "观察：本次右夹爪夹起绳段并转腕移向G1前方，随后保持到回放结束；五个穿孔节点均未达成，最终为0/5。观察：log step 73–74确认交付的是送入前检查点，后续推进不属于受评回放；断点为G1操作中。推断：会话反复送绳停滞支持一般控制根因，但交付未包含送入动作，故不标具体失败现象；没有状态日志及最终速度数值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "五个节点均未达成、断点为G1操作中、现象层留空并写明gap均与视频和log一致；交付仅为pre-G1检查点（log step 73–74），根因仅保留宽泛的控制，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": "2026-10-30T23:25:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--uvfvddj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--uvfvddj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47c31b5861c2eed70cfca50ea718c296ae88f03d17491ced915932e2ab51075a",
+   "video_sha256": "ff87a993bc9276c8d040c243c0d8f0c83252afee192f1787ea8789a5b990d6d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--vcj4shq.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--vcj4shq.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7eeaf4227af4fdf3744bc241a2685d451502997
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--vcj4shq.json
@@ -0,0 +1,341 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--vcj4shq",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 1,
+   "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": 3800,
+   "submitted_actions": 3825,
+   "sim_steps": 3800,
+   "physics_steps": 3800,
+   "sim_time_s": 152.00000000000404,
+   "final_reward": 1.0,
+   "replay_wall_s": 4611.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 3800,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.525,
+   "peak_memory_gb": 1.19,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.281,
+   "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-rope-threading-06-i01-privileged--vcj4shq/replay.mp4",
+  "duration_s": 152.067,
+  "fps": 15.0,
+  "frames": 2281,
+  "sha256": "baca256c7589056cd7c391f8b98b32211a0717a482fe4a433e5683ed5ee631e4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绳索盘在隔墙右侧桌面，青色壁孔G1的腕部视图内没有绳段贯通；绿色环A、琥珀环B也为空。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "推断：视频 8.53–10.4 s 右夹爪夹持绳段向隔墙送入，绳端在青色壁孔G1内出现并伸到绿色环A一侧；视频 9.6–10.4 s 可见端部已在墙左侧延伸，将完整穿过的起点估为视频 9.0 s（约±0.5 s）。"
+     },
+     {
+      "t": 16.0,
+      "log_step": 95,
+      "text_zh": "观察：视频 14.4–16.53 s 左夹爪夹住墙左侧绳端，右夹爪松开，左夹爪带绳远离隔墙；视频 18–30 s 绳仍从墙两侧延续，并未随右爪松开而抽出。log step 95 的该分支输出 crossing_sequence=[(G1,-1)]。"
+     },
+     {
+      "t": 152.0,
+      "log_step": 146,
+      "text_zh": "推断：视频 150.93、151.20、151.47、151.73、152.0 s 保持五孔穿绕的同一构型，未见抽回；交付文件的评分式重放结果（log step 146）为 success=True、strict_success=True、success_row=3800、hold_steps=0，inputs/run.json 的评分器字段还报告 deterministic=1、strict_goal_reached=1。因此该目标终态成立；视频无法独立量出亚毫米净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.4–10.4 s 右二指夹爪捏住绳段送过G1；视频 14.4–16.53 s 两夹爪短时各夹同根绳的一段，随后右爪松开，由左爪将绳拉向绿色环A。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.5,
+      33.7
+     ],
+     [
+      38.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": 100,
+      "text_zh": "推断：视频 29.33–31.47 s 左夹爪夹绳向绿色环A送入，低位视图中绳端延至环另一侧；首次完整贯通估为视频 30.5 s（约±0.5 s）。log step 100 的最终保留分支记录绳端越过A并输出单次正向穿越，作为方向的补充证据。"
+     },
+     {
+      "t": 33.7,
+      "log_step": 104,
+      "text_zh": "推断：视频 32.0–35.2 s 左夹爪降低并张开，腕部视图的绳端缩回到绿环口，低位视图中已没有原先向远侧伸出的绳端，故完整贯通约在视频 33.7 s 丢失。log step 104 的保留分支也记录松爪后绳端退回到环中面附近；该时刻估计约±0.5 s。"
+     },
+     {
+      "t": 38.3,
+      "log_step": 105,
+      "text_zh": "推断：逐段检查视频 33.6–38.93 s，左夹爪在回缩后重新夹住较靠后的绳段，抬起并再次向绿环送绳，约视频 38.3 s 恢复贯通（约±0.5 s）。视频 40–48 s 的再次松爪、换握及补送期间，绳端仍留在环另一侧；log step 105、106 的保留分支均输出单次A正向穿越，未把这次换握另算成失去关系。"
+     },
+     {
+      "t": 54.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 53–60 s 左夹爪从绿环远侧夹住端段并向后拉长，绿环内的连续绳段从两侧伸出；视频 66–152.0 s 后续操作中这一关系保持。"
+     },
+     {
+      "t": 152.0,
+      "log_step": 146,
+      "text_zh": "推断：视频 150.93、151.20、151.47、151.73、152.0 s 保持五孔穿绕的同一构型，未见抽回；交付文件的评分式重放结果（log step 146）为 success=True、strict_success=True、success_row=3800、hold_steps=0，inputs/run.json 的评分器字段还报告 deterministic=1、strict_goal_reached=1。因此该目标终态成立；视频无法独立量出亚毫米净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 26–60 s 仅左二指夹爪反复捏持绳段送入绿色环A，松爪后换握，再从环的远侧抓绳拉过；右夹爪在隔墙右侧停放，没有同时夹绳配合该环操作。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      69.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 69.7,
+      "log_step": 117,
+      "text_zh": "推断：视频 68.0–70.93 s 左夹爪夹绳向紫色壁孔G2送入，腕部近景从绳端停在孔口变为绳端穿过紫环并向墙右侧延伸；以视频 69.7 s 为完整穿过起点（约±0.5 s）。"
+     },
+     {
+      "t": 82.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 80–83 s 右夹爪在紫孔右侧下降夹住绳端，随后左夹爪张开退开；视频 84–90 s 右爪将绳拉到琥珀环B一侧，紫孔中的绳仍持续贯通。log step 123 输出两爪均持绳，与视频的换手相符。"
+     },
+     {
+      "t": 152.0,
+      "log_step": 146,
