Add 111 trajectories (phase 2, remaining runs; batch S33)

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--abm2ytr.json

@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--abm2ytr",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 651,
+   "submitted_actions": 651,
+   "sim_steps": 731,
+   "physics_steps": 7310,
+   "sim_time_s": 18.27500000000003,
+   "final_reward": 0.0,
+   "replay_wall_s": 586.2,
+   "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": 1,
+   "agent_resets": 17,
+   "agent_sim_steps": 0,
+   "agent_records": 16,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.165,
+   "peak_memory_gb": 2.3,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.253,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-04-i01-privileged--abm2ytr/replay.mp4",
+  "duration_s": 18.333,
+  "fps": 15.0,
+  "frames": 275,
+  "sha256": "6da7591ff7dbb7d904f2295354b709008b1fdcebff6b423168376e7b8343bd08"
+ },
+ "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，蓝色毯子呈狭长折叠形，前缘有折回和重叠，并非完整单层片材。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 613,
+      "text_zh": "观察：视频 6.3–8.5 s，机器人左右二指夹爪各捏住毯子一处并向两侧拉动，布片随之斜转，仍有大片折回布层；log step 613 记录交付候选中的双臂分拉指令。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.2–13.6 s，右夹爪打开并低位外撤时仍带动毯端，之后抬离；高位与低位视图中仍有折回布层和隆起。"
+     },
+     {
+      "t": 18.267,
+      "log_step": 654,
+      "text_zh": "观察：视频 17.4 s、17.8 s 和 18.27 s，毯子形状基本不变，仍为狭长的重叠布片，未铺成完整单层；log step 654 的已保存候选回放报告 strict_success=False、success_in_hold=False，评分器字段 strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 5.6–8.0 s，左、右平行二指夹爪分别捏住毯子左侧局部布片和右侧边缘，同时分拉，毯子跟随两处夹持点移动；先由右爪接触，随后左爪加入。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 10.2–12.6 s，右二指夹爪张开后在毯端附近低位向外移动，毯端随其继续偏移，随后右爪转向并抬离。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 7.3,
+   "log_step": 613,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.5–8.0 s，机器人双爪分拉后毯子转成斜向窄片，折回布层没有充分打开；视频 13.6–18.27 s 双爪撤离后这些折叠仍未消除。log step 638–639 保存的是此 651 动作候选，log step 698–700 明确丢弃后续 186 动作实验并重新保存原候选；评分器 submitted_actions=651、strict_goal_reached=0。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残余折叠",
+    "t": 7.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频 7.3 s 双爪分拉时及视频 18.27 s 末帧，毯面仍有大片折回和重叠，右侧折层轮廓与隆起清楚可见，未成为接近完整的单层片材。",
+    "note_zh": "候选名：残余折叠。现有接触、运动类条目不能直接表达布料折层未展开这一可见材料缺陷；已建立夹持，不能标成没建立接触。"
+   }
+  ],
+  "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：所选的两处抓点与近桌面分拉方向未能使折回布片相对其余布层充分展开。log step 602 选取右侧暴露边及左侧隆起处，log step 613 在保持夹持时沿相反 y 方向分拉后只略微下放；对应视频 6.3–8.5 s 可见毯子主要斜转，窄片及折回轮廓仍在，视频 18.27 s 仍未改善。该接触布局未有效打开折层；不能由画面进一步断定夹入了几层，也未验证可成功的替代抓点。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供逐帧状态日志，oracle/oracle.json 表明参考运行没有可用视频。评分器 reward 没有报告 DAG 所列八项原生指标的实测值，故 native_metrics 的 value 均为 null；log step 678 的 coverage_ratio=0.4444100533419332 是 agent 在其候选回放后的自行查询，作为辅助证据，不替代评分器指标。推断：视频可确定折叠未消除，但不能精确核对粒子高度、拉伸、净空及确认漂移，也不能确定抓点所夹布层数；抓取和接触设计的归因是由动作及布料响应作出的推断。 复核分歧（I1；DECISIONS.md N10，连续指标现象的当前处理）：审稿认为“残余折叠”等同于展平未达，要求删除；保留此项，因为视频 7.3 s 和 18.2 s 可直接看到毯子右侧折回的布边、与下层重叠的轮廓及低位视图中的隆起，描述的是具体材料缺陷，并非覆盖率等数值指标未过阈值。N10 当前要求记录结果中可见的缺陷，并不要求必须另有接触丢失或运动失败；现有接触、运动条目均不贴切，按 TAXONOMY_v2.md 规则7及 DECISIONS.md S16 使用“其他”及候选名。"
+ },
+ "summary_zh": "观察：交付的 651 动作轨迹中，机器人先后用左右二指夹爪捏住毯子并协同分拉，随后松开撤离，但视频末尾仍有大片折叠，毯子展平从未达成，末态为 0/1。推断：视频约 7.3 s 的分拉主要使折叠布片斜转，所选抓点与施力方向未充分打开折层，断点为毯子展平的操作中。观察：缺少逐帧状态日志和评分器原生指标实测值，无法精确拆分其余验收条件；log step 698–700 已丢弃的额外拉边及其过度拉伸不属于本条交付轨迹。",
+ "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、断点位置（blanket_flattened，操作中，约 7.3 s）和接触标注与视频相符；唯一需改的是失败现象：「其他·残余折叠」只是重述展平指标未达（N10），不是独立的可见失败现象。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点（blanket_flattened，操作中）、接触标注与视频相符；7.3 s 与 18.2 s 帧可见折回布边和隆起，按 N10 属可见缺陷，上一轮分歧已有证据解决，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": "2026-10-30T23:45:45Z",
+  "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-blanket-flatten-04-i01-privileged--abm2ytr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--abm2ytr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--abm2ytr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--abm2ytr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ed426f06c93c58ab1c14eaa8760b9e0ea91d4701178b7e2f429a05b886dd29cf",
+   "video_sha256": "6da7591ff7dbb7d904f2295354b709008b1fdcebff6b423168376e7b8343bd08",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--di43xtz.json