+      "text_zh": "推断：视频 150.93、151.20、151.47、151.73、152.0 s 保持五孔穿绕的同一构型，未见抽回；交付文件的评分式重放结果（log step 146）为 success=True、strict_success=True、success_row=3800、hold_steps=0，inputs/run.json 的评分器字段还报告 deterministic=1、strict_goal_reached=1。因此该目标终态成立；视频无法独立量出亚毫米净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 68–70.93 s 左二指夹爪捏绳送过G2；视频 81–83 s 右夹爪在墙另一侧夹住末端，两爪短时同时持绳，再由右爪拉过，左爪松开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：交付文件的评分式重放监控（log step 146）还记录右夹爪手指对隔墙bulkhead strip1的压触，最大接触力137.5 N、持续1.0 s；该记录没有导致重放失败。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      103.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 103.5,
+      "log_step": 127,
+      "text_zh": "推断：视频 102.4–104.8 s 右夹爪夹绳向琥珀环B送入，低位视图可见绳端从环另一侧向红孔G3方向伸出；完整穿过起点估为视频 103.5 s（约±0.5 s）。"
+     },
+     {
+      "t": 110.0,
+      "log_step": 129,
+      "text_zh": "观察：视频 105–111 s 右夹爪降低、松开、抬起并在琥珀环B另一侧重新夹绳，绳端留在远侧；视频 112–121 s 右爪继续拉绳，绳从B两侧连续延伸，并未因松爪而抽回。"
+     },
+     {
+      "t": 152.0,
+      "log_step": 146,
+      "text_zh": "推断：视频 150.93、151.20、151.47、151.73、152.0 s 保持五孔穿绕的同一构型，未见抽回；交付文件的评分式重放结果（log step 146）为 success=True、strict_success=True、success_row=3800、hold_steps=0，inputs/run.json 的评分器字段还报告 deterministic=1、strict_goal_reached=1。因此该目标终态成立；视频无法独立量出亚毫米净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 99–106 s 右二指夹爪捏住绳段，将端部朝红孔G3一侧送过B；视频 108–121 s 仍由右爪在环的另一侧重新夹持、拉长绳段。左夹爪没有同时持绳。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      137.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 137.8,
+      "log_step": 135,
+      "text_zh": "推断：视频 136.8–139.2 s 右夹爪捏绳向红色壁孔G3送入，绳端从墙右侧伸向绿色环A一侧，后续左腕近景可见端段在墙左侧延伸；完整穿过起点估为视频 137.8 s（约±0.5 s）。"
+     },
+     {
+      "t": 145.0,
+      "log_step": 136,
+      "text_zh": "观察：视频 143–146.67 s 左夹爪下降夹住红孔左侧的绳端，右夹爪松开退开；视频 148–150 s 左爪将端段降低并继续持绳，右腕视图可见红孔内绳段向墙两侧延伸。"
+     },
+     {
+      "t": 152.0,
+      "log_step": 146,
+      "text_zh": "推断：视频 150.93、151.20、151.47、151.73、152.0 s 保持五孔穿绕的同一构型，未见抽回；交付文件的评分式重放结果（log step 146）为 success=True、strict_success=True、success_row=3800、hold_steps=0，inputs/run.json 的评分器字段还报告 deterministic=1、strict_goal_reached=1。因此该目标终态成立；视频无法独立量出亚毫米净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 136.8–139.2 s 右二指夹爪夹住绳段送过G3；视频 144–146.67 s 左夹爪在墙左侧夹住端段，两爪短时同时持绳，再由右爪松开，左爪降低端段并保持至视频 152.0 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次建立G1、A、G2、B、G3五孔穿绕关系；绿环A首次穿入后回缩，重新送入并拉过后保持，终态完成5/5节点。视频 150.93–152.0 s 显示左夹爪继续持住末端、五孔构型保持，评分器报告两次重放成功且在提交轨迹内严格达标（strict_goal_row=3800），因此无失败断点。无状态日志，穿孔及绿环回缩的边界约有±0.5 s误差，亚毫米净空和全绳低速确认依赖严格成功判定；评分器未单独报告maximum_speed_m_s，原生指标值保留null。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，5/5节点终态成立，评分器字段（strict_goal_reached=1、success=1）支持无断点；抽查视频帧未见矛盾，绿环A回缩的时间区间合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:30:12Z",
+  "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-rope-threading-06-i01-privileged--vcj4shq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--vcj4shq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d9f4ddae68b5a1d8c48482ba3521061484052a01a8018c27aef02501d978fec",
+   "video_sha256": "baca256c7589056cd7c391f8b98b32211a0717a482fe4a433e5683ed5ee631e4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--yjtv6yv.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--yjtv6yv.json
new file mode 100644
index 0000000000000000000000000000000000000000..6835e2f5b0880d5337fcd10c5e2ad1829e66d3c6
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--yjtv6yv.json
@@ -0,0 +1,333 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--yjtv6yv",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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,
+   "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": 1948,
+   "submitted_actions": 1948,
+   "sim_steps": 1998,
+   "physics_steps": 1998,
+   "sim_time_s": 79.9200000000013,
+   "final_reward": 0.0,
+   "replay_wall_s": 10988.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 50,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 566,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-06-i01-privileged--yjtv6yv/replay.mp4",
+  "duration_s": 80.0,
+  "fps": 15.0,
+  "frames": 1200,
+  "sha256": "8266329e1a5374517f30ffaa46e5bf51248c6630f4b5d579345beb430ae38e4f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频 11.6–13.4 s，机器人右夹爪夹持绳端向隔墙左侧送入青色G1，约视频 12.4 s可见绳端伸到隔墙另一侧；视频 18.7–20.0 s左爪拉走绳端后，绳仍从孔内贯通隔墙两侧。"
+     },
+     {
+      "t": 79.93,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–79.93 s总览中绳从桌面右前方经G1连接左侧绿色环A，未见抽出；视频 79.93 s该连接仍在。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 157,
+      "text_zh": "推断：视频 12.8 s与log step 157中构造交付轨迹的g1_second姿态相符；该会话的原生evaluate_state输出G1方向为-1且thickness_clear=true，作为视觉穿绕判断的辅助，非独立状态日志。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.0–12.8 s右侧二指夹爪先捏住绳端并送过G1；视频约18.1–18.7 s左爪夹住已伸出的绳段，右爪随后松开，双臂短暂同时夹持完成换手。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      32.8