@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--di43xtz",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 100,
+   "physics_steps": 1000,
+   "sim_time_s": 2.499999999999995,
+   "final_reward": 0.0,
+   "replay_wall_s": 150.2,
+   "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": 65,
+   "agent_resets": 61,
+   "agent_sim_steps": 19714,
+   "agent_records": 32,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.539,
+   "peak_memory_gb": 3.114,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.398,
+   "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-04-i01-privileged--di43xtz/replay.mp4",
+  "duration_s": 2.6,
+  "fps": 15.0,
+  "frames": 39,
+  "sha256": "904cb99593b6119d1df9a17e67a8092340e40338900bcc157292da2d624a0ee8"
+ },
+ "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 高位视图显示蓝色毯子呈折叠后的窄片，左侧有折回与隆起；右上低位视图也可见起伏，未形成完整单层平铺。两只夹爪均在毯子外侧，与毯面分离。"
+     },
+     {
+      "t": 2.533,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–2.533 s 的全部39帧，含视频 1.6–2.533 s 的末段，两臂和夹爪始终停在原处，没有接近、夹持、拖动或展开毯子；末帧仍保留左侧折回和中前部隆起。该节点从未满足，机器人也未开始操作该节点，因此不列 contact_actual。"
+     },
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "观察：log step 59 的 agent 脚本在 reset、record_start 后只执行 hold(20)，随后 record_stop 并保存正式轨迹文件；log step 60 启动该脚本，log step 63 的目录结果显示该轨迹文件已存在。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 submitted_actions=20、n_actions=20、strict_goal_reached=0、success=0，结合视频中始终静止的双臂，与初始保底录制相符；会话后续测试中的抓取和展开计划不能计入本次评分轨迹。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 0.0,
+   "log_step": 59,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–2.533 s 中两臂始终保持初始姿态，夹爪没有接触毯子，毯子的折叠未被展开。log step 59 保存的是仅 hold(20) 的初���保底录制，评分器确认提交20条动作；评分尝试未启动毯子展平操作。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 0.0–2.533 s 全部39帧中机器人两臂均停在毯子两侧，夹爪始终未接触毯子，也没有展开动作。log step 59 的初始交付脚本只录制 hold(20)，与该回放相符。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，评分器未报告覆盖率、高度、拉伸、速度、漂移、净空及确认时长的具体数值；oracle.json 表明参考成功运行也没有视频可供比较。log step 59 明确保存保底录制，后续脚本（如 log step 320）仅在成功条件下覆盖交付文件；log step 321 的返回只是后台启动通知，最后的 log step 322 仍称等待测试结果。输入没有这些后台测试的完成结果，无法可靠区分展开控制未解决与交付更新问题，故根因留空；不从保底录制或预算耗尽反推规划、控制或交付错误。"
+ },
+ "summary_zh": "评分轨迹只保持初始姿态，毯子展平节点全程未达成，最终为0/1；视频 0.0–2.533 s 两爪始终未接触毯子，毯子仍保留明显折叠。断点为毯子展平的首步前，现象为没尝试，与 log step 59 保存的 hold(20) 保底录制相符。会话虽启动多次展开测试，但缺少后台测试完成结果，无法确证保底录制最终未被替换的具体根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：评分回放仅 hold(20)（n_actions=20），视频 0.0 与 2.533 s 帧中双臂静止、毯子仍折叠，节点未达成；断点首步前+没尝试成立，根因留空并附 gap_zh 可接受（后台测试无完成结果）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:17:01Z",
+  "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-blanket-flatten-04-i01-privileged--di43xtz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--di43xtz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e38c4db5ef2a72cac3ff5b563144617ad182201972847e382b021a6154994c01",
+   "video_sha256": "904cb99593b6119d1df9a17e67a8092340e40338900bcc157292da2d624a0ee8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--nfgzvcf.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--nfgzvcf",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 971,
+   "submitted_actions": 971,
+   "sim_steps": 1051,
+   "physics_steps": 10510,
+   "sim_time_s": 26.274999999999576,
+   "final_reward": 0.0,
+   "replay_wall_s": 973.4,
+   "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": 9,
+   "agent_resets": 14,
+   "agent_sim_steps": 4621,
+   "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": 0.92,
+   "peak_memory_gb": 4.612,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.606,
+   "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-04-i01-privileged--nfgzvcf/replay.mp4",
+  "duration_s": 26.333,
+  "fps": 15.0,
+  "frames": 395,
+  "sha256": "1601c15eab2f5ee949ead8ffb2cf21e910232cc87e32261058b345e245bb4171"
+ },
+ "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 的毯子呈折回后的窄片，近侧边和左端有折叠、重叠，初始不满足展平判据。"
+     },
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–7.13 s，机器人左爪向上、向桌后方运动，局部布片随爪形成隆起；视频 7.20–7.47 s，该布片脱离左爪并落回桌面，左爪继续空行，右爪仍夹住另一处毯边。"
+     },
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.5–11.5 s，机器人右爪夹持毯边抬起并向桌后方翻开，毯子的投影范围扩大，但左侧和后缘仍有明显折回与隆起，右爪也尚未松开。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 187,
+      "text_zh": "观察：视频 14.5–19.5 s，机器人左爪抵在毯面上，右爪向折叠区域下降、合爪并向桌后方牵拉，毯子局部移动但折叠没有消除；log step 187 的最终生成脚本记录了这一追加整理段。"
+     },
+     {
+      "t": 26.2,
+      "log_step": 204,
+      "text_zh": "观察：视频 22.0–26.2 s，两爪已经张开并撤离，毯子仍有一条显著重叠折边及竖起的角，没有铺成完整的平展单层；密看视频 25.0–26.2 s 未见恢复。log step 204 对最终交付文件的回放返回 success=False，评分器字段 strict_goal_reached=0，与画面相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 4.5–7.2 s，左右二指夹爪分别夹住毯子近侧的两处布片，右爪固定、左爪先抬起；左侧布片随后脱落。视频 9.5–13.5 s 主要由右爪夹持另一处毯边翻开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 15.5–19.5 s，左爪抵压中央折叠处，右爪同时下降到毯面并向桌后方移动，布面在夹爪下变形；这一整理段包含压推接触，未把每次合爪都认作成功抓握。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 7.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.2 s，机器人左爪翻边途中失去原先带起的布片，布片回落，左爪继续空行；右爪随后只展开了另一侧。视频 14.5–21.5 s 的再次整理没有修复展平状态，视频 22.0–26.2 s 仍可见折回、重叠和竖起的角，因此断在“毯子展平”这一步。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.4–7.13 s，左爪夹持处的布片随其上移而隆起；视频 7.20–7.47 s，布片从左爪处脱离并落回桌面，左爪继续抬高时两指间已没有布片，未把这一侧翻过折线。右爪仍握着另一侧，之后留下的折叠直至视频 26.2 s 仍未消除。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 7.2,
+    "log_step": 195,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 6.4–7.47 s 显示机器人在翻边时无法维持左侧夹持，视频 15.5–21.5 s 的接触整理也未恢复平展。log step 187 的交付脚本继续采用向褶皱下降、合爪、牵拉的动作；该次生成输出在 log step 195 报告多次 cloth-floor table guard（按布面高度限制夹爪下降的控制保护）停止。结合接触丢失与后续接触动作受限，将失败归于控制；现有证据不足以细分夹持几何、辅助抓取或运动跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法直接核对左爪脱布时的辅助抓取状态、夹持力或跟踪误差，故根因只标到控制。评分器未报告 DAG 所列八项连续指标，native_metrics 的数值均留 null；log step 195 的高度与覆盖率上界是 agent 脚本自算值，不作为评分器指标。参考成功运行没有视频，不能作画面对照；本次视频本身足以判定残余折叠和节点未达成。"
+ },
+ "summary_zh": "机器人双爪接触毯边并尝试翻开，右爪扩大了毯子的铺展范围，但唯一的“毯子展平”节点始终未达成，终态为 0/1。视频约 7.2 s 左爪失去带起的布片，后续整理未能消除折叠和隆起，撤爪后直到视频 26.2 s 仍未展平；证据支持控制问题，但缺少状态与接触力记录，不能细分控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、final=false、断点与“没保持住”现象和视频一致（末帧仍有折边与隆起），根因停在“控制”并写明证据不足，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": "2026-10-30T23:18:48Z",
+  "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-04-i01-privileged--nfgzvcf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--nfgzvcf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a93111bdb6b4a59e4389f53cd28e1a6861ffae126112e321554e9f1f2e244c7f",
+   "video_sha256": "1601c15eab2f5ee949ead8ffb2cf21e910232cc87e32261058b345e245bb4171",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--pcptgtf.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--pcptgtf",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 286,
+   "submitted_actions": 286,
+   "sim_steps": 366,
+   "physics_steps": 3660,
+   "sim_time_s": 9.150000000000063,
+   "final_reward": 0.0,
+   "replay_wall_s": 274.5,
+   "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": 1,
+   "agent_resets": 20,
+   "agent_sim_steps": 0,
+   "agent_records": 11,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.168,
+   "peak_memory_gb": 2.12,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.619,
+   "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-blanket-flatten-04-i01-privileged--pcptgtf/replay.mp4",
+  "duration_s": 9.2,
+  "fps": 15.0,
+  "frames": 138,
+  "sha256": "fe55e4d60eb534bdf894d553dc95e56da8d2d58ef29f65c94d0381a8b4e1c5b6"
+ },
+ "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 的高位及低位视图中，毯子呈窄条状折叠，边缘卷起，初态没有展开成完整单层毯面。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6–3.4 s，机器人两只二指夹爪各夹住一处布片并同步抬移，毯面随夹爪移动，中央和两侧形成明显悬起的折面。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6–5.2 s，机器人放低毯子并打开夹爪后，毯面仍有横贯中央的折回和两侧隆起；低位视图中仍有立起的毯面，没有铺成贴桌的单层片材。"
+     },
+     {
+      "t": 9.13,
+      "log_step": 88,
+      "text_zh": "观察：视频 5.8–6.4 s 左夹爪撤回时带动毯子重新折起；视频 8.2–9.13 s（含末帧）左侧布片仍贴近左爪并高高立起，其余毯面倾斜，未恢复展平。log step 88 对已保存的 286 行动作回放返回 success=False；评分器 strict_goal_reached=0，与视频未见合格展平状态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.6–2.4 s 左、右平行二指夹爪依次在毯面上闭合，视频 2.6–3.4 s 两爪分别捏住局部布片并同步抬移毯子；随后放低并张开。视频 5.8–6.4 s，张开的左爪在撤回中再次接触并拖带左侧布片，使毯子折起。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 3.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.6–4.4 s，机器人完成双爪移布、下放后，毯子仍呈带有折回和立起边面的凹槽状，展平操作没有形成完整贴桌毯面；视频 5.8–6.4 s 撤臂又带起左侧布片，直到视频 9.13 s 均未修复。断点锚定第一次下放后仍未铺平的位置。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留折叠和隆起",
+    "t": 3.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.6–5.2 s，机器人已下放并张开夹爪，毯子中央仍有长条折回，两侧及后缘仍立起，低位视图可见凹槽状截面，没有展成平铺单层。",
+    "note_zh": "候选名称：残留折叠和隆起。现有接触或运动条目没有直接描述柔性片材展开后仍保留折面、重叠与隆起；这里不是仅重述覆盖率阈值。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 5.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.8–6.4 s，机器人左侧张开的夹爪在撤回路径上接触并拖带毯子，左侧布片跟随夹爪抬升、毯面折拢；视频 8.2–9.13 s 仍保持该隆起状态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 3.8,
+    "log_step": 61,
+    "evidence_zh": "推断：视频 2.6–3.4 s，机器人双爪捏住同一折叠边带上的两处局部布片，同向抬移；视频 3.6–5.2 s 下放、张爪后，未被直接约束的边带仍横向折回并立起，没有随抓点搬运而铺平。这支持所选抓点及承载布局不足以展开剩余折面的接触设计失效，解释视频 3.8 s 附近第一次下放后的失败。log step 61 的抓取移布脚本在滚边顶部按压夹取，记录接受的两处材料坐标为左 mat_y=0.102、右 mat_y=0.174，再将两处抓点同向搬运、下放；log step 83 重放该 204 行序列，log step 84 将它接上撤回动作保存为最终 286 行，与视频动作顺序相符。这里只用这些日志确定抓点和动作方案，不将其他会话试验的指标当作本轨迹读数。没有证据证明展平目标或跨阶段顺序本身不可行，也没有验证另一接触方案能成功，故按 docs/03_trajectory.md Step 3.3 归入抓取和接触设计，alt_feasible 为未知。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 84,
+    "evidence_zh": "推断：log step 84 将原有 204 行抓取移布动作接上预先计算的抬爪、关节插值回位及保持动作，保存为最终 286 行；该撤回段没有依据残余隆起调整避让路径。视频 5.8–6.4 s，机器人张开的左爪在撤回中接触并拖带左侧布片，使其重新折起，视频 8.2–9.13 s 仍未修复。此根因只解释视频 5.8 s 之后的恶化，不解释视频 3.8 s 第一次下放后已有的残留折叠；证据不足以进一步区分轨迹或逆解、反馈控制等子类。log step 88 对已保存的 286 行动作回放返回 success=False。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有可用的 oracle 视频，无法精确核对粒子高度、拉伸、辅助抓取解除和净空。评分器未报告 DAG 所列八项原生指标的数值，均填 null；log step 89 自述末态覆盖约 0.53，但 log step 82 的约 0.53 属于另一次 416 行会话测试，最终提交在 log step 84 改为 286 行，不能把该测试数值归给本轨迹。材料塑性或具体失抓原因未被本轨迹的独立状态证据确认。 抓取和接触设计的可行替代为未知：inputs/oracle/oracle.json 仅确认有成功记录，没有可用视频或状态日志可核验其接触布局；log step 78–82 的后续会话试验未验证成功替代，也不能据 agent 对塑性折痕的解释断言所有抓点或展平方案都不可行。"
+ },
+ "summary_zh": "机器人双爪夹住毯子局部并抬移、下放，但视频 3.6–5.2 s 仍有明显折回和隆起，展平节点全程未达成，最终为 0/1。视频及最终提交所用抓取移布序列支持抓取和接触设计未能展开残余折面，可行替代方案未知；视频 5.8–6.4 s 左爪撤回又拖带毯子折起，另以控制失效解释这段后续恶化，直到视频 9.13 s 未修复。没有状态日志或最终定量指标，另一次会话测试的覆盖率不用于本轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点位置与视频一致（展平全程未达成，3.6–5.2 s 下放后仍有折回，5.8–6.4 s 撤臂拖带）。但根因只解释了撤回段，不能解释断点 3.8 s 处下放后就已未展平的失败。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点位置（视频 3.8 s 首次下放后仍折叠）、接触与第二轮新增的抓取和接触设计根因均与视频及日志一致；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": "2026-10-30T23:46:17Z",
+  "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-flatten-04-i01-privileged--pcptgtf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--pcptgtf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--pcptgtf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--pcptgtf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "452cef2959dddff8accfe778536a308d5e29e5d9bba6bf3bf1fe54abd4732ee0",
+   "video_sha256": "fe55e4d60eb534bdf894d553dc95e56da8d2d58ef29f65c94d0381a8b4e1c5b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--qry8xs5.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--qry8xs5",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 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": 1172,
+   "submitted_actions": 1172,
+   "sim_steps": 1193,
+   "physics_steps": 11921,
+   "sim_time_s": 29.802499999999377,
+   "final_reward": 0.0,
+   "replay_wall_s": 917.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 21,
+   "replay_tolerance_needed": 1,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "agent_sim_steps": 4097,
+   "agent_records": 0,
+   "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,
+   "regrade_0130": {
+    "tag": "roboarc-248",
+    "old": 1,
+    "new": 0,
+    "why": "#248 strict goal within rows: strict_goal_reached=0",
+    "at": "2026-10-15 13:15:25"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-flatten-04-i01-privileged--qry8xs5/replay.mp4",
+  "duration_s": 29.933,
+  "fps": 15.0,
+  "frames": 449,
+  "sha256": "e2fa9ff654ccd6a0ae1a30348035c9065a76b3f0c65e725635644f1ad6ab170c"
+ },
+ "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 毯子在桌面呈窄条状，前缘有折回和重叠，初始不满足展平条件。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5–9.0 s 左右二指夹爪各捏住一块毯边并同步抬起、向桌后方展开，毯面从窄条展开为较宽片材；视频 13.5–15.0 s 两爪已松开，仍有内折边角。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 19.5–23.0 s 两爪再次夹住毯子前侧的不同布片，抬起并向外拉；视频 24.5–26.5 s 松爪撤离时部分毯面随手指抬起，随后落回桌上。"
+     },
+     {
+      "t": 29.8,
+      "log_step": 142,
+      "text_zh": "观察：视频 26.5–29.8 s 毯子主体落在桌上，两爪撤离，但主视图左上和右下的角仍向内折回，轮廓未恢复完整矩形；末秒密集帧未见角重新展开。log step 142 对提交的 1172 行动作进行第二次 grading 回放，返回 strict_success=False、success_in_hold=True、tolerance_needed=True；其末态任务原生 evaluate_state 读数 coverage_ratio=0.9300166582、covered=False。"
+     },
+     {
+      "t": null,
+      "log_step": 143,
+      "text_zh": "推断：log step 87 选回 1172 行 fallback，log step 113 确认提交文件与该候选逐项相同，log step 143 最终校验元数据 strict_goal_reached=False；评分器 reward.strict_goal_reached=0，regrade_0130 明确以“strict goal within rows”改判失败。结合视频始终有折叠或持物及末态折角，严格展平节点从未达到；两次末尾放宽验收通过不足以满足本次最终评分规则。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.5–12.5 s 左、右平行二指夹爪分别夹住毯子折边上的不同布片并同步抬起、展开、放低；视频 19.5–23.0 s 又共同捏住前侧两处布片进行局部展开，之后依次松爪撤离。每只夹爪各自夹住布片，属于双臂协作抓握。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 26.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 26.5 s 最后一轮拉展与撤爪后，毯子落桌，但左上及右下角仍折回；视频 27.0–29.8 s 机器人不再处理这些角。评分器 strict_goal_reached=0，重评分原因是提交动作内未达到严格目标，唯一的“毯子展平”步骤未完成。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残留折叠",
+    "t": 26.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.5–29.8 s 毯子主体已贴桌，主视图左上角和右下角呈内折的斜边，可见局部布面折回；机器人松手后这些角仍未铺开。",
+    "note_zh": "候选名称：残留折叠。现有接触、运动和全身条目未覆盖柔性片材局部仍折回的结果；不能把它等同于抓取滑脱、放后倾倒或刚体位姿偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 143,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 73 中 agent 已明确自述“约93%覆盖、还留两个折角”，并知道严格门槛是95%；log step 111 和142 的回放结果都明确 strict_success=False，只在末尾放宽保持段成功。agent 在 log step 112、143 据两次回放 success=True 判定已通过，log step 143 校验提交文件 strict_goal_reached=False 后仍关闭会话，log step 145 以93%覆盖和放宽验收通过作最终交付。run.json 的 wall_s=1825、time_limit_s=10800 表明尚有预算；据此判断将放宽回放成功误作任务完成影响了停止，而不是由失败分数反推原因。"
+   }
+  ],
+  "gap_zh": "无粒子状态日志，无法由画面精确复算投影并集、逐点速度、净空及漂移，也不足以进一步确定折角未展开的控制子因。reward 未逐项报告 DAG 的八项原生指标，因此 native_metrics.value 均留 null；log step 111、142 的已提交候选回放末态原生评估读数仅作为相关证据。参考成功运行也无视频。"
+ },
+ "summary_zh": "机器人双爪完成两轮展开并松手撤离，毯子主体已贴桌，但末段仍有两个折回的角，唯一的毯子展平节点最终为0/1。两次回放仅在放宽保持段通过，提交动作内严格目标从未达到，评分器据此由原成功记录改判失败；agent 将放宽回放成功作为完成依据后停止。没有粒子状态日志，精确几何与稳定性阈值不能从画面复算，未进一步推定控制子因。",
+ "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、末态折角、断点与误以为完成根因均有视频与日志（log step 73/112/143/145）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": "2026-10-30T23:36:34Z",
+  "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-blanket-flatten-04-i01-privileged--qry8xs5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--qry8xs5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15c2a43528a6491aeb170cb0ea6dbe6b8f716614fbb52a2cc76789088cd573c2",
+   "video_sha256": "e2fa9ff654ccd6a0ae1a30348035c9065a76b3f0c65e725635644f1ad6ab170c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--sp9wjpd.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--sp9wjpd",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 5,
+   "submitted_actions": 5,
+   "sim_steps": 85,
+   "physics_steps": 850,
+   "sim_time_s": 2.1249999999999964,
+   "final_reward": 0.0,
+   "replay_wall_s": 111.8,
+   "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": 1,
+   "agent_resets": 10,
+   "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": 0.979,
+   "peak_memory_gb": 2.237,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.477,
+   "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-04-i01-privileged--sp9wjpd/replay.mp4",
+  "duration_s": 2.2,
+  "fps": 15.0,
+  "frames": 33,
+  "sha256": "ac529a6ff8402592465e26e3f1b8f97d9f4f4da942497c504fa951600ce02a15"
+ },
+ "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 0.00 s 的高位视图中，蓝色毯子呈窄片状，左侧及近侧有折回、隆起和重叠；低位视图也可见起伏，毯面未展开成完整单层。两只夹爪悬在毯子两侧上方，与毯面分离。"
+     },
+     {
+      "t": 2.133,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00–2.13 s 的全部33帧，包括视频最后1秒，双臂与毯子均无可见展开动作；视频 2.13 s 末帧仍保留相同折回和重叠，毯子展平条件始终未成立。"
+     },
+     {
+      "t": null,
+      "log_step": 7,
+      "text_zh": "观察：log step 7 的初始化脚本在 reset 后录制 hold(5)，停止录制并保存 trajectory.npz，代码将其称为 initial placeholder trajectory。评分器字段 submitted_actions=5、replay_hold_steps=80、success=0，与视频中的保持初态一致。"
+     },
+     {
+      "t": null,
+      "log_step": 158,
+      "text_zh": "推断：log step 158 的调试输出虽报告 coverage_ratio=0.9628556 且局部 evaluate_state 为真，但视频没有这些展开动作；log step 162–163 仍在查阅保存与回放函数，评分器记录 agent_replays=0、submitted_actions=5。因此调试结果不属于已提交的评分回放，不能记为该节点达成。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 164,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–2.13 s 仅见机器人保持初始姿态，未开始接触或展开毯子；log step 7 保存的是5步保持占位文件，log step 162–163 尚��检查保存及评分回放实现，log step 164 出现 Gemini 过滤中断提示。推断：中断发生在调试动作完成交付和回放验证之前，视频中也无先前物理失败事件，故不指定机器人失败步骤。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 164 记录模型提供方过滤中断；评分器记录 agent_records=1、agent_replays=0、submitted_actions=5，日志仅在 log step 7 保存初始化保持占位文件，未见后续展开动作被保存并验证。推断：这是交付定稿前的外部中断，应重测并排除出机器人失败归因；不将占位回放标为“没尝试”，也不由其反推交付或控制根因。观察：inputs/ 无状态日志，oracle.json 指明参考运行无视频；评分器未报告 DAG 的8项连续指标，故这些值均为 null，不能使用 log step 158 的会话调试数值替代。"
+ },
+ "summary_zh": "观察：评分视频 0.00–2.13 s 中机器人双臂始终悬在毯子两侧，毯子保留初始折回、重叠和起伏，毯子展平节点未达成，最终为0/1。推断：评分回放对应 log step 7 保存的5步保持占位文件，log step 158 的调试展开结果未进入该文件；log step 164 的模型过滤发生在更新交付和回放验证之前，按外部中断处理，现象与根因留空。观察：无状态日志且评分器未报告连续指标，无法量化该回放的覆盖率、高度、拉伸与确认窗口。",
+ "conf": 9,
+ "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、最终0/1、因提供方过滤中断而现象与根因留空并写 gap_zh，均有 log 与评分器字段支持；日志中仅 step 7 保存过5步保持占位文件，之后未再保存，未见需改动之处。",
+    "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": "2026-10-30T23:28:37Z",
+  "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-flatten-04-i01-privileged--sp9wjpd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--sp9wjpd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fc719a9b05c726bbb38d003ceacc00cee1a1a634abe725962b687600e54bd3cd",
+   "video_sha256": "ac529a6ff8402592465e26e3f1b8f97d9f4f4da942497c504fa951600ce02a15",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--i3zdzmw.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--i3zdzmw",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 24225,
+   "live_rows": 24225,
+   "sim_steps": 24225,
+   "physics_steps": 242250,
+   "steps": 23999,
+   "elapsed_s": 10478.7,
+   "replay_wall_s": 7727.3,
+   "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-blanket-flatten-04-i01-standard--i3zdzmw/replay.mp4",
+  "duration_s": 605.733,
+  "fps": 15.0,
+  "frames": 9086,
+  "sha256": "dd12c59d6846db35b171b113af443fdb3477ed2edce6ea1564d2ee63583429b6"
+ },
+ "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，高位视图中蓝色网格毯子呈窄片状，左前部及前缘有折回和起伏；低位视图可见叠层与翘起，初态不是完整单层平铺。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36–49 s，机器人左爪贴近毯面移动，把局部布片带起成褶脊并拖动毯子；视频 50–55 s 左爪离开，毯子仍为折叠的窄片，未展开为完整单层。"
+     },
+     {
+      "t": 527.0,
+      "log_step": null,
+      "text_zh": "观察：视频 519–531 s，机器人左爪合拢处带着局部毯面上升并横移，低位相机可见明显悬起的毯面，另一端仍在桌上；视频 532–538 s 左爪下降并离开后，毯子留下大片聚拢、折回与重叠。"
+     },
+     {
+      "t": 575.0,
+      "log_step": null,
+      "text_zh": "观察：视频 568–578 s，机器人左爪沿桌面拨动、扫过毯子，毯子转动和聚拢，中央褶皱与重叠仍明显；视频 580 s 双爪已张开，毯子没有变成完整平铺片材。"
+     },
+     {
+      "t": 605.667,
+      "log_step": null,
+      "text_zh": "观察：视频 605.0、605.2、605.4、605.6 s 及末帧视频约 605.667 s，机器人双爪张开并静止，毯子中央仍有厚实折脊、收窄部和大片折回，低位视图可见起伏；展平判据在终态不成立。"
+     },
+     {
+      "t": null,
+      "log_step": 197,
+      "text_zh": "观察：log step 197 的实时服务返回 control_steps=24225、done=False；inputs/run.json 的评分器字段 live_success=0、replay_success=0、deterministic=1、live_matches_replay=1、resumes=0，与视频中未展开的终态一致。未用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 519–531 s，机器人左侧二指夹爪合拢夹住局部蓝色布片，布片随爪升起并横移；右爪未同时夹持毯子。此前左爪多次沿毯面压拨，后于视频 568–578 s 沿桌面推/扫毯子，这些依次发生的接触使毯子移位、聚拢；不把所有闭爪动作都算作成功抓住，也不据此断言辅助抓取已触发。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 39.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 36–49 s，机器人左爪操作毯子时形成褶脊并拖移折毯，视频 50–55 s 离开后折叠仍在；随后多次操作未完成这一节点，视频 519–538 s 的局部抬起、横移和落桌使毯子进一步堆叠，视频约 605.667 s 仍未铺成单层。断点取正在操作且最终未修复的“毯子展平”，视频 39 s 为早期失败操作的导航锚点。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "折叠堆积",
+    "t": 535.0,
+    "log_step": null,
+    "note_zh": "候选名：折叠堆积。现有现象条目没有准确表达柔性片材折回、重叠和聚拢的形变结果，故使用其他。",
+    "evidence_zh": "观察：视频 39–49 s 左爪操作后毯面出现折脊；视频 519–531 s 左爪带起局部布片后，视频 532–538 s 毯子落桌呈两团相连的折叠形态；视频 568–578 s 扫动后中央继续堆积，直到视频约 605.667 s 仍有大片折回和重叠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 527.0,
+    "log_step": 185,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 519–531 s 左爪只牵起局部布片，其余毯面被拖拢，视频 532–538 s 落桌后保留大片折回；视频 568–578 s 的贴桌扫动又使毯面聚拢。log step 181、185 的脚本采用单爪低位滑入后抬起、横移、下降，log step 189 改为开爪贴桌扫动；这些接触与牵引组合实际没有使折回层相对其余毯面充分翻开，支持抓取和接触设计不适配的归因。无法从画面判定每次夹住几层，也未验证可行的替代接触方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志，inputs/oracle/oracle.json 也注明参考成功运行无视频；评分器未报告 DAG 所列八项原生指标，故其 value 均为 null。画面可判断未展平，但不能量化投影并集面积、材料边拉伸、全部粒子高度、速度、漂移和碰撞盒净空，也不能确认辅助抓取内部状态。agent 在 log step 198 自述从未持住毯子，但视频 519–531 s 明确显示左爪带起并移动局部布片，接触标注以视频为准；具体单层夹取机制与可行替代仍未验证。"
+ },
+ "summary_zh": "机器人主要用左爪尝试夹取、抬起和拖动毯子，后又贴桌扫动；毯子始终未形成完整单层平铺，最终“毯子展平”为 0/1。失败发生在展平操作中：局部牵引和扫动使毯子形成折脊并进一步聚拢，支持接触设计不适配的推断，末帧视频约 605.667 s 仍有明显折叠堆积。视频 519–531 s 实际出现持布移动，不能采用 agent 在 log step 198 所称“从未持住”的概括；无状态日志及逐项评分指标，无法量化各验收余量。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点“毯子展平”未达成、final=false 与视频一致（初态半折窄片，终态更皱更聚拢）；左爪单手抓握、断点、折叠堆积现象和接触设计推断均有视频与日志支持，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": "2026-10-30T23:38:17Z",
+  "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-flatten-04-i01-standard--i3zdzmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--i3zdzmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54a8e028fa6323119ad92a4efde057fab5f5189aaa57581a64eabd819d70671f",
+   "video_sha256": "dd12c59d6846db35b171b113af443fdb3477ed2edce6ea1564d2ee63583429b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kbet766.json

@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--kbet766",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 13197,
+   "live_rows": 13197,
+   "sim_steps": 13197,
+   "physics_steps": 131970,
+   "steps": 2662,
+   "elapsed_s": 7174.4,
+   "replay_wall_s": 4345.4,
+   "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-04-i01-standard--kbet766/replay.mp4",
+  "duration_s": 330.0,
+  "fps": 15.0,
+  "frames": 4950,
+  "sha256": "bd6b853af194b89ebd3086743604d92f4c75b98c4ec9bf506b0a642b3ab87f99"
+ },
+ "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 的毯子呈窄的折叠片状，尚未展开；视频 6.1–12.1 s 两爪夹住上层布片翻开，毯面扩大，但两爪仍在毯边，没有完成松手撤离。"
+     },
+     {
+      "t": 14.5,
+      "log_step": 27,
+      "text_zh": "观察：log step 27 的机器人控制脚本依次执行 release open、release up 和 release park；视频 13.5–17.7 s 毯边随撤臂抬起，左爪离开后右爪仍牵住布角，毯面聚拢成有明显折叠的形状。"
+     },
+     {
+      "t": 288.0,
+      "log_step": 150,
+      "text_zh": "观察：视频 280–291 s 机器人再次用两爪捏住不同布片、抬起拉展并向桌面铺放；视频 292–303 s 仍有大片折回和隆起，未铺成完整单层平面。"
+     },
+     {
+      "t": 329.9,
+      "log_step": 156,
+      "text_zh": "观察：视频 329.0–329.93 s 的全部末秒帧显示右爪附近仍有布片被带起，毯面保持折叠，左爪已离开；log step 156 已发送 R open 和 R up，随后输出夹爪开度约为左 0.0572、右 0.0220。评分器 live_success=0、replay_success=0，与末尾未展平、未脱离右爪的画面一致。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 25,
+      "text_zh": "推断：这是评分器记录的单次实时回合（sim_startups=1、resumes=0、live_matches_replay=1）。log step 22 的服务读数为 293 个控制步、仿真 7.325 s，故每步 0.025 s；log step 25 的翻开动作结束于 488/40=视频 12.2 s，已用视频 12.1–12.6 s 的翻开停留核对；最终 13197/40=视频 329.925 s 与视频末帧相符。全程未见同时满足展平、松手和撤离的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.9–12.1 s 左右二指夹爪各捏住上层布片的一处并共同翻开；视频 284–291 s 两爪再次分别捏持不同布片、共同抬起和拉展后铺回。期间还依次用单爪改抓、拉动毯边，另一爪有时牵住另一侧；这些单爪动作归入同一展平过程。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 14.5,
+   "log_step": 27,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 13.5–17.7 s，在 log step 27 的释放撤臂阶段，右爪没有脱离毯子，而是把布角带起，毯面重新聚拢；此后机器人持续改抓和重新铺放，直到视频 329.93 s 仍有大片折叠且右爪附近布片悬起，毯子展平节点从未完成。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 14.5,
+    "log_step": 27,
+    "evidence_zh": "观察：log step 27 已命令两爪张开并抬起撤离，视频 14.0–17.7 s 右爪仍牵着毯角，毯边跟随右爪上升并将毯面收拢。相同问题在末尾再现：log step 156 发送右爪张开和上移，视频 329.0–329.93 s 布片仍随右爪悬起，未完成脱离。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 14.5,
+    "log_step": 27,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：释放与撤离的控制没有可靠消除夹爪和布料的接触。log step 27 的脚本张开后立即执行上移和撤臂，服务在 release up 中报告 table guard 截停；视频 14.0–17.7 s 随即出现毯角被牵起和毯面聚拢。log step 156 再次张开、上移后，右爪开度仍约 0.0220，视频 329.0–329.93 s 仍见布片挂在右爪附近；因此可确定释放控制未奏效，但不足以细分为接触几何、轨迹跟踪或反馈问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有可用的 oracle 视频；评分器未报告 DAG 所列八项连续验收指标，native_metrics 的 value 均为 null。相机与日志能确认折叠、悬起和释放失败，不能区分残留辅助抓取与被动勾挂，也不能确定释放控制失效的更细子类；agent 自算的投影面积和高度不作为评分器指标。"
+ },
+ "summary_zh": "机器人用双爪翻开初始折叠毯，并多次改抓、抬起、拉展和铺放，但毯子展平节点始终未完成，最终为 0/1。视频约 14.5 s 的释放撤臂阶段，右爪未脱离布角并把毯面重新聚拢；末秒仍有折叠和右爪附近悬起的布片，证据支持释放控制失败。没有状态日志和评分器连续指标，无法精确区分勾挂、辅助抓取残留及具体控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点未达成、断点在 14.5 s 释放撤臂阶段，与帧一致：右爪张开上抬时仍牵着毯角，毯面聚拢；末帧仍折叠。时钟换算（488 控制步=12.2 s）与 log 吻合，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": "2026-10-30T23:34:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--kbet766/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--kbet766/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5ae053910223a8b938ebfc601228bad00069f6036e40568c3b285b77bdcc1afd",
+   "video_sha256": "bd6b853af194b89ebd3086743604d92f4c75b98c4ec9bf506b0a642b3ab87f99",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kufq5be.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--kufq5be",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 10777,
+   "live_rows": 10777,
+   "sim_steps": 10777,
+   "physics_steps": 107770,
+   "steps": 5111,
+   "elapsed_s": 10756.2,
+   "replay_wall_s": 3518.4,
+   "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-04-i01-standard--kufq5be/replay.mp4",
+  "duration_s": 269.533,
+  "fps": 15.0,
+  "frames": 4043,
+  "sha256": "4961973bee622a04274b0cff18d16fb1b274d743e376150be144ed3d3629e307"
+ },
+ "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 的毯子呈窄条状，左右边角折回、前缘有重叠，初态并未展平。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 145,
+      "text_zh": "观察：视频 12–16 s 两爪分别在左右折边闭合，毯边被抬动；视频 24–28 s 右爪夹持布片向外移动后松开，毯子仍有折回层。log step 145 的脚本命令两爪抓取并抬升，与该段动作相符。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53–61 s 左爪夹住近侧布片拉开后松开，毯子铺开的范围增加；视频 66–248 s 右爪反复接近、闭合、抬升或撤回，左上折角始终可见，未出现完整单层铺平状态。"
+     },
+     {
+      "t": 258.4,
+      "log_step": 979,
+      "text_zh": "观察：视频 254.8–257.6 s 左爪压在左上卷折附近，视频 258.0–260.0 s 撤回时把该处及相邻毯面带起，视频 260.4–263.0 s 松开后留下横向卷折和拱起。log step 979 的压平脚本在接触及撤回期间均维持闭爪，只在回到初始臂姿后张开。"
+     },
+     {
+      "t": 269.4,
+      "log_step": 1025,
+      "text_zh": "观察：视频 268.6–269.4 s 毯子左上部分仍折回并隆起，左爪仍贴近卷折，右爪张开停在侧方；没有完成平铺和撤离。log step 1025 仅自述已启动后续展开、释放脚本并等待执行，画面未显示该脚本完成；评分记录 live_success=0、replay_success=0、live_matches_replay=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12–16 s 左右二指夹爪分别在毯子两侧折边闭合夹持；随后依次进行单爪操作，视频 24–28 s 右爪夹住右侧布片移动后松开，视频 53–61 s 左爪夹住近侧布片拉开后松开。两爪并非靠两只手从外侧挤压夹住整张毯子。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 254.8–257.6 s 左侧闭合夹爪下压左上卷折；视频 258–260 s 撤回时布料又随左爪抬起，未保持为平铺状态。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 258.0,
+   "log_step": 979,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 258–260 s 机器人左爪在压卷折后撤回，毯面随之被提起并形成更大的折回；视频 260.4–263 s 释放后仍有明显卷折，后续左爪再次接近处理但至视频 269.4 s 未消除。唯一的展平步骤始终未完成。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "残余折叠与拱起",
+    "t": 258.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 258.4–260.0 s 左爪带起毯子左侧，视频 260.4–263.0 s 放下后有一条明显折回的隆起；视频 268.6–269.4 s 该处仍重叠而非单层贴桌。此前视频 60–248 s 左上折角也一直存在。",
+    "note_zh": "候选名称：残余折叠与拱起。现有接触和运动条目没有描述柔性片材展开不足的直接结果；这里可见的是卷折未消除，而非仅以评分失败重述指标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 258.0,
+    "log_step": 979,
+    "evidence_zh": "推断：log step 979 的压卷折脚本在下压前闭合左爪，接触后仍以闭爪状态抬升并回到初始臂姿，最后才张开；视频 255–257.6 s 的下压和视频 258–260 s 毯面随爪升起、视频 260.4 s 后残留折回与此相符。该接触及释放安排使本来要压平的布片被重新带起，扩大了未消除的卷折；不是仅凭未成功推测控制原因。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分记录也未报告 DAG 所列八项原生指标，无法量化覆盖、拉伸、净空或连续确认窗口；log step 938、990 等是 agent 自行计算的深度/凸包估计，不当作评分器数值。参考成功记录只有 inputs/oracle/oracle.json，没有参考视频。最终后续脚本在 log step 1025 仅报告启动，不能把未在本次视频中完成的释放和撤离计为达到。"
+ },
+ "summary_zh": "机器人通过双爪及随后单爪抓取、移动和松开，使毯子部分展开，但左上折角始终未消除，毯子展平节点最终为 0/1。视频约 258–260 s 的闭爪压后撤回又带起毯面，落下形成更明显的卷折；接触及释放安排不当支持控制·抓取和接触设计，最后一秒仍未铺平。无状态日志和评分器分项指标，不能给出精确覆盖率等数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毯子展平节点最终未达成（0/1）与视频一致：视频 252–269 s 左上折边始终存在，258–260 s 左爪撤回带起毯面，卷折残留；断点、接触、现象和根因均有画面和 log step 979 脚本支持。log step 145 与视频 12–16 s 的对应较弱，但不改变任何节点值。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:42:37Z",
+  "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-flatten-04-i01-standard--kufq5be/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--kufq5be/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e3db6d3ebcdde4525fcdfbae125fc8aec310d546eaa155af68829480990a3e15",
+   "video_sha256": "4961973bee622a04274b0cff18d16fb1b274d743e376150be144ed3d3629e307",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rfw8uej.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--rfw8uej",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 9494,
+   "live_rows": 9494,
+   "sim_steps": 9494,
+   "physics_steps": 94940,
+   "steps": 4070,
+   "elapsed_s": 10065.5,
+   "replay_wall_s": 5576.7,
+   "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-blanket-flatten-04-i01-standard--rfw8uej/replay.mp4",
+  "duration_s": 237.4,
+  "fps": 15.0,
+  "frames": 3561,
+  "sha256": "bf144a71b36345fb94d030cf7774e2d26727920251c0535ddcb016f7387517d1"
+ },
+ "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 毯子在桌面上呈狭长的折叠片，左侧有褶皱，远边保留折回结构；初始不满足展开成完整单层片材的判据。"
+     },
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–24.0 s 机器人在近侧布边闭爪并抬起左爪，毯子仍留在原桌面位置，没有随夹爪提起展开；视频 148.0–177.0 s 双臂再次压触布面、闭爪及抬手，大片折叠仍在。"
+     },
+     {
+      "t": 237.33,
+      "log_step": 241,
+      "text_zh": "观察：视频 236.4–237.33 s 两臂已张爪撤至毯子上方较远处，毯子仍是约初始纵深的狭长折叠片，左侧仍有重叠和褶皱；log step 241 的机器人服务状态为 control_steps=9494、done=False，评分器 live_success=0、replay_success=0。大片折叠未打开，故展平节点最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 148.0–150.0 s 右夹爪在远侧折边压住毯子，左夹爪在近侧布面压擦，局部褶皱随接触改变；视频 206.0–216.0 s 又有右爪压住远边、左爪在中央下压的配合。前后也有单爪依次压擦；未见布片被对向指腹夹持并随抬手带起。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 190.0–200.0 s 左夹爪单独在毯子中部向远边推拢布面，局部布料隆起、堆皱，右夹爪已抬离；布片未被夹住展开。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 20.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 20.0–24.0 s 机器人闭合的左夹爪向上抬离布边，布片没有跟随，毯子仍折叠在桌上；随后多次换点闭爪及双臂压擦均未把大片折叠打开，直到视频 237.33 s 仍未修复。断点为正在操作的“毯子展平”。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 20.0–24.0 s 左爪闭合抬起后布边留在桌上，视频 175.0–177.0 s 再次抬手也未带起布片；机器人虽能压触、推皱布面，但未建立展开上层布片所需的夹持接触。log step 89 的闭爪扫描从目标间距 35.6 mm 到 0 mm，实测基本随目标闭合，脚本输出 contact at cmd None；log step 195 的双爪测试输出 hits: False False，与画面一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：所用向下接近姿态与闭合位置没有使布片进入两侧指腹之间，结果是指尖压推布面、闭爪后空抬，无法把上层布片翻开。视频 22.0 s、149.0 s 的腕部与高位视图可见夹爪靠近布边而布片仍在桌面，视频 175.0–177.0 s 抬手没有携布；log step 160 显示逐次降低目标高度后 TCP 实测停在约 0.053 m，闭合间距仍随命令由约 15.6 mm 缩到 5.4 mm，抬起后无有效夹持，log step 195 的双爪测试同样未夹住。可行替代抓法未在本次证据中验证。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，且 oracle 只有成功记录而无参考视频；不能直接核验辅助抓取内部状态、接触对、材料应变或精确验收量。评分器未报告 DAG 所列的八项连续指标，native_metrics 均为 null；log step 241 的高度和栅格面积是 agent 自行从图像计算的估计，不作为评分器指标。agent 在 log step 248 将失败归于指腹高于布面，其具体几何尺寸及所谓可达最低高度尚未独立核实，不能据此判定所有合法抓法都不可行。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "机器人反复尝试闭爪提布、单爪推拢和双臂压擦，并在末尾张爪撤离，但毯子一直保留大片对折，“毯子展平”未达成，最终为 0/1。视频约 20.0 s 起可见闭爪抬手未带起布片，后续也未修复；结合闭爪读数，推断抓取接触几何不适配，未建立有效夹持。缺少状态日志和评分器连续指标，不能量化各项验收条件或验证辅助抓取内部状态。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毯子展平节点最终为假、断点在毯子展平（操作中）、没建立接触加抓取和接触设计的归因均与帧和日志一致，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": "2026-10-30T23:37:29Z",
+  "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-04-i01-standard--rfw8uej/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--rfw8uej/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7a2824ba0ad3a8f8209a3c089b6b71e0f908b9a889dc54507b26c24377c76f74",
+   "video_sha256": "bf144a71b36345fb94d030cf7774e2d26727920251c0535ddcb016f7387517d1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rsdvtnl.json