+     ],
+     [
+      42.0,
+      42.8
+     ],
+     [
+      53.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": 242,
+      "text_zh": "观察：视频 20.2–21.6 s左夹爪持绳向绿色环A推进，约视频 21.0 s形成穿孔绳段；视频 22.0–32.4 s该关系持续。log step 242的构造会话evaluate_state列出G1、A且无歧义、厚度净空通过，与这一段视频相符。"
+     },
+     {
+      "t": 32.8,
+      "log_step": 271,
+      "text_zh": "观察：视频 32.6–33.6 s左爪松开并撤离后，短绳尾退到绿色环的下缘外，约视频 32.8 s失去穿绕；视频 34.0–41.8 s机器人重新取绳和调整，未保持原穿绕。log step 271亦显示构造会话仅剩G1。"
+     },
+     {
+      "t": 42.0,
+      "log_step": 280,
+      "text_zh": "观察：视频 41.8–42.6 s左爪再次送入较长绳尾，约视频 42.0 s孔内出现延伸到另一侧的绳端；视频 42.8–43.4 s松爪撤离时尾端再次回缩，约视频 42.8 s失去关系。log step 280的构造会话在再次取尾失败后仅列出G1。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 291,
+      "text_zh": "观察：视频 44.0–53.6 s左爪反复调整尾段高度与位置；视频 53.8–54.6 s再次形成孔内贯通，随后视频 55.0–60.0 s左爪从另一侧取走绳端，绿色环中仍留下连续绳段；视频 79.93 s仍在。log step 291的构造会话也列出G1、A且thickness_clear=true。"
+     },
+     {
+      "t": 54.4,
+      "log_step": null,
+      "text_zh": "推断：以上穿入、退出时刻由腕部视图和总览联合估计，约有0.5秒误差；按同一绳端的连续运动判定材料方向，不把镜头投影重叠或临时抬高当作穿过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0–59.0 s主要由左侧二指夹爪夹住绳端或其后方绳段，送入A、松开、从另一侧重新夹取；右爪在部分时段靠近，但未见其在A处成功夹持绳。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      62.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 62.4,
+      "log_step": 298,
+      "text_zh": "观察：视频 60.0–62.2 s左夹爪把绳端移到紫色G2左侧并推进；视频约62.4 s腕部视图可见绳端穿过孔，视频 63.0–65.6 s右爪在隔墙另一侧接取。log step 298的构造会话evaluate_state列出G1、A、G2，方向分别为-1、+1、+1且厚度净空通过，与视频相符。"
+     },
+     {
+      "t": 79.93,
+      "log_step": null,
+      "text_zh": "观察：视频 66.1–79.93 s右爪在隔墙右侧携绳工作，紫色G2腕部近景中绳仍穿孔延伸；最后视频 79.93 s保持此关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 60.0–63.2 s左侧二指夹爪夹绳送过紫色G2；视频约64.9–65.1 s右侧二指夹爪接夹外露绳段，左爪随后松开，双臂短暂共同持绳。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 75.2,
+      "log_step": 312,
+      "text_zh": "观察：视频 66.1–72.5 s右爪移动绳端并松开重抓；视频 73.1–75.7 s右爪夹绳向琥珀环B送入，自由尾段弯向孔口右侧，未形成贯通环两侧的绳段。log step 312记录该次构造会话送绳后原生crossing_sequence仍仅有G1、A、G2，B检查断言未通过。"
+     },
+     {
+      "t": 79.93,
+      "log_step": 315,
+      "text_zh": "观察：视频 76.3–79.93 s右爪再次回撤、调腕并停留在B上方，绳尾弯垂在孔边，B孔内没有参考成功视频所见的贯通绳段；log step 315中agent也明确自述琥珀环尚未成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 66.1–79.93 s右侧二指夹爪单独持绳、松开并重抓后向B送绳；左爪已离绳并停在隔墙另一侧。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 79.93,
+      "log_step": 311,
+      "text_zh": "观察：从视频 0.0–79.93 s总览、早段可见的红色孔和末段绳路看，机器人未向红色G3送绳；末段始终在B附近处理绳尾。log step 311为G3动作设置先确认B穿过的断言，log step 312显示此断言失败，未执行后续G3动作。"
+     },
+     {
+      "t": 79.93,
+      "log_step": null,
+      "text_zh": "推断：视频中未出现红色G3的穿绕过程，终局绳从G2伸向B附近即结束，缺少参考成功视频末段经B再回穿G3的绳路，因此判未完成；并非仅凭总评分为零判定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "b_threaded",
+   "t": 75.2,
+   "log_step": 312,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 73.1–75.7 s机器人右爪已经重新夹住绳，但向琥珀环B推进时自由端弯向环外，未穿到另一侧；视频 76.3–79.93 s的再次调整也未修复。此前绿色环A的两次回缩已在视频约53.8 s修复，G1、A、G2终局仍在，首个未修复的步骤是B。"
+  },
+  "unmet": {
+   "g1_threaded": true,
+   "a_threaded": true,
+   "g2_threaded": true,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 75.2,
+    "log_step": 312,
+    "evidence_zh": "观察：视频 74.1–75.7 s右爪持绳推进，绳尾弯垂到B孔口右侧，没有沿孔轴贯穿；视频 79.93 s仍只有尾端在孔边。该次重抓后绳随爪移动，失败发生在送绳对孔，而非仍然空夹；未看到足以判定固定物阻挡或失去握持的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 308的脚本在绳段466附近重抓，按抓点至末端的平面方向计算转腕，然后把右爪目标从[0.164,0.35,1.015]推进到[0.164,0.17,1.015]；log step 312输出的绳尾却弯曲回到孔的外侧，B未进入crossing_sequence。视频 73.1–75.7 s、79.93 s也显示已握绳而自由尾段未对孔贯通，说明这次调腕和送绳控制未把自由端带到所需穿越位姿；现有证据不足细分抓点设计、轨迹跟踪或反馈控制。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频与构造交付轨迹的第二会话在关键姿态及穿孔顺序上相符，第一会话的早期测试不计作本次进度。各节点时刻由视频估计，亚毫米净空、全绳速度及0.5秒共同确认无法直接测量；评分器未报告终局maximum_speed_m_s，故该指标留null。B失败可归于控制，但缺少送绳期间完整的目标/实测末端序列、尾端几何与接触力记录，不能可靠细分控制子类。"
+ },
+ "summary_zh": "评分视频终局保留G1、A、G2三个穿绕关系（3/5）；绿色环A中途两次失去后恢复。机器人在琥珀环B送绳时自由尾段偏到孔外，调腕和推进未实现贯通，红色G3尚未开始，断点为B操作中。无状态日志，节点时刻及净空只能结合视频与交付构造会话推断，控制失败的具体子类及终局全绳速度无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频关键帧：终局绳穿过G1、A、G2（A内可见绳段，G2腕部近景绳穿孔），B未贯通，G3未开始；A在约33 s确实失去关系；断点B操作中与控制类根因有证据支持，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": "2026-10-30T23:24:02Z",
+  "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-rope-threading-06-i01-privileged--yjtv6yv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--yjtv6yv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "463d1a19a02c044acc6bc6db62701cd750b4aad0d8cdca7293c143dc66d5c805",
+   "video_sha256": "8266329e1a5374517f30ffaa46e5bf51248c6630f4b5d579345beb430ae38e4f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--7hjcwvp.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--7hjcwvp.json
new file mode 100644
index 0000000000000000000000000000000000000000..37fe5de03aff671fb25ce8103e25b95005edd284
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--7hjcwvp.json
@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--7hjcwvp",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 0,
+   "live_rows": 0,
+   "sim_steps": 0,
+   "physics_steps": 0,
+   "steps": 0,
+   "elapsed_s": 1356.4,
+   "replay_wall_s": 4.5,
+   "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": 0.268,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.263,
+   "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-rope-threading-06-i01-standard--7hjcwvp/replay.mp4",
+  "duration_s": 0.067,
+  "fps": 15.0,
+  "frames": 1,
+  "sha256": "749ef24bd76ca33de167f3fbfdff0ec23ed30257fac0eb0dc8161532685eec77"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s（本次全部视频仅此一帧）中，绳索盘放在隔墙右前侧桌面，两夹爪均未持绳；青色壁孔G1的腕部视图未见绳段贯通，其孔内可见的是另一侧桌面上的背景绳段。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：完整日志仅含观测、图像分析及无状态IK/FK查询，log step 31以模型服务过滤提示结束；评分器n_actions=0、live_rows=0、sim_steps=0、physics_steps=0，无已执行动作或可交付的运动轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器n_actions=0、live_rows=0；模型服务在log step 31中断，未交付运动轨迹，本节点没有实际操作接触。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的高位总览中，绿色立环A位于隔墙左侧，环内及两侧没有贯通绳段；绳索仍盘放在隔墙右前侧桌面。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：完整日志仅含观测、图像分析及无状态IK/FK查询，log step 31以模型服务过滤提示结束；评分器n_actions=0、live_rows=0、sim_steps=0、physics_steps=0，无已执行动作或可交付的运动轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器n_actions=0、live_rows=0；模型服务在log step 31中断，未交付运动轨迹，本节点没有实际操作接触。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的总览中，绳索仍盘放在隔墙右前侧桌面，没有绳段上升至隔墙后部紫色壁孔G2，也没有绳段延伸到隔墙左侧。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：完整日志仅含观测、图像分析及无状态IK/FK查询，log step 31以模型服务过滤提示结束；评分器n_actions=0、live_rows=0、sim_steps=0、physics_steps=0，无已执行动作或可交付的运动轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器n_actions=0、live_rows=0；模型服务在log step 31中断，未交付运动轨迹，本节点没有实际操作接触。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的高位总览中，右后侧琥珀色立环B与右前侧桌面绳圈分离，环内及两侧没有贯通绳段。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：完整日志仅含观测、图像分析及无状态IK/FK查询，log step 31以模型服务过滤提示结束；评分器n_actions=0、live_rows=0、sim_steps=0、physics_steps=0，无已执行动作或可交付的运动轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器n_actions=0、live_rows=0；模型服务在log step 31中断，未交付运动轨迹，本节点没有实际操作接触。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 中，绳索仍盘放在隔墙右前侧桌面，没有绳段上升至隔墙中前部红色壁孔G3，也没有绳段延伸到隔墙左侧。"
+     },
+     {
+      "t": null,
+      "log_step": 31,
+      "text_zh": "观察：完整日志仅含观测、图像分析及无状态IK/FK查询，log step 31以模型服务过滤提示结束；评分器n_actions=0、live_rows=0、sim_steps=0、physics_steps=0，无已执行动作或可交付的运动轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器n_actions=0、live_rows=0；模型服务在log step 31中断，未交付运动轨迹，本节点没有实际操作接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 31,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 31 的末条消息明确提示“This request was blocked by Gemini's filters”；此前agent只获取初始观测、分析图像及调用无状态IK/FK查询，没有发送机器人运动命令。评分器n_actions=0、live_rows=0、sim_steps=0，视频仅有 0.000 s 的初态帧，未交付运动轨迹，无法定位某一已开始的失败步骤。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 31 记录模型提供方过滤中断；评分器n_actions=0、live_rows=0，未在中断前执行或完成有效运动轨迹，视频仅有 0.000 s 的初态帧，且本次无状态日志。推断：依外部因素规则及CASES.md FAIL-5，此次应作为外部中断待重试，不将未启动操作归为机器人“没尝试”，现象与根因均留空；保留目录原始success=0。评分器未报告maximum_speed_m_s，故该指标值为空。"
+ },
+ "summary_zh": "观察：本次视频仅有 0.000 s 的初态帧，绳索仍盘放在隔墙右前侧桌面，五个穿绕节点均未达成，末态为0/5。观察：agent完成初始观测、场景分析及无状态IK/FK查询后，在log step 31被Gemini提供方过滤器中断，评分器记录n_actions=0、live_rows=0。推断：这是首步前的外部中断，非已有物理尝试失败；保留目录success=0，断点为unknown，缺少实际执行证据，因此不标失败现象或机器人根因。",
+ "conf": 10,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 9,
+    "summary_zh": "同意：log step 31 为 Gemini 提供方过滤中断，n_actions=0、视频仅 0.000 s 一帧，符合 FAIL-5 的外部因素写法（断点 unknown/首步前，现象与根因为空并有 gap_zh），五节点均为 false。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:19:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--7hjcwvp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--7hjcwvp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "123499febd7765d90b01a1f0d2528d4f0914cbb60290fa3f7ea1f748a37285d2",
+   "video_sha256": "749ef24bd76ca33de167f3fbfdff0ec23ed30257fac0eb0dc8161532685eec77",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--a6hknqf.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--a6hknqf.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e5220dee60c6ea06dffb2ecd7891fb524fa2d3
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--a6hknqf.json
@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--a6hknqf",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 4,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3395,
+   "live_rows": 3395,
+   "sim_steps": 3395,
+   "physics_steps": 3395,
+   "steps": 1883,
+   "elapsed_s": 9933.5,
+   "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-rope-threading-06-i01-standard--a6hknqf/replay.mp4",