@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--rsdvtnl",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 10111,
+   "live_rows": 10111,
+   "sim_steps": 10111,
+   "physics_steps": 101110,
+   "steps": 2385,
+   "elapsed_s": 10608.5,
+   "replay_wall_s": 4391.9,
+   "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": 0.312,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.931,
+   "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-04-i01-standard--rsdvtnl/replay.mp4",
+  "duration_s": 252.867,
+  "fps": 15.0,
+  "frames": 3793,
+  "sha256": "a67eafb6d1d370398ecc5396bd2999c22da246e51c638322d31afe4efbcfabe5"
+ },
+ "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 的高位及低位视图中，蓝色毯子呈窄片状，左侧及近侧可见折回、叠层与隆起，初始未展平。"
+     },
+     {
+      "t": 7.4,
+      "log_step": 35,
+      "text_zh": "观察：视频 4.0–9.7 s 中机器人双爪下降、合拢后向外移动并抬起，毯子的原位置和折叠轮廓基本不变，未见布片被两指夹住并随爪抬起；log step 35、44 分别记录试拉和抬升动作执行结束。"
+     },
+     {
+      "t": 33.0,
+      "log_step": 86,
+      "text_zh": "观察：视频 27.0–36.0 s 中机器人再次以双爪在毯面上方下降、闭合和向外试拉，腕部视图中两指合拢后未带起布片，毯面仍是原来的窄幅折叠形状；后续粗查覆盖视频全程，未见完整单层展开。"
+     },
+     {
+      "t": 248.0,
+      "log_step": 505,
+      "text_zh": "观察：视频 236.0–250.0 s 中左爪在毯子左侧和边缘反复下探、抬升及移动，只使局部折角和皱褶变化，没有展开大块重叠层。log step 505 的服务输出记录最后一次试拉结束时 done=false。"
+     },
+     {
+      "t": 252.6,
+      "log_step": 541,
+      "text_zh": "观察：视频 251.8–252.6 s（含末尾一秒）两爪张开，左爪抬离毯面，毯子仍为窄幅折叠片，左侧有明显斜向折回，近侧有隆起与重叠，未达到单层展平；log step 541 的实时机器人服务最终状态为 control_steps=10111、done=false，评分器 live_success=0、replay_success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 6.5 s、33.0 s 左右，两只平行二指夹爪同时从上方下探并触压毯子两处，闭爪试拉没有形成可确认的布片夹持；随后改为单爪依次探边，视频 248.0 s 左爪触压并擦动左侧局部折皱。未将空闭爪或仅触压记为抓握。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 7.4,
+   "log_step": 35,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.5–8.0 s 双爪首次闭合后试拉、抬升，布片没有随动，展平操作未建立有效夹持。此后机器人反复更换姿态与落点，直到视频 252.6 s 毯子仍明显折叠，该节点始终未完成；log step 35、44 记录首次试拉与抬升，log step 544 的 agent 最终报告承认未能展平。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.4,
+    "log_step": 35,
+    "evidence_zh": "观察：视频 6.5–9.7 s、31.0–36.0 s 中，机器人双爪合拢后移动，但布片没有进入并保持在两指之间随爪运动；视频 236.0–250.0 s 的单爪重试也仅改变局部皱褶，未带起折叠层。推断：展平所需的有效捏持没有建立，不能把触压毯面和空闭爪算成成功抓取。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 33.0,
+    "log_step": 77,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人所用的下探姿态和夹爪落点没有让薄布片进入两指的有效对向接触区域。视频 31.0–36.0 s 可见两爪在布面处合拢并移动而布面不随动；实时机器人服务（控制机械臂并返回保护截停状态的接口）在 log step 77、98、333 多次记录下降目标被 table guard 截停，log step 501、505 的最后抬升与试拉也有 floor=cloth 或同类截停记录。agent 在 log step 334、448、458 分别自述非指垫部位先接近布面、闭合轴沿边、两垫仍在布面上方，这些自述与上述画面和保护反馈相容；未验证任何替代抓法成功，故替代可行性为未知。"
+   }
+  ],
+  "gap_zh": "没有状态日志，成功参考记录也没有视频，无法直接核实辅助抓取锁定标志、逐粒子接触和精确覆盖率／高度／拉伸／速度／漂移／净空／确认时长；评分器未报告 DAG 的八项原生指标，故其 value 均为 null。有效夹持未建立及接触几何归因由多次闭爪后的布面不随动、局部变形与实时保护反馈推断，不能排除某次极短暂夹持，亦未证明所有合法抓法不可行。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "机器人用双爪和后续单爪多次下探、闭合、抬升及试拉，局部接触改变了皱褶，但毯子未充分展开，“毯子展平”节点全程未达成，最终为 0/1。视频 6.5–8.0 s 已可见首次试拉未建立有效夹持，后续始终未修复；多次保护截停与闭爪后布料不随动支持抓取和接触设计不适配的归因。视频 252.6 s 仍清楚可见折回与重叠；缺少状态日志和精确原生指标，辅助抓取及接触几何细节存在推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、final=0 与评分器 live_success=0 一致；视频起止帧（0 s、9.5 s、120 s、252.5 s）可见毯子始终为未展平窄片，断点取首次试拉（log step 35 的 sim 7.35 s ≈ 视频 7.4 s，映射与 10111 步/40 Hz≈252.8 s 相符），现象与根因有服务保护截停读数支持，推断已标注，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": "2026-10-30T23:21:49Z",
+  "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-flatten-04-i01-standard--rsdvtnl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--rsdvtnl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a08ad25438d4f6e005b0c0c08b252ed28b28b929dcfe1eb25aa2978eb5672c5e",
+   "video_sha256": "a67eafb6d1d370398ecc5396bd2999c22da246e51c638322d31afe4efbcfabe5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--wyfnshw.json

@@ -0,0 +1,259 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--wyfnshw",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "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": 1561,
+   "live_rows": 1561,
+   "sim_steps": 1561,
+   "physics_steps": 15610,
+   "steps": 747,
+   "elapsed_s": 10751.0,
+   "replay_wall_s": 856.4,
+   "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-04-i01-standard--wyfnshw/replay.mp4",
+  "duration_s": 39.133,
+  "fps": 15.0,
+  "frames": 587,
+  "sha256": "64986a61de7bff3a5df6a6ebcd620bd8cdf6fba5dac4cc07871b630f8e9a6cf4"
+ },
+ "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 毯子呈窄条状，上下层重叠、前沿有起伏，初始未展平。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–12.0 s 右爪带动上层布片翻动，视频 15.0–19.0 s 左爪夹起并翻开左侧布片；视频 21.4–24.8 s 双爪带动前侧布片向外展开后松开，毯面面积明显扩大，但后侧仍有卷边、右前角仍斜向折回。"
+     },
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–27.8 s 双爪在后左卷边及右前折角附近下探、闭合后上抬，布片没有随爪被提起；视频 28.0–36.4 s 的后续夹取仍未翻开这两处。"
+     },
+     {
+      "t": 39.067,
+      "log_step": 377,
+      "text_zh": "观察：视频 38.0–39.067 s 后侧卷边、右前角折回仍在，双爪仍停在毯边附近，未形成展开、松手撤离并静置的完整结果；评分器字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 21.4–23.8 s 左右平行二指夹爪各夹住一处前侧布片，同时向外移动，布片随爪展开；先前视频 7.2–11.0 s 主要由右爪夹持翻动，视频 15.0–18.0 s 由左爪单独夹持翻开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 26.4–26.8 s 及视频 38.0–38.533 s 两侧夹爪指端同时下探抵压后左卷边和右前折角，局部布面受压变形；随后闭合、上抬未带起布片，不把这些空夹记作已建立抓握。"
+     }
+    ]
+   }
+  },
+  "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": "minimum_height_m",
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_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
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 27.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.8 s 机器人已展开大部分毯面，随后针对后左卷边和右前折角继续夹取；视频 26.4–27.8 s 双爪闭合并上抬而布片留在桌面，余下折叠未被翻开，之后重试至视频 39.067 s 仍未修复。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 27.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.4–27.8 s 两爪在余下卷边、折角处尝试捏取，抬起时没有夹带布片，后左卷边和右前折角留在原处；视频 30.8–32.0 s、视频 35.2–36.4 s 的重复闭合上抬同样未带起待翻开的布片。这里缺少的是能提起布片的夹持接触，指端抵压毯面确实发生。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 26.4–36.4 s 机器人已把双爪送到残留卷边和折角处，却反复闭合后空抬，所需夹持没有建立；log step 373 的控制脚本仍以张爪下探、闭合、垂直提升为目标，log step 377 的本体读数显示最后一次两爪开口均闭到 0，TCP 随后上升，但视频 38.0–39.067 s 布片仍未随之提起。因此可归到抓取执行的控制问题，现有证据不足以进一步区分接触几何、闭合时机与末端跟踪。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器未报告覆盖率、粒子高度、拉伸、速度、漂移、净空及确认时长的实际数值，原生指标均留空。高位、低位及腕部画面能判断折叠残留和夹取未带起布片，但不能定量恢复指端接触几何、辅助抓取状态与力，控制根因不细分。oracle.json 存在，但没有参考视频。"
+ },
+ "summary_zh": "机器人通过右爪、左爪及双爪翻展扩大了毯面，但后左卷边和右前折角始终未展开，“毯子展平”节点全程未达到，最终为 0/1。视频 26.4–27.8 s 起对残留折叠的夹取未建立可提起布片的夹持，后续反复空抬仍未修复，根因保守归为控制；末尾视频 39.067 s 双爪也未撤离。缺少粒子状态和逐项验收数值，无法量化余下差距或细分控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（视频 27.6 s，操作中）、没建立接触与保守的控制根因均与帧一致，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": "2026-10-30T23:37:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--wyfnshw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--wyfnshw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f567321aad2e2bae51529b54acd858524cd49804a46afd2478d9aeec301beeba",
+   "video_sha256": "64986a61de7bff3a5df6a6ebcd620bd8cdf6fba5dac4cc07871b630f8e9a6cf4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--7lwvpcx.json

@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--7lwvpcx",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 1481,
+   "submitted_actions": 1481,
+   "sim_steps": 1481,
+   "physics_steps": 14810,
+   "sim_time_s": 37.02499999999897,
+   "final_reward": 0.0,
+   "replay_wall_s": 1215.0,
+   "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": 25,
+   "agent_resets": 28,
+   "agent_sim_steps": 5985,
+   "agent_records": 7,
+   "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-blanket-fold-04-i01-privileged--7lwvpcx/replay.mp4",
+  "duration_s": 37.133,
+  "fps": 15.0,
+  "frames": 557,
+  "sha256": "9496011a03a9748dcd3fd98820817122696354868413e0bc8efb903f952e9f43"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽呈窄矩形，左侧仍有一道跨过多格网纹的额外斜折和隆起，近左部分卷在主体上，不能视为远近边角已正确叠合的双层主体。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5–12.5 s 机器人右夹爪固定右侧，左夹爪沿左侧推扫，视频 12.5 s 左端仍有内缩的折边及鼓包；视频 13.0–18.5 s 又反复提拉左侧局部，左侧大块毯面随手变形，未见下层近左角展开并与上层主体正确叠合。推断：这些局部调整没有修复初态主对折的左侧额外折叠。"
+     },
+     {
+      "t": 37.067,
+      "log_step": null,
+      "text_zh": "观察：视频 34.5–37.067 s 双臂回抬，夹住的毯面随之上升；末帧的低斜视图清楚显示大片毯面竖起、悬空，主体没有贴桌。全程检查未见主对折判据完整成立，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.5–8.0 s、13.0–18.5 s 右二指夹爪夹住毯子右侧作固定，左二指夹爪夹住左侧局部提拉；之后双手分次重抓调整，视频 34.5–37.067 s 两夹爪仍各夹一处并共同提起毯子。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 8.5–12.5 s 右夹爪仍夹持右侧，左夹爪的闭合指部贴着毯子左侧推扫，使局部折边和网纹一起移动。右手的固定方式为抓握。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧是宽大的斜折与鼓包，没有目标所需的平伏上层三角叠片。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 430,
+      "text_zh": "观察：log step 430 将交付脚本改为右手固定后先折左角，再推扫修整；视频 4.5–6.5 s 对应机器人左夹爪捏住左侧向内上提、右夹爪固定，左侧大块网格布面和近边同时被牵起，视频 6.5 s 左近边明显内缩、毯面弯曲。推断：这次没有得到仅上层角翻入、下层角留在原处的平伏折角。"
+     },
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–18.5 s 左夹爪再次提拉并放低左端，左侧仍呈整块斜边和隆起，低斜视图未出现平伏的独立三角叠片；视频 19.0–33.75 s 的后续重抓调整也未显示该结果。"
+     },
+     {
+      "t": 37.067,
+      "log_step": 516,
+      "text_zh": "观察：视频 34.5–37.067 s 毯子随两夹爪抬起，结束时仍连在夹爪上、大片布面悬空，没有松手退离或平伏折角。log step 516 确认最终交付文件为 1481 行，与评分器 n_actions=1481 一致；后续另存的 1333 行测试不是本段视频的交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.5–8.0 s 及 13.0–18.5 s 左二指夹爪捏住毯子左侧角部或邻近布片向内提拉，右二指夹爪夹住右侧布片固定；布片明显随夹爪移动，属于两手各自夹持布料的协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_corner_folded",
+   "t": 6.5,
+   "log_step": 430,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.5–6.5 s 机器人首先在右手固定的同时用左手折左角，但左侧大块毯面及近边一起牵起、内缩，未成为单独平伏的上层三角片；视频 13.0–18.5 s 的再次折角及其后的调整没有修复这一结果，视频 37.067 s 仍悬空夹持。log step 430 明确将该交付脚本的第一次局部操作设为 dogear。推断：最早启动后一直未完成的是上层角折好，不能仅因主对折排在 DAG 前面就把断点移到它。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.5–7.0 s 左夹爪向内带动左侧大片布面，近左轮廓被拉入主体，布面形成弯曲隆起；视频 13.0–18.5 s 再次提拉后仍未出现上层角单独平伏、下层角保留的目标形态。推断：折角动作所得的布面位置和形态不对，后续局部修整未将其修复。"
+   },
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 34.5,
+    "log_step": 430,
+    "evidence_zh": "观察：视频 34.25–35.25 s 机器人双臂回抬时，两处被夹毯面随夹爪上升；视频 36.067–37.067 s 密集检查及末帧均显示毯子仍连在两夹爪间，未释放。log step 430 将右锚释放放在整体摆放之前，后续还有重抓；log step 409 所示且未被该修改改写的尾段直接调用 b.home 后保持。推断：中途释放右锚后，最终回位前没有再次有效解除两处夹持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 430,
+    "evidence_zh": "观察：log step 430 修改了 log step 409 写出的 gen.py，明确将右手锚定的 b.open_g(\"right\", steps=8)、b.hold(12) 移到步骤 5 整体摆放之前，并非没有释放右锚；步骤 5 随后还会分别调用 pinch 重抓左右侧。log step 409 所示脚本尾段在摆放循环后直接 b.home(steps=25)、b.hold(90)，log step 430 没有改写该尾段；log step 105 的 home 只调用双臂关节回位，move_q/act 保留当前夹爪命令。视频 34.5–37.067 s 两夹爪仍各连着一处毯面，回抬时毯子随之升起并持续悬空；log step 516 确认交付仍为该 1481 行轨迹。推断：摆放前释放右锚不等于终局释放，结合脚本尾段与视频，最后重抓后在 b.home 前没有再次有效打开夹爪解除夹持，造成回位时把毯子带起、无法平伏确认；左角局部形变失配的更细控制子类证据不足，根因保留在控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐点核实材料身份、层序比例、毫米级误差或辅助抓取绑定；折角时上下层部分互相遮挡，依据前后布面轮廓、网纹移动与低斜视图判断，而不把夹爪覆盖处当成已成功。评分器 reward 未报告 DAG 的十四项原生指标，故这些 value 均为 null；log step 470 等脚本自算值没有冒充评分器值。局部折角为什么牵动大片布面的具体控制子类无法可靠分开；未据 agent 关于埋藏布片的自述推断任务不可解。"
+ },
+ "summary_zh": "交付的 1481 行轨迹先固定右侧、折左角，再推扫和反复重抓修整；主对折的左侧额外折叠未被修复，上层角也未形成独立平伏的目标结果，两个节点最终均未达成。按实际尝试顺序，保留视频约 6.5 s 的上层折角为最早未修复的断点；log step 430 虽在整体摆放前释放右锚，视频 34.5–37.067 s 仍显示后续重抓后双手带起毯子，结合脚本尾段推断终局回位前未有效解除夹持。无状态日志及评分器逐项几何指标，首轮左角提拉与主折修整的作用存在视觉重叠，无法完全排除审查者对断点归属的理解，置信度由 7 降为 6；层序和精细误差只能按可见形态判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点终值（两节点均为假）和接触标注与视频一致；但断点选在第二节点而非先失败的主对折，且根因证据把 log step 409 当作最终交付脚本，忽略 step 430 已加入右手锚定释放。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点终值为假、接触标注、断点（先尝试且未修复的折角）、没松开与控制根因均与视频一致；第一轮已就断点与 step 430 讨论并修正，无新证据推翻。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:44:25Z",
+  "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-fold-04-i01-privileged--7lwvpcx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--7lwvpcx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--7lwvpcx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--7lwvpcx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9c68756205f6efccce182210eca942c01af0bcd459ae2f87b4e6a1084eb889c0",
+   "video_sha256": "9496011a03a9748dcd3fd98820817122696354868413e0bc8efb903f952e9f43",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--bdhkzxx.json