+  "duration_s": 135.867,
+  "fps": 15.0,
+  "frames": 2038,
+  "sha256": "bcf7c2e9ce900cd17e9a579d1931fe072f039b4bd7cbfc4225d890f2317f801e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 67,
+      "text_zh": "观察：视频约 88–91 s，右二指夹爪夹持绳端附近并举起，长余绳仍在隔墙右侧；log step 67 的服务读数显示右爪闭合后开度约 6.4 毫米，log step 43、65–67 将所抓绳段定位在初态较远端附近。"
+     },
+     {
+      "t": 114.8,
+      "log_step": 100,
+      "text_zh": "观察：视频 113.4–115.0 s，左腕视图可见短绳端伸入青色 G1 孔内；视频约 115.2–116.0 s，左夹爪合拢后没有带住绳，右爪松开，绳端退出孔口并回落右侧桌面。视频 116–135.8 s 的后续空夹、重抓及送爪动作没有恢复贯穿。"
+     },
+     {
+      "t": 114.8,
+      "log_step": 44,
+      "text_zh": "推断：按 DAG 固定的材料起点定义及 log step 43、44、65–68 的取端位置，本次搬运的是初态离诸环较远的材料起点端，视频 107–115 s 将该端从隔墙右侧送向绿环所在左侧；沿材料起点到余绳的方向则是左向右，与 G1 要求相反。因此孔内短暂出现绳端不记为满足有向穿绕，且末段已全部退出。"
+     },
+     {
+      "t": 135.7,
+      "log_step": 122,
+      "text_zh": "观察：视频 135.7 s，左夹爪空置，G1 中没有连续绳段通向隔墙两侧，绳仍铺在右侧桌面。log step 122 的实时机器人服务状态为 control_steps=3395、done=False、resumes=0；评分字段 graded_by_live=1、live_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 88–115 s，右二指夹爪实际夹住绳端附近并提起、转向及送往 G1；左二指夹爪从对侧尝试接绳，合拢后未夹持或拉动绳段（视频约 115–116 s）。未观察到两爪同时抓住绳。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.7,
+      "log_step": 122,
+      "text_zh": "观察：视频 0–135.8 s 的全程概览及视频 107–135.8 s 的密集腕部帧中，绿色环所在的左侧始终没有绳段；左臂只在 G1 对侧靠近、空夹和退回。视频 135.7 s 仍未形成绿色环 A两侧连续贯穿；与成功参考视频的对应贯穿形态不同。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.7,
+      "log_step": 122,
+      "text_zh": "观察：视频 0–135.8 s 的全程概览及视频 107–135.8 s 的密集腕部帧中，绳和操纵夹爪集中在隔墙前端 G1，未送往隔墙后部紫孔；也没有从后孔伸到左侧的绳段。视频 135.7 s 仍未形成紫色壁孔 G2两侧连续贯穿；与成功参考视频的对应贯穿形态不同。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.7,
+      "log_step": 122,
+      "text_zh": "观察：视频 0–135.8 s 的全程概览及视频 107–135.8 s 的密集腕部帧中，右侧余绳一直在该立环前方的桌面上，未举起并送过琥珀环，孔内没有贯通绳段。视频 135.7 s 仍未形成琥珀色环 B两侧连续贯穿；与成功参考视频的对应贯穿形态不同。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.7,
+      "log_step": 122,
+      "text_zh": "观察：视频 0–135.8 s 的全程概览及视频 107–135.8 s 的密集腕部帧中，腕部视图中的红孔在 G1 重试过程中没有贯通绳段；末段可见的黄色线条是孔后右侧桌面上的余绳，其未延伸至隔墙左侧。视频 135.7 s 仍未形成红色壁孔 G3两侧连续贯穿；与成功参考视频的对应贯穿形态不同。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 115.5,
+   "log_step": 100,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 115.2–116.0 s，机器人尝试在 G1 两侧换手，左夹爪合拢却未夹住短绳端，右夹爪随后松开，绳端退出并回到右侧桌面；视频 116–135.8 s 重试后仍未修复。log step 100 的脚本先左爪闭合四行、再右爪松开四行；服务输出左爪开度为 0。失败发生在 G1 穿绕操作中，其余四孔未开始穿绕。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 115.5,
+    "log_step": 100,
+    "evidence_zh": "观察：视频 114.8 s 的左腕画面中短绳端位于 G1 孔内，视频约 115.2 s 左爪收拢、随后右爪张开时，绳端未随左爪保持，视频 116.0 s 已退回桌面；接收侧左爪没有建立需要的夹持。log step 100、101、103 的服务输出左爪开度均为 0，后续视频中左爪撤回也没有带走绳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 100 的接绳脚本将左爪固定在预设点闭合，未确认接收侧夹持便按固定行数释放右爪；log step 101、103 仅修改接绳位置继续夹，服务仍读到左爪开度 0。视频 114.8–116.0 s 显示短绳端从孔内退回而左爪空置，说明所用短绳端与接收爪的接触布置未建立可靠接力；log step 114、117 的后续预设位置接绳及扫动闭合也未在视频 123–135.8 s 带走绳。未在本次运行中验证能成功接住的替代接触布置。"
+   }
+  ],
+  "gap_zh": "没有状态日志或原生逐孔有向穿越、净空、全绳最大速度字段；G1 材料方向由 DAG 的固定起点定义、取端日志及视频中的绳端/余绳位置联合推断，不能直接逐段追踪材料编号，也不能从视频测定亚毫米净空。后续孔的未达及最终 G1 无贯穿可由可见场景判断；未将 agent 自述的“短暂穿过”直接计为节点达成。"
+ },
+ "summary_zh": "机器人实际抓起绳端并反复尝试 G1，左夹爪未能接住，绳端在视频约 115.5 s 退回右侧桌面，后续重试没有修复；其余四孔未尝试，终局 0/5。按 DAG 的固定材料起点定义，短暂送入 G1 的绳端还存在有向穿越反向问题，故不计为合格完成；直接失败证据是接收夹爪空夹和余绳回落。缺少逐孔原生几何及速度字段，材料方向为取端日志与视频联合推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "全部节点未达、终局0/5与视频一致；视频114–116 s帧显示绳端在G1孔内、随后退回右侧桌面、左爪空置，断点与现象有帧证据支持。未发现需改动内容。",
+    "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": "2026-10-30T23:42:22Z",
+  "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-rope-threading-06-i01-standard--a6hknqf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--a6hknqf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b39a55492b62eafd4a14640cc7ced18e158dc6c66007888748ac9a3536237084",
+   "video_sha256": "bcf7c2e9ce900cd17e9a579d1931fe072f039b4bd7cbfc4225d890f2317f801e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--qhxj2pg.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--qhxj2pg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea11c454fe3ad28e353fd1a4ab70aa09862f115c
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--qhxj2pg.json
@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--qhxj2pg",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 26,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 7268,
+   "live_rows": 7268,
+   "sim_steps": 7268,
+   "physics_steps": 7268,
+   "steps": 3354,
+   "elapsed_s": 10306.6,
+   "replay_wall_s": 5581.7,
+   "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": 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-rope-threading-06-i01-standard--qhxj2pg/replay.mp4",
+  "duration_s": 290.8,
+  "fps": 15.0,
+  "frames": 4362,
+  "sha256": "2f1f81435d4259fca7d361e5ffdd25d1738d3e866e0bd3f755cf5a38e8627d7c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绳盘在隔墙右侧桌面，左侧未见绳段；青色G1孔尚无贯通绳。"
+     },
+     {
+      "t": 62.0,
+      "log_step": 313,
+      "text_zh": "观察：视频58.0–62.0 s右夹爪闭合后将前方绳端提离桌面，绳随夹爪升起；log step 313记录该次抓取位置约(0.313,-0.586,0.019)米，随后提升。log step 246的脚本明确选择初态较远端为material start。"
+     },
+     {
+      "t": 71.5,
+      "log_step": 324,
+      "text_zh": "推断：视频64.0–72.0 s右夹爪将刚抓起的远端从隔墙右侧送入G1并伸向左侧，余绳仍在右侧。按DAG中固定的材料起点定义以及log step 246、313的抓取位置，该端为材料起点；故沿材料起点到终点读绳，穿越方向是左到右，与G1要求的朝绿环侧（右到左）相反，不能记为达成。"
+     },
+     {
+      "t": 140.0,
+      "log_step": 355,
+      "text_zh": "观察：视频130.0–148.0 s左夹爪向G1外伸绳端下降、闭合再抬起，未将绳端带走；绳仍留在孔口附近，没有完成换手。"
+     },
+     {
+      "t": 266.0,
+      "log_step": 392,
+      "text_zh": "观察：视频206.0–266.0 s右夹爪多次抓起桌面绳段、转向、推到G1孔口再退回；近景可见绳弯折或横在孔边，未见把另一端送到左侧而形成一次正确方向的贯穿。"
+     },
+     {
+      "t": 246.0,
+      "log_step": 392,
+      "text_zh": "推断：进一步查看视频222.0–232.0 s、242.0–249.0 s及260.0–267.0 s逐秒画面，右夹爪送入的是弯折绳段；总览可见夹持点两侧绳股折回右侧余绳，近景中绳靠近孔边，松开或退爪后绳退回。结合log step 385按桌面绳段取点而非按端点接取的脚本，后期这些折返送绳也不能算G1恰好一次的正确有向穿越。"
+     },
+     {
+      "t": 290.73,
+      "log_step": 405,
+      "text_zh": "观察：视频290.0 s及290.73 s绳仍主要盘在右侧，左侧没有向绿环延伸的绳；G1未保持完整贯通。log step 405的服务状态done=false、reason=null，评分器live_success=0、replay_success=0，与视频未解开的结局一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频58.0–72.0 s右二指夹爪夹住远端并提起、送入G1；视频206.0–266.0 s又多次夹持桌面绳段送向孔口。左夹爪在视频130.0–148.0 s试图接取，但闭合、抬起后未带走绳，未观察到双爪共同持绳。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频72.0–79.5 s右夹爪前部伸过G1，后部贴住青色孔边/隔墙，送绳时同时抵压孔口，继续前送未使夹爪整体越过隔墙。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿环A为空，绳在隔墙另一侧。"
+     },
+     {
+      "t": 100.0,
+      "log_step": 336,
+      "text_zh": "观察：视频80.0–128.0 s右夹爪始终停在G1附近，绳未移至绿环A；log step 331–336的脚本虽发送朝A的路径，服务读到的右TCP仍约(-0.06,-0.27,0.145)米，未到A入口目标(-0.26,-0.135,0.085)米。"
+     },
+     {
+      "t": 290.73,
+      "log_step": null,
+      "text_zh": "观察：已查看的视频全程总览及视频290.73 s中，绿环A两侧始终没有连续绳段贯通；成功参考视频53.9 s的相同总览中可清楚看到绳穿过绿环并向后方延伸，本次未出现此形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频80.0–128.0 s机器人执行朝绿环A的移动尝试时，右夹爪仍抵在G1孔口，实际接触对象是青色孔边/隔墙；没有接触绿色环，也没有可见的持绳到达A。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绳盘在隔墙右前方，未进入隔墙后部的紫色壁孔G2。"
+     },
+     {
+      "t": 290.73,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样、视频64.0–83.0 s逐秒及视频128.0–290.0 s密集采样显示，机器人始终在前方绳盘和G1附近操作，没有把绳送到紫色壁孔G2。视频290.73 s仍无绳穿过该孔；成功参考视频53.9 s的总览及腕部视图显示的对应贯通绳形态，本次未出现。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绳盘在隔墙右前方，未进入隔墙右后侧的琥珀环B。"
+     },
+     {
+      "t": 290.73,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样、视频64.0–83.0 s逐秒及视频128.0–290.0 s密集采样显示，机器人始终在前方绳盘和G1附近操作，没有把绳送到琥珀环B。视频290.73 s仍无绳穿过该孔；成功参考视频53.9 s的总览及腕部视图显示的对应贯通绳形态，本次未出现。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绳盘在隔墙右前方，未进入隔墙中前部的红色壁孔G3。"
+     },
+     {
+      "t": 290.73,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样、视频64.0–83.0 s逐秒及视频128.0–290.0 s密集采样显示，机器人始终在前方绳盘和G1附近操作，没有把绳送到红色壁孔G3。视频290.73 s仍无绳穿过该孔；成功参考视频53.9 s的总览及腕部视图显示的对应贯通绳形态，本次未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 71.5,
+   "log_step": 324,
+   "where": "操作中",
+   "evidence_zh": "推断：视频58.0–72.0 s右夹爪提起远端并从右向左送入G1，但该端是DAG固定的材料起点（抓取对象见log step 246、313），从起点沿绳读出的穿越方向因此反了。视频72.0–128.0 s夹爪又停在G1孔口，后续左爪接取及反复送绳也未修成正确的单次贯通；至视频290.73 s仍未完成G1，故断点为此步。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 71.5,
+    "log_step": 324,
+    "evidence_zh": "推断：视频62.0–72.0 s机器人持初态远端穿向绿环侧，余绳留在隔墙右侧；log step 246和313确认选择及抓取的是材料起点端。沿材料起点到终点看，此时绳从左侧穿回右侧，方向与G1要求相反；这是有向穿绕姿态错误，不能由孔内出现绳段判为成功。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 75.0,
+    "log_step": 324,
+    "evidence_zh": "观察：视频72.0–79.5 s右夹爪尖端伸到隔墙左侧，但较宽的夹爪后部贴在G1孔口，反复前送时整体未再通过；视频80.0–128.0 s也未离开此处。log step 324的服务测量显示，脚本要求右TCP到x=-0.145米，实际连续停在约x=-0.067米；log step 336要求移到A，实际仍约x=-0.06米，符合画面中孔口阻挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 71.5,
+    "log_step": 246,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 246明确计划抓material start，log step 313实际从该远端位置夹起；log step 322–324随后将此端沿-x送入G1。脚本把端点前进方向当作沿材料起点至终点的穿越方向，未反转两者关系，因而即使绳端送过孔也得到反向穿越。视频58.0–79.5 s与该执行顺序相符；log step 399最终脚本仍保留抓MATERIAL_START并沿-x穿G1的方案，未修正此方向规划。"
+   }
+  ],
+  "gap_zh": "没有状态日志或原生逐孔有向穿越、厚度净空字段；材料端点身份和穿越方向由DAG的固定起点定义、初态远端位置、log step 246/313及视频中的搬运连续性联合推断，无法直接读取材料索引。视频不能量出亚毫米净空或全绳最大速度，评分器未报告maximum_speed_m_s，故该指标为null。agent在log step 412自述夹持因超过60牛断开，但没有相应的服务力/夹持断开读数，不据此标定断开力或控制根因；其自述“no forcing”还与评分器forcing_events=26不符，forcing计数本身不判失败。"
+ },