@@ -0,0 +1,344 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--bdhkzxx",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 2119,
+   "submitted_actions": 2119,
+   "sim_steps": 2119,
+   "physics_steps": 21190,
+   "sim_time_s": 52.97499999999806,
+   "final_reward": 0.0,
+   "replay_wall_s": 1340.6,
+   "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": 1,
+   "agent_resets": 18,
+   "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-fold-04-i01-privileged--bdhkzxx/replay.mp4",
+  "duration_s": 53.067,
+  "fps": 15.0,
+  "frames": 796,
+  "sha256": "274598f4e7c676418d08a7d82d1a7f850a5efbee9a01b656188b0463bc5d89b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽呈窄矩形，左侧仍有额外斜折和隆起，左侧角并未展开叠合；不能将初始外轮廓计作主对折完成。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–6.0 s 左夹爪夹住并牵动毯子左端，左端卷起，主体整体向右偏转；视频 18.0–25.5 s 和 33.0–37.5 s 仍可见左侧斜褶，未铺成角边对齐的平伏双层主体。"
+     },
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.05–53.0 s 两夹爪已退开，毯子左侧仍有隆起与不规则折回，主体格线和长边相对初始方向偏转；与成功参考视频 7.0 s 的平伏主对折形态不同，主对折未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.0–6.0 s 左二指夹爪合拢夹住毯子左端局部，牵动布面并使其卷起、偏转；右夹爪始终停在毯子右侧上方，未共同抓持。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧是额外斜褶，没有目标要求的上层角向内翻入后留下的平伏三角叠片。"
+     },
+     {
+      "t": 51.45,
+      "log_step": null,
+      "text_zh": "观察：视频 50.25–51.75 s 左夹爪靠近左近端，合拢夹住局部布面并短暂牵起后张开；布面只有局部褶皱，没有留下成功参考视频 8.0–9.8 s 可见的向内折角、下层角仍展开的形态。"
+     },
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.05–53.0 s 机器人松手退离后，毯子左近端仍不规则且起皱，没有平伏的目标三角折角；评分器 reward.strict_goal_reached=0、success=0，但本节点判否依据可见折角未成形，并非仅由总失败推断。"
+     },
+     {
+      "t": null,
+      "log_step": 125,
+      "text_zh": "观察：log step 123 记录保存了 2119 行动作；log step 125 对保存动作的会话重放返回 success=False，并报告与录制时末态最大差异 138.79 毫米。因此 log step 123 的实时试验指标和抓取报告不直接作为评分录像的节点状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 50.25–51.75 s 左二指夹爪在毯子左近端合拢夹住一小块布面，牵起后张开退离；没有右臂配合，也未形成所需三角折角。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 5.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.0–6.0 s 左夹爪整理主对折左端时，将毯子左端卷起并带偏主体；视频 35.5–37.5 s 松手撤开后左侧仍折回起皱，直到视频 53.0 s 也未恢复平伏、角边叠合的主对折。后续虽在视频 50.25–51.75 s 尝试折角，最早未修复的步骤仍是毯子对折。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.8–6.0 s 左夹爪牵动布面后，左端聚拢卷起，主体长边偏转；视频 20.0 s、37.5 s 及 53.0 s 左侧仍有额外斜褶与凸起，未落成平伏且角边叠合的双层主体。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，RGB 无法逐材料点核对层序、毫米级高度、接触力及辅助抓取绑定时刻；这些缺口不妨碍从可见额外折回与目标折角缺失判断两节点未达成。log step 125 已显示会话重放与录制末态不同，故不把 log step 123 的实时试验数值移植到评分录像；评分器 reward 未报告 DAG 的逐项原生几何指标，native_metrics 均留 null。观察：log step 109 的 go() 对相邻点对只调用 move_ee 到后一点，单点列表不产生调用；log step 112 沿用此函数，并记录 agent 自述因右臂够不到而改用左臂，log step 120 将该左臂脚本用于录制。推断：首点原拟作为必须执行的抬升航点、且未执行它导致视频中的卷起，均未获独立验证；视频 4.0–6.0 s 的单爪牵动只能确认现象。DAG blanket_half_folded.contact 的 plan 2 允许单夹爪分次翻折，不能仅因视频中右臂未参与就认定规划错误；该具体单臂方案的可行性未知。现有证据无法区分规划、抓取和接触设计与轨迹实现对断点的贡献，根因留空。"
+ },
+ "summary_zh": "评分轨迹中只有左夹爪实际整理毯子左端并尝试折角，主对折左侧始终保留额外折回与隆起，末段也未留下目标三角叠片，最终完成 0/2 节点。最早未修复的断点是毯子对折，视频约 5.5 s 出现卷起和主体偏转；日志代码与单臂策略均不足以确定根因，根因留空。节点与断点的视觉证据较稳，但缺少状态日志及评分末态逐项指标，会话实时试验与保存动作重放不同，且无法区分规划、接触设计与轨迹实现的因果贡献，整体置信度降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（0/2）、断点（毯子对折，约 5.5 s）和 contact_actual 与视频一致，我未发现错误。但根因“控制·控制”依赖对 log step 109 辅助函数 go 的代码解��，因果证据不足，且被写成与视频“一致”；应降为未知或改为有证据的类别。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点未达成（0/2）、断点（毯子对折，约5.5 s）、contact_actual 与视频一致；根因留空有 gap_zh 说明，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": "2026-10-30T23:43:25Z",
+  "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-fold-04-i01-privileged--bdhkzxx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--bdhkzxx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--bdhkzxx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--bdhkzxx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11a5fda6e13bfb080b3b65d337f62041ec11e3ae2c2fdb97585f133cef0da1c0",
+   "video_sha256": "274598f4e7c676418d08a7d82d1a7f850a5efbee9a01b656188b0463bc5d89b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--cqfott7.json

@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--cqfott7",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 250,
+   "submitted_actions": 250,
+   "sim_steps": 250,
+   "physics_steps": 2500,
+   "sim_time_s": 6.250000000000021,
+   "final_reward": 0.0,
+   "replay_wall_s": 247.6,
+   "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": 2,
+   "agent_resets": 19,
+   "agent_sim_steps": 1,
+   "agent_records": 49,
+   "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-04-i01-privileged--cqfott7/replay.mp4",
+  "duration_s": 6.333,
+  "fps": 15.0,
+  "frames": 95,
+  "sha256": "ac61b69909b01548b52ce97f85cb4355f605c43ccc9c0a8ac022a30413d72707"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0 s 的毯子虽呈窄矩形，左端仍有额外内折、斜向隆起和不齐的材料边；与成功参考视频 0.0 s 的未整理初态相同。成功参考视频 7.0 s 显示重新主对折后的双层主体，不能把本次初始窄轮廓等同于该节点已完成。"
+     },
+     {
+      "t": 6.267,
+      "log_step": 323,
+      "text_zh": "观察：本次视频全程仅左臂接近左近角，右臂保持原位，没有远侧半幅翻到近侧半幅的动作；视频 5.33–6.27 s 逐帧可见左端原有斜折与隆起仍在，主体没有被重新对齐。推断：初始未达主对折判据的形态未得到修复，故全程未达到本节点；此结论并非从评分为零推出。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.533,
+      "log_step": 322,
+      "text_zh": "观察：视频 5.0–6.27 s，左夹爪沿桌面接近毯子左近角并在布边闭合，角部只有局部挤动；布角未向右、向远翻到主体上，没有形成成功参考视频 9.87 s 所示的平伏三角叠片，下层角与上层角的指定分离折叠未出现。"
+     },
+     {
+      "t": 6.267,
+      "log_step": 323,
+      "text_zh": "观察：log step 319 重置并重新开始录制，log step 322 执行左夹爪下降闭合，log step 323 保存形状为 (250, 14) 的轨迹，保存时 success=False；评分器报告 submitted_actions=250、sim_time_s=6.25、strict_goal_reached=0。视频末帧 6.27 s 仍为夹爪停在左近角的姿态，未翻角、未松手退离。log step 324 的抬升发生在最后保存之后，视频没有该抬升，不能计为本次评分动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.53–6.27 s，只有左二指夹爪在毯子左近角布边闭合夹住局部布片，右夹爪未参与；log step 322 的 object_in_hand 返回 blanket，与闭合位置相符。这里只记录夹持接触，不据此认定布角已被拿起或折入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_corner_folded",
+   "t": null,
+   "log_step": 323,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0–6.27 s，机器人左臂专门接近左近角，最终闭合夹爪；本次交付止于折角的抓取准备，布角没有向内翻折。log step 319–323 是重置后重新录制并保存的最后一段，保存后才在 log step 324 试抬升。推断：正在进行且最终未完成的是上层角折好；主对折也未达到，但本次没有尝试重做它。视频无可定位的突发失误，故不把末帧硬当作失误时刻，t 留空。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs 中有完整本次视频、运行记录和成功参考视频，没有状态日志；评分器未报告 DAG 所列逐项几何、层序或净空指标，因此 native_metrics 的 value 均为 null。评分交付仅到抓角准备，视频最后一秒未见滑脱、阻挡、翻折落点偏差或释放后的失稳，故现象层留空；不能将会话其他重置试验中的接触或逆解失败移入本次交付（CASES.md FAIL-23）。log step 19、171 虽记录 agent 认为主对折已存在，但这些会话判断不能单独确定本次抓角后未继续翻折的根因；log step 323 保存后还有未再保存的抬升和逆解检查，缺少足够证据归因于某个控制、认知或交付操作错误，故根因层留空。"
+ },
+ "summary_zh": "评分轨迹只有左臂接近并夹住毯子左近角的准备动作，初始额外折叠未被整理，毯子对折与上层角折好均未达到，终态为0/2。断点记在实际尝试的上层角折好，交付止于抓角而未执行翻入；log step 324 的抬升在 log step 323 最后保存之后，不属于评分视频。缺少状态日志和逐项指标，且交付内没有明确的翻折失误事件，现象与根因保留为空。",
+ "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、接触和断点与视频及 log 一致：本次视频初态与成功参考视频 0.0 s 相同（左端有额外折叠），0/2 合理；交付止于左夹爪夹住左近角（log step 323），断点记在上层角折好；现象与根因留空并写明 gap_zh，证据不足，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": "2026-10-30T23:23:44Z",
+  "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-fold-04-i01-privileged--cqfott7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--cqfott7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "daeb6c5fea9606d120051e5472ddb373806110b0621d6f8348e333c8ad6fec7e",
+   "video_sha256": "ac61b69909b01548b52ce97f85cb4355f605c43ccc9c0a8ac022a30413d72707",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--hqubqcv.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--hqubqcv",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 394,
+   "submitted_actions": 394,
+   "sim_steps": 394,
+   "physics_steps": 3939,
+   "sim_time_s": 9.847500000000073,
+   "final_reward": 1.0,
+   "replay_wall_s": 354.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 394,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 1,
+   "agent_resets": 10,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "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": 2.1,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.423,
+   "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-blanket-fold-04-i01-privileged--hqubqcv/replay.mp4",
+  "duration_s": 9.933,
+  "fps": 15.0,
+  "frames": 149,
+  "sha256": "821872c3fb22070b0b8e0112d8c03c0c1826e4ffb9153a340145fdb3823e1d12"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽呈窄矩形，左侧可见额外内折和斜向隆起；视频 1.4–2.33 s 双臂把一层翻展开后，左近侧仍有缺角状内折，视频 3.27–4.67 s 左夹爪将该处拉开。因此初态未形成判据要求的主对折与展开的下层左近角。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.73–6.8 s 左右夹爪分别夹住远边两角，将远半幅共同抬起并翻向近半幅；视频 6.93–7.2 s 远边落到近边附近，主体成为贴桌的双层窄矩形，低斜视图不再呈悬空帐篷。以视频约 7.0 s 记为主对折达成，时间精度约 0.2 s。"
+     },
+     {
+      "t": 9.867,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–9.867 s 主体未重新展开；左夹爪随后只操作左侧局部折角，末帧仍保留双层主体。评分器字段 strict_goal_reached=1、all_success=1，与可见终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.73–6.93 s 左右二指夹爪各夹住毯子远边一角，协同抬起、翻折并铺下；此前双臂先翻开初始叠层，左夹爪再单独夹拉左侧局部以展开额外折角（视频 1.4–4.67 s）。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 221,
+      "text_zh": "观察：视频 7.87–8.4 s 左夹爪下降到主对折后的左近角并夹住局部，右夹爪停在毯子右侧上方；视频 8.53–8.8 s 左夹爪把上层角向内翻入，底层左角仍留在桌面原处。log step 221 的最终录制脚本指定只操作原远左材料角 LF，与所见动作顺序一致。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.93–9.0 s 左侧上层出现斜折痕与向内的三角叠片，低斜视图显示局部回落到主体上；视频 9.33–9.867 s 左夹爪已张开并退离，右夹爪也未接触毯子，三角叠片和下层角保持。几何折角约在视频 9.0 s 达成，时间精度约 0.2 s；松手退离和共同稳定属于终局联合验收。"
+     },
+     {
+      "t": 9.867,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward 中 success=1、deterministic=1、all_success=1、strict_goal_reached=1、strict_goal_row=394，且 replay_hold_steps=0，说明提交轨迹内已通过严格联合验收；结合视频 9.33–9.867 s 的释放与稳定终态，判本节点最终为真。无状态日志，精确层序比例、毫米级误差和确认计时无法由这些 RGB 帧逐项复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.13–9.0 s 左二指夹爪单独夹住上层左近角，将其抬起并向主体内侧翻折，随后张爪退离；右夹爪悬停，未参与该角的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先展开初始叠层与左侧额外折角，约在视频 7.0 s 完成主对折，约在视频 9.0 s 将上层左近角折入，末段松手退离并保留两步结果，最终为 2/2。评分器确认两次重放均成功，严格目标在提交轨迹内达到，无失败断点。无状态日志，最终评分字段也未单独报告各项原生几何指标，故其数值留空；毫米级误差、层序比例与稳定窗口的精确成立依据严格成功判定，节点起点由视频估计。",
+ "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，2/2。主对折约7.0 s、上层折角约9.0 s与视频帧一致，接触标签合理，无失败断点，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:14:58Z",
+  "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-fold-04-i01-privileged--hqubqcv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--hqubqcv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9dc3b89c30a17fb2950d2b8555323d11c7679d8b7ce595a4dfb76bc2a89dde97",
+   "video_sha256": "821872c3fb22070b0b8e0112d8c03c0c1826e4ffb9153a340145fdb3823e1d12",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--rw8dmaa.json

@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--rw8dmaa",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 5593,
+   "submitted_actions": 5593,
+   "sim_steps": 5593,
+   "physics_steps": 55929,
+   "sim_time_s": 139.82250000001466,
+   "final_reward": 1.0,
+   "replay_wall_s": 5594.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 5593,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 3,
+   "agent_sim_steps": 1,
+   "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-blanket-fold-04-i01-privileged--rw8dmaa/replay.mp4",
+  "duration_s": 139.933,
+  "fps": 15.0,
+  "frames": 2099,
+  "sha256": "f9153ac9413935d4a531509ae5ca584415d646ec7612336f1db0fee3cba5f018"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      95.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽为窄矩形，左侧仍有额外内折和斜向重叠，不能按外轮廓认定主对折已完成；视频 6.0–28.0 s 机器人左夹爪逐次提起、展开这些局部折叠。"
+     },
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "观察：视频 82.0–94.0 s 机器人两夹爪分别夹住上层左右区域，展开上层斜折并翻平近侧卷边；视频 94.0 s 右侧尚有翘起的卷边，视频 95.0 s 卷边落下，远半幅覆盖近半幅，双层主体呈长矩形并贴桌，下层左近角留在外侧。主对折起点取视频约 95.0 s，视觉精度约半秒；左夹爪此时仍夹住局部，不把随后松手作为本节点的前置条件。"
+     },
+     {
+      "t": 108.0,
+      "log_step": null,
+      "text_zh": "观察：视频 98.0–110.0 s 主体保持双层矩形；视频 103.0–107.0 s 机器人双夹爪夹住远侧折边两端，小幅向远侧调整后释放，未将主体重新展开；视频 112.0–133.0 s 的左角局部翻折也保留主体的对折关系。"
+     },
+     {
+      "t": 139.866,
+      "log_step": 388,
+      "text_zh": "观察：视频 138.9、139.1、139.3、139.5、139.7、139.866 s 均见双层主体留在桌面，机器人两臂退离；log step 388 读取已保存交付的结果为 success=True、episode_end=success，动作数为 5593，与评分记录的 n_actions=5593、两次重放 all_success=1 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 82.0–95.0 s 左右二指夹爪分别夹住毯子上层左右局部，配合展开斜折、翻平卷边；视频 103.0–107.0 s 两夹爪夹住主折边两端并一同小幅平移。此前左夹爪也分次捏起左侧折叠进行整理。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      131.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 120.0,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0–122.0 s 机器人左二指夹爪夹起上层左近角，向主体内翻转并放下；视频 124.0 s 留下的小折片尚偏靠左近边，随后视频 126.0–130.5 s 左夹爪再次夹住同一上层角，提起并向右、向远调整，下层左近角仍留在桌面原处。"
+     },
+     {
+      "t": 131.0,
+      "log_step": null,
+      "text_zh": "观察：视频 130.5–131.5 s 左夹爪将上层角放到主体内并松开，出现斜向折痕及叠在上层的三角折片；视频 132.0–133.0 s 左夹爪退出，三角折片保留，下层角没有一同翻入。推断：与参考录像 inputs/oracle/replay.mp4 的参考视频 9.0 s 完成形态比较，取本次视频约 131.0 s 为折角几何达成起点，视觉精度约半秒；两步共同的稳定确认在终局成立。"
+     },
+     {
+      "t": 139.866,
+      "log_step": 388,
+      "text_zh": "观察：视频 138.9–139.866 s 的密集帧显示折角和主对折保持，低斜视图中主体平放，机器人双夹爪均远离毯子。log step 388 的交付结果为 success=True、episode_end=success；inputs/run.json 的评分器 reward 报 strict_goal_reached=1、strict_goal_row=5593、all_success=1、replays=2、replay_hold_steps=0。推断：最终共同的释放、净空、材料完整性和连续稳定验收已通过；毫米级条件由该评分结果补证，未从 RGB 逐点测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 54.0–70.0 s 左二指夹爪夹住并搬动上层左角；视频 112.0–122.0 s 左夹爪单独捏起该角、转腕内翻，视频 126.0–131.5 s 再次夹住角部，向右、向远调整后松开。右夹爪曾接近抬起的折片，但未据此认定成功换手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人解开初态左侧的额外折叠，整理上层及卷边后于视频约 95.0 s 形成主对折，又于视频约 131.0 s 将上层左近角调整到位，最终完成 2/2 个节点。视频末秒可见毯子平放且双臂退离，评分器记录两次重放均成功、严格目标在交付动作内达到；过程中出现的偏折均已修复，无失败断点。无状态日志，节点起点按可见几何估计；精确层序比例、毫米级误差及稳定窗口由成功判定补证，评分器未报告各项原生指标数值，因此均填 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，两个节点均达成；抽查视频 0/30/80/94/96/110/124/130/132/139.8 s 帧，主对折约 95 s、折角约 131 s 与标注大体一致，无失败断点，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:18:29Z",
+  "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-fold-04-i01-privileged--rw8dmaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--rw8dmaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1853f8838404d04b2d6bdaa58928b3940571aead67797af4bb9aeace0cde352",
+   "video_sha256": "f9153ac9413935d4a531509ae5ca584415d646ec7612336f1db0fee3cba5f018",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--xr2ugpg.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--xr2ugpg",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 2983,
+   "submitted_actions": 2983,
+   "sim_steps": 2983,
+   "physics_steps": 29830,
+   "sim_time_s": 74.57499999999983,
+   "final_reward": 0.0,
+   "replay_wall_s": 2871.8,
+   "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": 0,
+   "agent_sessions": 10,
+   "agent_resets": 15,
+   "agent_sim_steps": 4,
+   "agent_records": 14,
+   "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-04-i01-privileged--xr2ugpg/replay.mp4",
+  "duration_s": 74.667,
+  "fps": 15.0,
+  "frames": 1120,
+  "sha256": "164c806608ecfb2c7ba7f270d7513a452b56e103466b1a220345a3ca34f5e9f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 毯子虽呈窄矩形，左侧已有斜向内折与隆起；不把初态外轮廓认作完整主对折。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–6.5 s 左夹爪夹着左侧局部向近侧牵拉，毯子主体和右端一起移位，上面形成横向长脊，两层近边明显错开；视频 10.5–20.5 s 再次牵拉后仍未形成平伏、边角叠合且下层左近角展开的主体。"
+     },
+     {
+      "t": 74.6,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5–47.0 s 松手后，以及视频 68.5–74.6 s 双爪退离后，左侧仍内收并隆起，长条折叠也未平伏，未见本节点曾成立。成功参考视频 7.3 s 的主体较平整、近边对齐，仅用于形态对照。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.0–20.5 s 主要由左二指夹爪捏住毯子左侧折团，分次牵拉；视频 49.0–61.0 s 右二指夹爪夹住右侧作固定，左夹爪在左侧折团反复闭合重抓，但未见该轮将折团带走。依次发生的单臂牵拉与后续双臂配合合记。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 26.5–33.5 s 右夹爪固定毯子右侧，左夹爪到左端夹起布角并向内搬动；左端出现折片，但主体随之起伏，左侧下层角仍内收，未见下层角保持展开而仅上层角形成平伏三角叠片。"
+     },
+     {
+      "t": 74.6,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5–47.0 s 和视频 68.5–74.6 s 松手后的左端仍是隆起、内收的叠片，低斜视图也可见凸起；与成功参考视频 9.8 s 的平伏斜折角不同。这里依据折角本身及下层角形态判为未完成，而非用前置节点未完成作门控。"
+     },
+     {
+      "t": null,
+      "log_step": 174,
+      "text_zh": "观察：agent 在 log step 174 自述折角角点误差较小、但底层左近角失败；这只是会话最终自评，不能据单个角点接近目标认定视频中的单层折角和联合验收成立。评分器 reward.strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 25.5–34.0 s 右二指夹爪夹住毯子右侧固定，左二指夹爪捏起左端布角并向内翻放；两爪各夹不同的布料局部，并非把毯子挤在两只手之间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 5.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.5–6.5 s 左夹爪牵拉左侧折团时，毯子整体向近侧移动、两层边缘错开并形成长脊；视频 20.5 s 第一组修整结束后仍未展开下层左近角。视频 49.0–61.0 s 的后续双臂修整及视频 74.6 s 终态都未修复主对折，因此断点取该步，视频 5.5 s 为粗略导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.5 s 左夹爪已带动毯子，但近边上下层错开，左侧折团未展开且上面出现横向隆起；视频 20.5 s、38.5 s 和 74.6 s 仍未获得平伏、边角叠合的双层主体。这是牵拉后的布料位置与折叠形态未到位。"
+   }
+  ],
+  "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：局部牵拉的抓点与固定布局未能把左侧内折角相对主体展开。视频 4.5–20.5 s 左夹爪牵拉时右夹爪尚未固定主体，右端及整片毯面一同滑移；log step 156 的最终 plan9 脚本先执行三轮单臂折团牵拉，之后才设置右臂固定，log step 162 也明确记录该段牵拉带动整片毯子并据此增加固定段。视频 49.0–61.0 s 增加右侧固定后，左夹爪反复闭合仍未带走折团；对应提交段的 log step 170–171 记录 cycle 0 grasp failed。可确认局部抓取与固定未实现需要的相对布料运动；没有验证同一局部修整方案的可行替代抓点。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐材料点直接核实层序、受力、辅助抓取绑定或全部毫米级验收量；节点依据全片每隔约0.5秒检查的可见形态与成功参考判断。评分器只给整体失败及 strict_goal_reached=0，未报告 DAG 所列原生指标的终值，故 native_metrics 均为 null；log step 168–174 的脚本测量仅作会话辅助证据，不充当评分器指标。",
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  }
+ },
+ "summary_zh": "本次轨迹反复牵拉毯子左侧折团，再由右夹爪固定、左夹爪向内搬动布角，最后松手退离；两个节点均未达到判据，终态为0/2。最早未修复的失败是主对折修整：视频 5.5 s 起局部牵拉伴随整片移位和隆起，后续固定重抓仍未展开左近角；接触布局未能实现所需的相对布料运动。无状态日志及评分器逐项指标，精确层序和误差不能从RGB逐点核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均为未达成、断点取主对折，与视频一致：终态（视频 74 s）毯子仍是隆起、折叠错乱的形态，与成功参考 7.3 s 的平整对折不同；现象/根因有视频与 log 支撑。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": "2026-10-30T23:15:31Z",
+  "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-fold-04-i01-privileged--xr2ugpg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--xr2ugpg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "539a31a7c25ff14ac957a4970073af153769e8267eec3021c2ef20551cd20b80",
+   "video_sha256": "164c806608ecfb2c7ba7f270d7513a452b56e103466b1a220345a3ca34f5e9f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--awaigf2.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--awaigf2",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 11456,
+   "live_rows": 11456,
+   "sim_steps": 11456,
+   "physics_steps": 114560,
+   "steps": 2813,
+   "elapsed_s": 7324.8,
+   "replay_wall_s": 5247.8,
+   "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": 0.268,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.411,
+   "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-04-i01-standard--awaigf2/replay.mp4",
+  "duration_s": 286.467,
+  "fps": 15.0,
+  "frames": 4297,
+  "sha256": "7a09e6186b2396bba0455d63a8fcfc3c60109a645bfb757bbe451cc557d7a840"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽呈窄矩形，左侧有额外斜折和隆起，边角没有全部展开叠齐；与成功参考视频 7.0 s 的平伏双层主体相比，初态不满足本节点。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 30,
+      "text_zh": "观察：视频 9.0–15.0 s，机器人两爪夹着原上层向远侧翻开，毯子面积展开，左侧仍有折叠；这是为重新对折所作的整理，未形成目标双层主体。"
+     },
+     {
+      "t": 136.0,
+      "log_step": 90,
+      "text_zh": "观察：视频 130.0–138.0 s，机器人双爪确实提起远侧布幅并向近侧翻下；视频 136.0 s 的俯视图显示左端大幅斜折、两侧边角未叠齐，低斜视图显示折叠主体鼓起。视频 138.5–141.0 s 右爪退离又牵起右侧布料，未出现平伏的完整双层主体。"
+     },
+     {
+      "t": 230.0,
+      "log_step": null,
+      "text_zh": "观察：视频 160.0–205.0 s，机器人继续提拉、展布；视频 220.0–248.0 s 毯子一度摊成旋转的较大四边形，随后视频 250.0–275.0 s 又被推挤卷起，没有恢复规定的主对折。"
+     },
+     {
+      "t": 286.4,
+      "log_step": null,
+      "text_zh": "观察：视频 285.4–286.4 s，机器人右爪张开并退开，毯子仍是桌面右侧有明显山脊和叠褶的不规则布堆，不是平伏的600×240毫米双层主体；本节点终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.0–14.0 s、130.0–138.0 s，左、右二指夹爪分别夹住毯子不同局部，合力提起并翻动布幅；随后也有单爪提拉整理。后续接触方式依次改变：视频 212.0–218.0 s 左爪闭合指端压擦拖布，视频 222.0–228.0 s、250.0–254.0 s 双爪指端压住并推拖布面，属于压/擦整理，未见移动底盘。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左侧可见多余斜折和隆起，没有下层左近角展开、仅上层原远左角单独平伏折入的形态。"
+     },
+     {
+      "t": 136.0,
+      "log_step": null,
+      "text_zh": "观察：视频 130.0–153.0 s，机器人操作的是整幅主对折与右端解挂，左侧呈不规则大折皱；未见成功参考视频 8.0–9.5 s 那样在完整双层主体上单独翻入上层左近角的动作和三角叠片。"
+     },
+     {
+      "t": 286.4,
+      "log_step": null,
+      "text_zh": "观察：视频 155.0–286.4 s，机器人持续提拉、展布、推拖和解除右爪挂布，未建立平伏的双层主体及其上单独的左近角三角叠片；视��� 286.4 s 最终布堆不满足本节点。未见专门尝试该折角，故不附contact_actual。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 136.0,
+   "log_step": 90,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 130.0–138.0 s，机器人正在双爪翻折远半幅；视频 136.0 s 左端斜折、边角错开，低斜视图中的主体明显鼓起，未平伏叠合。后续机器人反复整理，直到视频 286.4 s 仍未完成主对折。log step 90 的脚本执行halffold2，log step 91 虽自述“对折发生了”，同时承认左端堆皱；节点以视频形态判为未达，断点是主对折。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 136.0,
+    "log_step": 90,
+    "evidence_zh": "观察：视频 135.0–138.0 s，机器人把远侧布幅翻向近侧后，左侧留有大块斜折，上下边角未对齐，低斜视图可见拱起叠褶；视频 142.0–147.0 s 解挂后仍为歪斜布团。随后整理至视频 286.4 s，布料仍偏在右侧且有大幅褶皱，始终没有得到本步骤要求的平伏、完整双层矩形。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "log_step": 90,
+    "evidence_zh": "推断：机器人未能可靠控制柔性布料的抓取、翻折和释放形变。视频 82.0–100.0 s 多次双爪闭合后抬手，布幅仍留在桌上；视频 130.0–138.0 s 真正带起远半幅后仍将左侧余褶一起卷入，视频 138.5–141.0 s 退爪又牵起右侧布料。log step 90 的脚本按预定弧线同步移动两爪，log step 91 随即开爪退离；log step 92 的服务读数显示右爪实际开口约27毫米，而开爪命令已给出，视频也显示右端随爪升起。上述接触与形变控制没有产生要求的折叠结果；现有证据不足以唯一细分为抓取几何、辅助抓取准入或轨迹跟踪问题，故根因保留在控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器reward仅报告总体失败、重放一致及运行诊断，未返回DAG所列角点、层序、平伏、轮廓和稳定确认等原生指标，故这些value均为null。RGB多视图足以判定两个目标形态均未达成，但不能逐材料点核实毫米级误差或精确区分接触控制的子类；agent在log step 126 对抓取规则和漂移的解释属于自述，未据此断言环境不可解或参数错误。"
+ },
+ "summary_zh": "机器人先将初始多余折叠展开，再反复抓取、翻折和整理；两个节点均未达到，最终为0/2。断点是视频约136.0 s的主体对折：双爪翻下远半幅后，左端仍斜折堆皱、主体鼓起，后续提拉推拖也未修复，视频286.4 s仍为右侧不规则布堆；证据支持控制失败，上层折角未独立尝试。无状态日志且评分器未报告逐项原生指标，具体接触控制子类和毫米级误差��能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点为主对折（视频约136 s）与帧一致；初态有额外折叠、终态为右侧不规则布堆，节点值、接触、现象与根因（控制，子类未细分）均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:16:38Z",
+  "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-blanket-fold-04-i01-standard--awaigf2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--awaigf2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c3b9e626122111bd1ed18f73642f7991bed256d178a73a65864b658964afa33c",
+   "video_sha256": "7a09e6186b2396bba0455d63a8fcfc3c60109a645bfb757bbe451cc557d7a840",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--j2uvkza.json