+ "summary_zh": "机器人提起远端并送入青色孔G1，随后在孔口受阻，左爪接取和多次送绳均未建立正确的单次有向贯穿；五个节点最终均为false。结合固定材料起点与实际抓取、送入方向，G1的早期穿越方向相反，根因是把端点行进方向误当成材料方向的规划错误，不能把agent自述“穿过G1”计作完成。无状态日志，材料方向为联合推断，亚毫米净空、最大绳速及自述的60牛夹持断开缺少原生字段核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "五节点均为false与评分器live_success=0、视频末帧（绳仍盘在右侧、无贯通）一致；G1断点、右爪在孔口受阻、材料起点方向反的推断（已标为推断，log step 399/412自述远端end2为材料起点）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": "2026-10-30T23:40:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--qhxj2pg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--qhxj2pg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "23937dc58e03565c939025ee5943b0ea4c2b3e404d5924fa986140c6e4392358",
+   "video_sha256": "2f1f81435d4259fca7d361e5ffdd25d1738d3e866e0bd3f755cf5a38e8627d7c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uodjxhm.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uodjxhm.json
new file mode 100644
index 0000000000000000000000000000000000000000..74b39ddc0150437ecd4b649b6672fa4389939531
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uodjxhm.json
@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--uodjxhm",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 13621,
+   "live_rows": 13621,
+   "sim_steps": 13621,
+   "physics_steps": 13621,
+   "steps": 13602,
+   "elapsed_s": 10796.2,
+   "replay_wall_s": 7107.5,
+   "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": 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-rope-threading-06-i01-standard--uodjxhm/replay.mp4",
+  "duration_s": 544.933,
+  "fps": 15.0,
+  "frames": 8174,
+  "sha256": "d62f431b177d945c7018c4b7820ad5a391010f241870de64acfd6f8206a18709"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，绳索盘在隔墙右侧前方桌面，没有绳段从青色壁孔G1延伸到左侧。"
+     },
+     {
+      "t": 16.2,
+      "log_step": 88,
+      "text_zh": "观察：视频 15.0–16.0 s，右夹爪合拢后短暂带起绳段；视频 16.2–16.4 s，绳段离开闭合夹爪并落回桌面。log step 88 的机器人脚本包含合爪后抬升，不能把该脚本的抓取意图当成已稳固持绳。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–28.0 s、44.0–52.0 s及后续多次送绳动作中，夹爪接近G1，但腕部视图的孔内主要是对侧空夹爪；绳索仍在隔墙右侧桌面，没有形成两侧连续的穿孔绳段。"
+     },
+     {
+      "t": 544.86,
+      "log_step": 635,
+      "text_zh": "观察：视频 543.93–544.86 s，右夹爪停在绳旁，左夹爪张开，绳索仍盘在隔墙右侧；G1未贯通。log step 635 仅自述G1脚本仍在执行；评分器字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 15.0–16.0 s，右侧二指夹爪夹住一小段绳并短暂带起，随后失持；后续右夹爪反复合爪取绳。视频中的左夹爪在G1另一侧伸入、合拢及退回，未见其接住绳索。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 544.86,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、60.0 s、180.0 s、360.0 s、540.0 s及544.86 s，隔墙左侧绿色环A内没有绳段，两侧也无连续绳路；机器人未将绳索运至A。成功参考视频 53.0 s在相同总览中可见绳索穿过A，本次该特征始终未出现。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 544.86,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–544.86 s的总览抽帧显示，绳索始终集中在隔墙右前侧桌面，机器人未把绳送至隔墙后部紫色壁孔G2；视频 544.86 s没有通向G2的绳路。成功参考视频 53.0 s中，贯穿G2的绳段在腕部视图以及后部跨墙绳路均可见，本次无此特征。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 544.86,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、60.0 s、180.0 s、360.0 s、540.0 s及544.86 s，右后方琥珀色环B内没有绳索，余绳仍在其前方桌面；未见机器人向B送绳或形成贯通。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 544.86,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0 s、46.0 s、240.0 s及544.86 s的腕部视图可见红色壁孔G3，未见绳段从孔中延伸至隔墙左侧；总览也没有绳索进入左侧。末帧孔后远处桌面绳索的投影重叠不构成穿孔，区别于成功参考视频 53.0 s中红孔内向夹爪延伸的绳段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 16.2,
+   "log_step": 88,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.0–16.0 s，机器人右夹爪短暂夹起绳段，视频 16.2–16.4 s绳段脱离并落回桌面；之后机器人反复取绳并在G1两侧做送入、接取动作，至视频 544.86 s仍未形成G1贯通，故首次未修复的失败步骤为穿过青色壁孔。"
+  },
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 16.2,
+    "log_step": 88,
+    "evidence_zh": "观察：视频 15.4–16.0 s，右夹爪抬升时绳段随指尖抬起、形成小弯；视频 16.2–16.4 s，绳段与仍闭合的夹爪分离并回落，视频 17.0–20.0 s夹爪停在绳上方，没有持续携绳。该次失持发生在将绳送向G1之前。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 15.0–16.4 s显示右夹爪已对准并接触绳段，但合爪抬升未能保持绳索；视频 22.0–28.0 s随后朝G1移动的夹爪没有携绳。log step 88 的控制脚本命令合爪后直接抬升，log step 99 又执行预先生成的送孔和换手动作；结合视频中的失持，支持抓持执行层面的控制失败，无法进一步确定控制子类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/未提供状态日志或逐孔原生几何结果，评分器未报告maximum_speed_m_s。视频可排除各孔贯通，但不能测量亚毫米净空，也没有抓持绑定或逐时接触力记录来区分夹持几何、夹紧参数与辅助抓取失效，因此根因保留在控制大类。log step 635 仅称脚本正在执行，不能据此补记视频之后的穿孔或换手。"
+ },
+ "summary_zh": "本次连续尝试始终围绕青色壁孔G1取绳和换手，五个穿孔节点均未达到，终态为0/5。视频约 16.2 s右夹爪抬绳后失持，此后多次空手送向G1仍未修复；至视频 544.86 s绳索仍盘在隔墙右侧桌面，失败归于抓持执行的控制问题。缺少状态日志、抓持绑定及接触力记录，无法进一步确定控制子类，原生速度指标也未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个穿孔节点均为未达到、终态0/5，与视频一致；断点G1及右夹爪约16 s失持的证据在帧中可见，时钟均为视频时间，根因停在控制大类，未发现需要改动的内容。",
+    "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": "2026-10-30T23:18:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--uodjxhm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--uodjxhm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78fc45c29d8e8120027a655f83d67a589233464464c9f1c76151dd7141bed96b",
+   "video_sha256": "d62f431b177d945c7018c4b7820ad5a391010f241870de64acfd6f8206a18709",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uvxnpp3.json b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uvxnpp3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d1d531a985182c6ee75eab4e9df0aedd05db44