@@ -0,0 +1,389 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--j2uvkza",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 8986,
+   "live_rows": 8986,
+   "sim_steps": 8986,
+   "physics_steps": 89860,
+   "steps": 1877,
+   "elapsed_s": 6788.4,
+   "replay_wall_s": 3346.4,
+   "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-fold-04-i01-standard--j2uvkza/replay.mp4",
+  "duration_s": 224.733,
+  "fps": 15.0,
+  "frames": 3371,
+  "sha256": "2c111e3fccc50ec7251ca6a2fdd8879cc3b486d42e446ca6a9058720ad0061cb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s中毯子虽呈窄矩形，左侧有额外斜折和鼓起，左侧角与边没有像成功参考视频7.0 s的双层主体那样展开、叠齐，不能将初态记为主对折完成。"
+     },
+     {
+      "t": 56.0,
+      "log_step": 261,
+      "text_zh": "观察：视频46.2–62.5 s，机器人左夹爪抓取左侧隆起布片并拉向近侧；视频56.0 s外轮廓有所拉直，但低斜视图仍有隆起，远近层的左侧边角没有叠齐，松手退开后仍未形成平伏的双层主体。log step 261的恢复脚本以抓取隆起、拉回和放下为目标。"
+     },
+     {
+      "t": 158.0,
+      "log_step": null,
+      "text_zh": "观察：视频80.0、124.0、158.0及190.0 s，机器人多次调整后，毯子仍分别有左侧竖起的折片、长条卷折或明显歪斜的两块外露区域；未见平伏且远近边角叠合的主对折结果。"
+     },
+     {
+      "t": 224.667,
+      "log_step": null,
+      "text_zh": "观察：视频223.733–224.667 s逐帧可见，双臂已退开，毯子扭曲成弯折长片并向桌前延伸，仍有卷起部分，未形成要求的横向双层矩形主体。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪在视频52.3–58.8 s夹住左侧隆起布片拉回，视频140.0–150.0 s又夹住左侧布片抬起、展开并放下，以调整主体。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频28–38 s、66–79 s及161–173 s，机器人右二指夹爪多次接近、合拢并沿布边或布面移动，尝试调整主体；视频160 s尚在布料外侧，随后才靠近。推断：虽可识别执行者为右夹爪，但夹指与布料的接触区域被遮挡，布面没有清楚、持续随夹爪抬起的线索，无法确定是否夹牢或以其他方式作用，故此部分接触记未知，不据靠近动作认定抓握或双臂协作。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.067,
+      "log_step": 104,
+      "text_zh": "观察：log step 104编写的首个执行脚本直接以左夹爪把左近角从[-0.305,-0.135,0.004]移向[-0.19719,-0.02719,0.007]为目标。视频4.2–7.0 s左夹爪带动左侧布面，布面出现跨向右侧的长条隆起，没有形成仅上层左近角向内折入的平伏三角叠片。"
+     },
+     {
+      "t": 17.267,
+      "log_step": 105,
+      "text_zh": "观察：视频13.533–18.667 s，执行首个折角脚本的机器人左夹爪抬拉左侧布片，毯子主体随之变斜，左侧拱起；夹爪退出后仍无独立、平伏的目标折角。log step 105记录该首个脚本被实际启动。"
+     },
+     {
+      "t": 134.867,
+      "log_step": null,
+      "text_zh": "观察：视频98.0、124.0、134.867、158.0和210.0 s，后续多次抓拉、放下后，毯面仍有长条皱折、隆起或主体歪斜；没有出现成功参考视频9.8 s所示的平伏主体和左近角独立三角折片。参考视频仅用于识别完成形态。"
+     },
+     {
+      "t": 224.667,
+      "log_step": null,
+      "text_zh": "观察：视频223.733–224.667 s机器人已退离，布料呈扭曲长片而非目标上层三角折角；inputs/run.json的评分器字段live_success=0、replay_success=0且live_matches_replay=1，与本次视频的未完成形态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹取左侧局部布片，视频13.533–18.2 s可见布片随夹爪抬拉；视频212.0–218.0 s也可见左夹爪带动布片。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 6.0,
+   "log_step": 105,
+   "where": "操作中",
+   "evidence_zh": "观察：视频0.0 s的毯子虽呈窄矩形，左侧有额外斜折，边角未叠齐；与成功参考视频7.0 s的平伏双层主体不同，尚不满足主对折判据。log step 104–105记录机器人首个执行脚本直接按已有主对折规划并启动折角；视频4.2–7.0 s左夹爪操作后出现横跨主体的长条隆起，视频13.533–18.667 s主体进一步歪斜。视频46–62.5 s及140–150 s机器人虽抓拉、放下左侧布片修整主体，仍留下隆起和错位，视频224.667 s终态为扭曲长片。log step 467及470中agent仍自述初态已对折，此处仅作为其规划前提的证据。推断：最先未建立且始终未修复的是主对折关系，后续折角是在该前置状态未成立时进行的；因此断点归blanket_half_folded。视频约6.0 s仅作早期错误操作的导航锚，不表示初态曾完成主对折后又失去。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频0.0 s主对折已有左侧额外斜折和边角错位；视频6.067–13.067 s左夹爪操作后，布面留下横跨主体的长条隆起，视频17.267–19.0 s左侧拱起、主体歪斜。视频46–62.5 s及140–150 s机器人抓拉修整后仍未得到平伏、边角叠合的双层主体，视频224.667 s终态仍扭曲错位。此处位姿不准指主折叠主体的形态与叠合位置不对；未形成独立上层三角折角是后续未达结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 104,
+    "evidence_zh": "推断：agent未先处理初态未叠齐的主折叠便直接规划折角，使用了尚未成立的叠层前提。依据：log step 15的服务任务文本要求先将远半幅翻到近半幅并叠齐，再折上层角；视频0.0 s左侧仍有额外折叠。log step 104–105的首个执行脚本直接抓左近角做斜向反折，视频0.0–7.0 s也未先修复主折叠。后续虽有局部恢复拉动，视频62.5、124.0和224.667 s均未建立正确主体与独立折角；log step 467及470仍把初态描述为已经正确对折。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；多相机可判断明显的隆起、错位和目标形态缺失，但无法逐点核实材料层身份、夹爪究竟夹住几层、毫米级角点误差或层序比例。评分器未报告DAG列出的原生几何与确认指标，native_metrics全部记null。log step 108、202有动作限速和桌面保护裁剪记录，现有证据不足以区分其影响与具体抓取/轨迹问题，未进一步添加控制根因。log step 467–470末尾新写方案只做了语法及文件检查，没有实际执行，不能作为本次进度或修复证据；其坐标和完成表述不替代视频。复核视频28–38 s、66–79 s及155–173 s，右夹爪参与尝试明确，但是否夹牢布料及具体接触方式仍不确定；保留已观察到的左夹爪抓握，右夹爪部分记未知，不推定双夹爪同时抓持。"
+ },
+ "summary_zh": "本次实时回合中，机器人用左夹爪抓拉布料，并多次用右夹爪尝试调整布边，主对折和上层折角均未达到，最终为0/2。断点为主对折：初态有额外斜折、边角未叠齐，机器人却直接规划折角，视频约6.0 s形成长条隆起，后续主体修整也始终未建立平伏双层主体，折角随之未成。视频末秒仍为扭曲布片；缺少状态日志及原生几何指标，无法确认具体夹取层数和控制失配机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（两节点均未达成、0/2）与断点位置基本可从视频支持；主要问题是 contact_actual 把全部抓握记为“仅左夹爪”，但视频 30 s、70 s、160 s 明显有右臂/右夹爪靠近并作用于毯子，与自身 summary_zh“轮流用左右夹爪”矛盾。断点与根因按首个脚本直接折角、log step 467 自述把初态当已对折，属可接受推断。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、0/2 与视频一致（视频0.0 s初态有额外斜折，224.7 s为扭曲长片；左夹爪抓握与右夹爪未知接触均有据）。主要问题是断点：blanket_half_folded 在 t=0 即不成立、是 top_corner_folded 的前置步骤，且始终未修复，断点应落在它而不是后继的折角节点。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按接受落实：断点 ref 改为 blanket_half_folded，证据与 summary 同步改写，unmet 与 DAG 一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按接受落实：断点 ref 改为 blanket_half_folded，证据与 summary 同步改写，unmet 与 DAG 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": "2026-10-30T23:48:12Z",
+  "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-blanket-fold-04-i01-standard--j2uvkza/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--j2uvkza/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--j2uvkza/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--j2uvkza/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--j2uvkza/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--j2uvkza/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": "28323cab9a2f3cd45c08dd25b874a9280c44aa6dc50ddb42a6af605b4516dc99",
+   "video_sha256": "2c111e3fccc50ec7251ca6a2fdd8879cc3b486d42e446ca6a9058720ad0061cb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--jsc6fev.json

@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--jsc6fev",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 3300,
+   "live_rows": 3300,
+   "sim_steps": 3300,
+   "physics_steps": 33000,
+   "steps": 1557,
+   "elapsed_s": 5458.4,
+   "replay_wall_s": 1258.7,
+   "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-blanket-fold-04-i01-standard--jsc6fev/replay.mp4",
+  "duration_s": 82.6,
+  "fps": 15.0,
+  "frames": 1239,
+  "sha256": "6730930441ec59067dde7c97d1b708547270d2820da6254600891e5670548842"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 毯子虽呈窄矩形，左侧已有额外内折和凸起，左侧材料边角未展开；不能将这一初态外轮廓视作目标主对折。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 43,
+      "text_zh": "观察：视频 2.7–6.9 s 左夹爪夹住并翻动左侧布片，随后布片随夹爪升起，低斜视图显示悬起的布面；右臂未参与。log step 43 的脚本将这一动作用于翻开上层、暴露下层折角。"
+     },
+     {
+      "t": 12.3,
+      "log_step": 54,
+      "text_zh": "观察：视频 10.7–12.8 s 左夹爪降下并脱离布片，毯子重新落桌，但左近侧仍有额外内折与凹口，未出现成功参考视频 7.0–8.0 s 所示的整齐双层主体。"
+     },
+     {
+      "t": 24.5,
+      "log_step": 66,
+      "text_zh": "观察：视频 20.8–24.5 s 左夹爪再次夹起左侧局部向远侧翻动，松开后上方布片沿长斜线覆盖主体，左近角仍缩在内；远边未与近边整齐叠合。log step 66 的脚本仍在尝试翻开上层以整理下层。"
+     },
+     {
+      "t": 45.0,
+      "log_step": 120,
+      "text_zh": "观察：视频 26.0–49.0 s 左夹爪分次接近、闭合并向左近侧移动，布面局部起皱，但斜向重叠与内折角一直保留。log step 120 的脚本要求夹住下层折角并将其向左近侧展开；视频未显示该角到达外侧目标位置。"
+     },
+     {
+      "t": 82.53,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–82.5 s 多次左夹爪修整后，最终仍是远侧边斜跨主体、左角内收且局部隆起的形态；已检查视频 81.5–82.53 s，末帧没有恢复目标双层矩形。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.7–6.9 s、21.9–24.0 s 左二指夹爪闭合夹住毯子左侧局部并带起布片；后续仅左夹爪继续分次夹取、拨压左侧折角。右夹爪始终停在毯子外，未形成双臂协作。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 67,
+      "text_zh": "观察：视频 24.5 s 可见的是跨越大半幅的长斜向叠片与内收左角，没有下层角保持展开、上层左近角独立向内形成小三角叠片的目标形态；log step 67 中 agent 自述此时仍为翻开上层以暴露下层折角。"
+     },
+     {
+      "t": 82.53,
+      "log_step": 168,
+      "text_zh": "观察：视频 82.53 s 主体仍斜叠，左侧没有成功参考视频 9.8 s 所示的平伏独立三角折角。log step 115、122、133、139、159、168 均描述继续展开下层折角，视频中没有随后完成主体对折并单独折入上层角的动��；该目标折角未被实际尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 24.5,
+   "log_step": 66,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22.4–24.5 s 机器人用左夹爪翻动左侧布片，释放后留下跨越主体的斜叠和内收左角；视频 26.0–82.53 s 持续修整仍未形成远、近边与角叠合的双层主体。log step 66、113、120、131、137、157、166 的动作均在为主体折叠翻开或整理局部布角，该步骤一直未完成。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 24.5,
+    "log_step": 66,
+    "evidence_zh": "观察：视频 24.5 s 左夹爪松开后，布料上方边缘沿长斜线压在主体上，左近角仍向内缩；视频 45.0 s、63.0 s 和 82.53 s 均保留这一形态。目标要求的平行长边主折痕、对应边角叠合及展开的下层左近角没有形成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 66 的脚本只以左夹爪夹取左侧局部并翻向远侧，右臂保持原位；视频 22.4–24.5 s 可见局部布片被带起，放下后形成跨主体的斜叠。log step 120、131、137、157、166 的脚本改变左侧夹取点、俯仰/滚转角及下降闭合方式，意在把内收角向左近侧展开；视频 34.0–48.0 s、74.0–82.53 s 可见夹爪反复接近、闭合和移动，却只使局部布面起皱，内收角及斜叠仍保留。所选局部夹取点和夹持方式未建立能牵出该角的有效接触关系，支持抓取和接触设计归因；这不证明轨迹跟踪或逆解出错。缺少材料点和接触测量，不能断定夹住了哪一层，也未验证同一中间布形下的可行替代抓法，alt_feasible 为未知。"
+   }
+  ],
+  "gap_zh": "无状态日志，RGB不能逐点验证材料身份、隐藏层序、夹持接触力或毫米级验收阈值；评分器 reward 未报告 DAG 的各项原生终局指标，故这些值均为 null。抓取和接触设计归因是日志脚本与可见局部布料响应共同支持的推断；缺少夹持材料点、接触力及指令/实测轨迹对照，无法进一步判定具体夹层、滑移或跟踪误差，同一中间布形下的替代抓法可行性未知。log step 173 是提供方过滤提示，可能截断后续修复；本文件标注此前已经执行且视频中未修复的物理失败，不将过滤本身当作现象或根因。"
+ },
+ "summary_zh": "机器人只用左夹爪翻动并整理毯子左侧，留下贯穿主体的斜向重叠和内收布角；主体对折与上层角折入均未达成，终态为0/2。断点在主体对折的操作中，可见折叠位姿不准；局部夹取与夹持方式未能牵出内收角，推断根因为抓取和接触设计，可行替代未知。因缺少材料点和接触测量，根因仍为推断，conf 从7降至6；无状态日志及原生终局指标，层序和毫米级误差无法逐点核实。log step 173 的提供方过滤发生在这些物理失败之后。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "WHERE 标签（两节点均未达成、final=0、断点 blanket_half_folded、无状态日志）与视频一致；唯一问题是根因：控制层归因缺少轨迹跟踪/逆解/反馈的证据，文件自己也承认无法区分，应改为证据能支持的类别或降低确定度。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、final=0、断点 blanket_half_folded、位姿不准与抓取和接触设计（推断，alt_feasible 未知）均与视频一致；上轮根因问题已修正，无新增错误。",
+    "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": "2026-10-30T23:44:54Z",
+  "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-04-i01-standard--jsc6fev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--jsc6fev/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--jsc6fev/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--jsc6fev/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7de2ba64af4189394bc9af5465fd6e158804def0ac26ca8c36a1f0a96dd8ad4c",
+   "video_sha256": "6730930441ec59067dde7c97d1b708547270d2820da6254600891e5670548842",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--mccommu.json

@@ -0,0 +1,336 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--mccommu",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 8538,
+   "live_rows": 8538,
+   "sim_steps": 8538,
+   "physics_steps": 85380,
+   "steps": 1585,
+   "elapsed_s": 10621.3,
+   "replay_wall_s": 3035.2,
+   "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": 0.329,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.038,
+   "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-04-i01-standard--mccommu/replay.mp4",
+  "duration_s": 213.533,
+  "fps": 15.0,
+  "frames": 3203,
+  "sha256": "cd99a3fdf014289fb20b122910cd824861bd8f7f64c9c0f1119ec770296ab28e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的毯子虽为窄矩形，左端仍有向内多折的一片及斜向皱折；与成功参考录像视频 7.0 s 的边角叠合、双层主体平放形态不同，初态不满足本节点。"
+     },
+     {
+      "t": 86.0,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0–90.0 s，机器人左夹爪反复提起、降低和释放左部毯面，毯面留下褶皱及错开的左端，未出现远半幅与近半幅完整叠合的平伏主体；视频 96.0–104.0 s 的双臂闭合、提升也未见两手共同带起并重新对齐毯子。"
+     },
+     {
+      "t": 213.4,
+      "log_step": null,
+      "text_zh": "观察：视频 128.0–174.0 s 的整理后左侧仍有多余折叠与隆起；视频 176.0–213.4 s 又形成横贯主体的凸起折片，末秒视频 212.6、212.8、213.0、213.2、213.4 s 均可见边缘错开、低斜视图中毯面离桌隆起，不满足主对折贴桌及边角叠合要求。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪在视频 59.0–86.0 s 等整理过程中夹住左部隆起布料、提起并降低，尝试恢复平伏主体；视频 128.0–134.0 s 又带起左部毯面。未把视频 96.0–104.0 s 未验证的双臂闭合记作实际双手抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪在视频 64.0–68.0 s、80.0–84.0 s 及184.0–188.0 s 等时段下压毯面隆起，尝试压平主体。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–9.2 s，机器人左爪在近左角闭合及上移，原角和毯面没有随夹爪翻入；随后继续换点夹取。"
+     },
+     {
+      "t": 49.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.0–51.7 s，机器人左爪夹起近左部布料并向内搬移，视频 49.3–50.7 s 留下拱起、聚拢的布片；视频 51.7 s 张爪抬离后，左部仍有高脊及外伸布角，没有形成成功参考录像视频 9.8 s 那种平伏的独立三角叠片。"
+     },
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.0–174.0 s，机器人左爪多次在左角闭合、小幅提升，未见角点完成向内翻折；视频 176.0–180.0 s 提手时较大毯面被带起，之后留下贯穿主体的隆起折片。"
+     },
+     {
+      "t": 213.4,
+      "log_step": 461,
+      "text_zh": "观察：视频 212.6–213.4 s 双爪张开退离，近左角仍没有平伏三角折片，主体仍隆起；log step 461 的实时机器人服务状态为 control_steps=8538、done=false���reason=null，评分器 live_success=0、replay_success=0，与画面未完成的结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪在视频 47.0–51.7 s 夹住近左部布料，提升、向内搬移后松手；随后反复换角区夹取。实际曾夹住布料，不能因其他空夹就把整步记成从未接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪在视频 56.0–60.0 s 等折角整理中向下压近左部褶皱，随后又带起较大布片。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_corner_folded",
+   "t": 49.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 47.0–51.7 s，机器人正在把近左部布料夹起并向内放下，但得到的是聚拢高脊和外伸角，未得到平伏三角折角；后续反复夹取、压平直到视频 213.4 s 均未完成该步骤。推断：这是本局最早持续尝试且始终未修复的折角步骤，故断点取上层角折好；主对折也未达到，但不以未达前置替代机器人当时实际操作的步骤。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 49.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 49.3–51.7 s，机器人左爪将布片搬入后，左部形成凸起皱褶，布角仍外伸，没有平伏于上层的三角叠片；视频 176.0–180.0 s 再次操作又使较大毯面隆起，视频 213.4 s 仍为错位、隆起的折片。指定上层角的折入位置和折后形态一直未达成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人反复闭合、提升和搬移未能把动作限定在指定角片并铺平，属于布料精细操纵控制失败。依据是视频 47.0–51.7 s 夹取搬移后仅形成高脊，视频 59.0–63.0 s 及176.0–180.0 s 提手又牵起较大布面；log step 176、178、180 的脚本明确执行折角搬移和降低，log step 182 自述落点处仍为帐篷状，log step 198 自述压峰后带起的布料范围比预期大。现有证据不足以在抓取区域、层分离和反馈跟踪之间确定唯一子类。"
+   }
+  ],
+  "gap_zh": "没有本局材料点状态日志，无法逐点核实隐藏层序、原始材料角身份以及毫米级误差；评分器 reward 未报告 DAG 所列逐项原生指标，故这些 value 均留 null。两相机已显示额外折叠、隆起和缺少目标三角片，足以将两节点判 false；根因仅归到控制，未推定特定参数或感知误差。"
+ },
+ "summary_zh": "本局两节点均未达成，最终为0/2；初始窄矩形左端已有额外折叠，不能计作主对折完成。机器人持续尝试近左角夹取及整理，视频 49.7 s 左右的内移留下高脊而非平伏三角片，后续又多次带起较大毯面，断在上层角折好，现象为位姿不准、根因为控制。视频 213.4 s 双爪已松开退离但毯面仍隆起错位；缺少材料点状态及逐项评分指标，精确层序和控制子因不能进一步核定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点判 false、最终 0/2 与视频 0.0、213 s 帧及 reward=0 一致；断点取 top_corner_folded、现象位姿不准、根因控制均有视频证据支持，未发现需改内容的错误。仅断点在 half_folded 与 top_corner_folded 间有一定歧义（机器人确在尝试折近左角，故接受）。",
+    "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": "2026-10-30T23:44:17Z",
+  "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-04-i01-standard--mccommu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--mccommu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d643fed7d8056cbb2b6850c85c7f193b643dbea4d3e6091a03954627e537371f",
+   "video_sha256": "cd99a3fdf014289fb20b122910cd824861bd8f7f64c9c0f1119ec770296ab28e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--mfr3yvj.json