--- /dev/null
+++ b/phase2/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--uvxnpp3.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--uvxnpp3",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "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": 9888,
+   "live_rows": 9888,
+   "sim_steps": 9888,
+   "physics_steps": 9888,
+   "steps": 2929,
+   "elapsed_s": 9315.2,
+   "replay_wall_s": 4467.2,
+   "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": 0.283,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.392,
+   "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-rope-threading-06-i01-standard--uvxnpp3/replay.mp4",
+  "duration_s": 395.6,
+  "fps": 15.0,
+  "frames": 5934,
+  "sha256": "ddfb29466c12ca63d2e35ab0466b0c5a238c91d5d7f9a4bbe6582d5d3d72c610"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的总览和腕部视角中，整根绳盘在隔墙右侧桌面，青色壁孔G1中没有绳段贯通。"
+     },
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "观察：视频 116–124 s，右夹爪在桌面绳段上方闭合后提起，绳弧仍在原桌面，未随夹爪被带起；视频 160–174 s 的再次闭合、提起和转腕也未把桌面绳索带走。"
+     },
+     {
+      "t": 180.8,
+      "log_step": 295,
+      "text_zh": "观察：视频 180.8 s，右爪伸到隔墙旁，但绳索仍盘在右侧桌面，G1没有跨墙绳段。log step 291记录agent脚本向G1送入的动作，log step 295的服务状态为control_steps=4521，夹爪指令为0.037（张开）。"
+     },
+     {
+      "t": 395.4,
+      "log_step": null,
+      "text_zh": "观察：视频 386–395.4 s，右爪在桌面绳段处局部捏夹、拖动并张开；最后一秒绳索仍在隔墙右侧，G1孔内没有延伸至另一侧的绳段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 116–124 s及386–391 s，右夹爪指尖在桌面接近、闭合和移动时推动绳段，使局部绳弧偏移；属于G1穿孔准备中的实际接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 391–394 s右夹爪两指在局部绳段两侧闭合捏夹并拖动，随后张开；只记可见局部捏夹，不据此认定整绳被带起或接触焊接触发。左爪未实际接绳。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，左侧绿色立环A为空，绳索全部位于隔墙右侧桌面。"
+     },
+     {
+      "t": 180.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–395 s每隔约5 s检查的总览中，绿色环附近始终没有从右侧送来的绳段；视频 180.8 s绳仍盘在右桌面。"
+     },
+     {
+      "t": 395.4,
+      "log_step": null,
+      "text_zh": "观察：视频 395.4 s，绿色环内及其两侧均无贯通绳段，机器人未对A执行穿绳。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，隔墙后部紫色壁孔G2附近无绳，整根绳在右侧前部桌面。"
+     },
+     {
+      "t": 395.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–395 s的约5 s间隔总览及视频 394.6–395.4 s末秒帧中，绳始终未被带到后部紫色孔，未形成跨隔墙的绳段。成功参考视频中可见的沿墙延伸至G2的绳路，在本次视频中未出现。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，琥珀色立环B为空，绳索盘在它前方的右侧桌面。"
+     },
+     {
+      "t": 180.8,
+      "log_step": null,
+      "text_zh": "观察：视频 180.8 s，琥珀色环仍为空，右爪伸向隔墙时绳仍平铺在前方桌面；此前约5 s间隔总览没有绳被送入B的过程。"
+     },
+     {
+      "t": 395.4,
+      "log_step": null,
+      "text_zh": "观察：视频 395.4 s，琥珀色环B内没有贯通绳段；视频 185–395 s的约5 s间隔总览中机器人继续在桌面绳段处尝试抓取，没有对B穿绳。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，腕部视角中红色壁孔G3为空。"
+     },
+     {
+      "t": 180.8,
+      "log_step": null,
+      "text_zh": "观察：视频 180.8 s的腕部视角可见红孔为空，总览中的绳索仍在右侧桌面。"
+     },
+     {
+      "t": 395.4,
+      "log_step": null,
+      "text_zh": "观察：视频 394.6–395.4 s，左腕视角中的红色壁孔G3仍无绳段贯通；约5 s间隔总览中未出现把绳送至红孔或跨墙的过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": 120,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 116–124 s，机器人右夹爪在桌面绳弧处闭合、提起，绳没有离开桌面；后续视频 180.8 s右爪到隔墙旁时仍未携绳，视频 395.4 s绳仍留在右侧。推断：首个未完成且从未修复的步骤是G1穿孔，失败已发生在该步的抓绳准备中；后四孔未进入实际操作。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 120,
+    "log_step": null,
+    "evidence_zh": "观察：视频 116–124 s，右爪闭合后提起，绳弧仍贴在原桌面，指间未带出绳；视频 160–174 s再次提起、转腕时绳仍留在桌面。推断：这些抓取没有建立把绳带向G1所需的夹持接触。视频 391–394 s后来出现的局部捏夹和拖动未完成G1，不能把它回填为此前抓取成功。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 148展示的tcp_path函数定义默认gripper=0.037（张开）；log step 280的脚本在闭合后调用tcp_path提起时没有传入gripper，log step 286、290–291的后续运动也未传入保持闭合参数；log step 295的服务读数显示右夹爪指令0.037，agent在log step 296确认其路径函数默认张开。视频 160–180.8 s中提起、转腕及到墙边时绳始终留在桌面。log step 311改为全程闭合后，log step 333仍检测到桌面绳段，后续视频也反复出现提爪但未带绳。推断：抓取及携带控制未实现可靠带绳运动；默认张开是一次明确的控制错误，但后续闭合重试仍失败，现有证据不足以将全程失败进一步归为单一控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或原生逐孔几何、全绳速度读数，maximum_speed_m_s未报告。末段夹持区部分被指尖遮挡，可确认局部捏夹和拖动，无法核实接触焊接是否触发、每次失败究竟是空夹还是短暂夹住后滑脱；agent在log step 283、366的持绳判断不替代视频。五孔均未出现贯通绳路，因此这些缺口不影响节点判否。",
+  "unmet": {
+   "g1_threaded": false,
+   "a_threaded": false,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  }
+ },
+ "summary_zh": "机器人反复尝试抓取右侧桌面绳索，并曾将空爪伸向隔墙，但五个穿孔节点均未达到，终态为0/5。断点是G1穿孔的抓绳准备：多次闭合提起未建立带绳夹持，日志还暴露了提起路径默认张开夹爪的控制错误；末段虽有局部捏夹拖动，绳仍未离开右侧桌面进入任何孔。无状态日志，无法核实接触焊接或精确净空、速度；节点判定依据本次视频，并与成功参考视频的贯通绳路对照。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个穿孔节点全为否、终态0/5与视频一致；断点G1（视频约120 s首次闭合提起未带绳）、接触·没建立接触、根因控制（默认张开夹爪，log step 295服务读数grip=0.037，control_steps=4521对应视频180.8 s）均有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
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