@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--mfr3yvj",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 13924,
+   "live_rows": 13924,
+   "sim_steps": 13924,
+   "physics_steps": 139240,
+   "steps": 3223,
+   "elapsed_s": 10757.8,
+   "replay_wall_s": 6952.3,
+   "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-blanket-fold-04-i01-standard--mfr3yvj/replay.mp4",
+  "duration_s": 348.2,
+  "fps": 15.0,
+  "frames": 5223,
+  "sha256": "b72640fead76c9ec70724dea6d43b7dc848473198cee15b584103821aba26ba1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      108.0,
+      112.5
+     ],
+     [
+      117.5,
+      157.5
+     ],
+     [
+      315.5,
+      320.5
+     ],
+     [
+      330.0,
+      337.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的窄矩形毯叠左侧有额外斜向折叠，并非两层边角叠合的完成态；视频 40.0–80.0 s 机器人双夹爪夹起毯边，展开悬挂后铺成整幅。"
+     },
+     {
+      "t": 108.0,
+      "log_step": 157,
+      "text_zh": "观察：视频 88.0–108.0 s 双夹爪捏住远边两角翻过中线；视频约 108.0 s 远半幅落到近半幅上，形成贴桌的双层长条，边缘基本叠合。视频约 112.5–117.5 s 左夹爪退手仍带起左端，斜视图出现悬起的布面；视频 117.5–118.0 s 脱离后主体恢复贴桌。区间边界为视觉估计，误差约 0.5 s。"
+     },
+     {
+      "t": 157.5,
+      "log_step": 235,
+      "text_zh": "观察：视频 120.0–154.0 s 主体仍保留对折，上层左角被反复操作；视频 157.0–160.0 s 两夹爪调整并退离时，原折角被拉开，上层近边明显歪斜，右近端出现斜切状错层；视频 164.0、196.0、228.0 s 仍未恢复对应边角叠合。视频 248.0–274.0 s 左侧又被带起，随后机器人将整幅提起展开重折。"
+     },
+     {
+      "t": 315.5,
+      "log_step": 423,
+      "text_zh": "观察：视频 310.0–316.0 s 双夹爪再次将远半幅翻落，视频约 315.5 s 主体重新贴桌叠合；视频约 320.5–324.0 s 右夹爪退手带起右角并拖出贯穿上层的斜褶，叠合关系再次被破坏。"
+     },
+     {
+      "t": 330.0,
+      "log_step": 442,
+      "text_zh": "观察：视频 325.0–332.0 s 两夹爪重夹近侧角并拉齐，视频约 330.0 s 主体近边重新基本叠合；视频 333.0–337.0 s 左手折角时主体尚贴桌。视频约 337.5 s 起左手退离仍牵住布料，拉起范围超出局部折角的斜向布带。"
+     },
+     {
+      "t": 348.13,
+      "log_step": 459,
+      "text_zh": "观察：视频 342.0–348.13 s 左手逐渐脱离，毯子虽落回桌面，上层仍有横跨大部分近边的斜向卷折，近边与下层不再平整叠合；末秒视频 347.2–348.13 s 未恢复。该形变超出单独折入左近角的允许变化，故终态为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪各夹住毯子不同边角，同时提起展开、铺放并翻折远半幅；视频 40.0–108.0 s、270.0–316.0 s 可见两处布片随夹爪一起运动。退手阶段布料也曾缠挂于指间，拖动已折主体。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 63,
+      "text_zh": "观察：视频 8.0–24.0 s 左夹爪先夹起左近侧布角再放回，抬起处下方露出桌面，未形成保留下层角的上层三角叠片；log step 63 的 agent 也将该次试提判断为下层并决定放回。"
+     },
+     {
+      "t": 144.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 120.0–138.0 s 左夹爪重新试夹上层左近角；视频 140.0–146.0 s 将该角带向内侧，低斜视图显示左侧隆起成卷褶，俯视图未形成平伏且清楚的约 45 度三角叠片。视频 148.0–154.0 s 退手后隆起仍在。"
+     },
+     {
+      "t": 196.0,
+      "log_step": 281,
+      "text_zh": "观察：视频 188.0–196.0 s 左夹爪再次向内翻角并松手；视频 196.0–204.0 s 左近角又摊回，未保留目标折角。视频 232.0–260.0 s 的下一次尝试中，布料包绕左指，退手时左侧被牵起成大斜褶；视频 262.0–264.0 s 脱离后仍为歪斜卷折。"
+     },
+     {
+      "t": 348.13,
+      "log_step": 461,
+      "text_zh": "观察：视频 333.0–337.0 s 左夹爪最后一次搬角，右夹爪同时固定另一端；视频 338.0–341.0 s 左手退离却仍带起布片。视频 344.0–348.13 s 双手已退开，左角留下宽的斜向卷折，没有平伏三角叠片；参考成功录像视频 9.86 s 则可见下层左近角保留、上层小三角平贴。评分器 live_success=0、replay_success=0 与该可见未完成形态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 333.0–337.0 s 左二指夹爪捏住左侧上层布片向内翻，右二指夹爪夹住另一端固定；较早视频 120.0–148.0 s、188.0–196.0 s、232.0–260.0 s 多次仅由左夹爪夹角试折。布片曾随闭合夹爪抬起，不能将这些实际夹持统记为空夹；退手时也多次缠住手指。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_corner_folded",
+   "t": 144.0,
+   "log_step": 217,
+   "where": "操作中",
+   "evidence_zh": "观察：主对折形成后，机器人在视频 120.0–146.0 s 反复夹取左侧上层并向内翻；视频约 144.0 s 折角区域明显卷起，未成为贴在主体上的三角叠片。后续视频 188.0–264.0 s、333.0–348.13 s 虽换握、重折和解除缠挂，始终未将这一折角完成；主对折其间曾重建，不能把重建主体视作折角已修复。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 144.0,
+    "log_step": 217,
+    "evidence_zh": "观察：视频 144.0–154.0 s 左角向内后成为隆起的卷褶；视频 196.0–204.0 s 另一轮折角摊回。最终视频 347.2–348.13 s 双手退开后，上层仍留下宽的斜向卷折，未出现参考成功录像视频 9.86 s 那样的平伏小三角。"
+   }
+  ],
+  "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：机器人把夹爪留在折入的布片之间，随后采用开指并上抬的退手方式，布料仍缠挂指端，退手因此牵动布面而非保持折痕。依据是视频 238.0–260.0 s、338.0–341.0 s 布片持续随左指升起；log step 333 和 448 的脚本先下令开指，再退手，服务在 log step 335 回报左指实际间隙仅约 1.6 mm，在 log step 450 回报仅约 2.7 mm；视频 342.0–346.0 s 改为倾斜并沿指轴退出才脱离，但已留下宽斜卷折。这里归因于局部夹持及释放几何不适配，不从整体失败推断感知或任务理解错误。"
+   }
+  ],
+  "gap_zh": "无状态日志；RGB 能判定主体错层、卷折和夹爪带布，但不能逐点验证材料身份、承托层序比例、角点毫米误差或辅助抓取内部状态。评分器未报告 DAG 所列原生几何与稳定指标，native_metrics 均为 null；主对折短区间边界按约 0.5 s 精度目测，不把外轮廓接近当作精确联合验收通过。"
+ },
+ "summary_zh": "机器人两次展开并重做主对折，主对折曾短暂成立，最高进度为 1/2；后续夹爪退手牵布与错层使其再次失去，视频 348.13 s 终态为 0/2。断在上层左近角折叠：多轮夹角和释放留下卷褶或使角摊回，最终没有平伏三角叠片，证据支持局部夹持及退手接触设计不适配。无状态日志及逐点几何指标，短暂主对折区间为视觉判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "主对折区间、终态 false、断点（上层左近角折叠，视频约 144 s）与根因（退手牵布的接触设计）均与帧和 log 读数一致；未发现需要改动的错误。长间隙 157.5–315.5 s 中主体歪斜但判定为失去，边界有一定主观性。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:28:50Z",
+  "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-blanket-fold-04-i01-standard--mfr3yvj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--mfr3yvj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04e35e39d41049f6a0e3d0f1d68be306e9fd8d35d36c6790e196ef7dfa3eae53",
+   "video_sha256": "b72640fead76c9ec70724dea6d43b7dc848473198cee15b584103821aba26ba1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--oec3iki.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--oec3iki",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 14778,
+   "live_rows": 14778,
+   "sim_steps": 14778,
+   "physics_steps": 147780,
+   "steps": 5213,
+   "elapsed_s": 10406.3,
+   "replay_wall_s": 6583.7,
+   "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-blanket-fold-04-i01-standard--oec3iki/replay.mp4",
+  "duration_s": 369.533,
+  "fps": 15.0,
+  "frames": 5543,
+  "sha256": "9b86f40ac708cae3e4538ceffb3139b82cc8886e96beeac33b6b12e0187a1a78"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s虽呈窄矩形，但左侧有向内卷叠的额外折层，近边左部明显内凹，角与边没有完整叠合；不能把初始窄轮廓认作已完成主对折。对照成功参考视频7.5 s的主体形态判读，参考视频仅用于识别形态。"
+     },
+     {
+      "t": 99.0,
+      "log_step": null,
+      "text_zh": "观察：视频93.0–100.0 s左夹爪移动后，毯子左侧叠层被推皱、主体近边弯曲，右侧两层边缘错开；视频120.0 s仍未形成边角叠合的平伏双层主体。"
+     },
+     {
+      "t": 143.5,
+      "log_step": null,
+      "text_zh": "观察：视频129.0–143.0 s右夹爪带起大片毯面形成竖直悬垂，视频143.0–145.0 s松开后毯子斜落、右端卷皱，未形成沿长边中线对折的矩形主体；随后机器人反复推移、提起，视频180.0、235.0、295.0、350.0 s均仍为斜置或不规则皱叠。"
+     },
+     {
+      "t": 369.4,
+      "log_step": null,
+      "text_zh": "观察：视频368.6–369.4 s双爪已张开，毯子仍斜置，中央及远侧明显隆起、布面与边角没有对齐成贴桌双层主体，故终态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频129.0–143.0 s右二指夹爪夹住毯面并带起大片布料，左夹爪同时接触左侧局部；本条记录右爪的夹持链路，左爪的按压链路另列。后续视频351.0–360.0 s又见右爪单独夹持提起毯子。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频83.0–128.0 s两夹爪在毯面不同部位向下接触、推移；视频129.0–143.0 s右爪提起时，左爪仍顶压左侧局部，本条记录左爪的接触链路。其余时段可见单爪按压、横推毯面，未将这些表面接触一概认作抓握。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s左侧已有不规则卷叠，未见所需上层左近角平伏于上层的约45度三角叠片；与成功参考视频9.8 s可辨的折角形态不同。"
+     },
+     {
+      "t": 95.0,
+      "log_step": 121,
+      "text_zh": "观察：视频90.0–100.0 s左夹爪在左侧已有折层处按压、推移，布层隆起并带动较大片毯面，未见只捏起上层左近角向右、向远翻入。log step 121记录agent脚本对左侧flat与flap区域的接触试探，不是单层折角完成的证据。"
+     },
+     {
+      "t": 369.4,
+      "log_step": null,
+      "text_zh": "观察：视频143.0–369.4 s毯子先斜落、后被反复推移和提起，未见独立完成且保留的上层��近角三角叠片；视频368.6–369.4 s主体仍隆起且无所需折角，故终态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频90.0–100.0 s左夹爪接触左侧已有折层，按压、推移使该处隆起；log step 121记录对flap区域的接触试探。未见夹爪单独夹住指定上层角，故只记录实际按压接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 143.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频129.0–143.0 s机器人右夹爪将大片毯面提成悬垂，视频143.0–145.0 s松开后斜落成皱叠；后续至视频369.4 s始终没有将远半幅翻到近半幅并使相应边角叠合。推断：主对折是最早未完成且此后未修复的步骤，断点锚定在这次明显偏离所需折叠形态的落放。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 143.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频143.0 s右夹爪松开时，毯子仍竖起、扭斜，远边并未落在近边上；视频144.0–145.0 s落成斜向皱叠，后续视频180.0–350.0 s推移也未恢复对齐，视频369.4 s仍明显隆起。所需对折的边角位置与平伏形态没有到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent的抓取、搬移和落放控制没有形成可重复的折叠动作。视频93.0–100.0 s主要推皱左侧布层，视频129.0–145.0 s提起后未受控地落成目标主体；log step 127记录闭爪后预定抬升却几乎停在原高度，log step 142、148记录降下毯子时逆解失败，log step 176修改动作返回后未更新观测缓存的问题，log step 193的正式翻折尝试仍多次因逆解分支跳变而未执行。上述证据支持控制层归因，但不足以把持续失败唯一归到抓取几何、逆解或反馈中的一个子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有状态日志，评分器reward只报告整体失败和运行一致性，没有报告DAG所列的原生折叠指标，故这些指标值均为null。推断：RGB可判明主体及折角形态不成立，但不能逐点验证材料角身份、层序比例、辅助抓取状态和毫米级验收值，也不能确定每次无效抓取的具体机制。观察：agent在log step 258自述末态为单层平展；视频368.6–369.4 s仍见明显隆起，因此以视频判定形态，不采用该自述。"
+ },
+ "summary_zh": "机器人多次按压、推移并夹持提起毯子，但没有完成主对折或指定上层角折叠，终态为0/2。主对折操作中毯子在视频143.0–145.0 s斜落成皱叠，此后未修复，现象为位姿不准，日志中的无效抬升、逆解失败及控制缓存修补支持控制层归因。缺���材料点状态和原生折叠指标；视频369.4 s仍明显隆起，不能采用agent在log step 258自述的平展末态。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点终态均为false且无区间，与视频一致：初态左侧有卷叠，视频143 s提起悬垂后斜落，200/300 s及369 s末帧毯子斜置隆起，无对折主体或折角。断点锚定主对折、现象位姿不准、根因停在“控制”均有视频和log依据，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:26:26Z",
+  "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-04-i01-standard--oec3iki/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--oec3iki/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0efc15f00d5b2c49cf28445587a9f509f075dfa9af628531580323d3f3ec028b",
+   "video_sha256": "9b86f40ac708cae3e4538ceffb3139b82cc8886e96beeac33b6b12e0187a1a78",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--pusbtc2.json

@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--pusbtc2",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "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": 11669,
+   "live_rows": 11669,
+   "sim_steps": 11669,
+   "physics_steps": 116690,
+   "steps": 1921,
+   "elapsed_s": 9946.3,
+   "replay_wall_s": 7891.3,
+   "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-blanket-fold-04-i01-standard--pusbtc2/replay.mp4",
+  "duration_s": 291.8,
+  "fps": 15.0,
+  "frames": 4377,
+  "sha256": "505319986e2d549d0748acd5e684fe561172de2cfa2bcb4b71b5210a2e0da28d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的毯子虽呈窄矩形，左侧仍有斜向额外折片，边角未完整叠合；与成功参考视频 7–8 s 的平整双层主体不同，不能把初态计为主对折完成。"
+     },
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "观察：视频 78–90 s 左夹爪夹住并搬动局部毯面，整叠随之转斜，远侧形成长条卷褶；随后多次提拉仍留有不规则叠片，没有出现平整且相应边角叠合的主对折。"
+     },
+     {
+      "t": 226,
+      "log_step": 185,
+      "text_zh": "观察：log step 185 的脚本安排右夹爪固定近侧一个局部、左夹爪抓远侧中部向近侧拉。视频 214–230 s 两夹爪共同作用时，毯面中央隆起并卷叠，左右端与近边未同时叠合；视频 234 s 松手后仍有明显斜向卷褶。"
+     },
+     {
+      "t": 291.73,
+      "log_step": null,
+      "text_zh": "观察：视频 275–291.73 s 的后续提拉及退臂结束后，毯子右侧仍卷起、主体轮廓不规则，未形成目标的平伏双层矩形；初态至终态均未观察到完整主对折判据成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78–90 s 及后续整理中，机器人左二指夹爪夹住毯子的局部材料并提起、搬运和拖拉，毯面随夹爪移动。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 214–230 s，机器人右二指夹爪夹住近右侧材料区域，左二指夹爪夹住偏远侧中部并向近侧拉，两臂同时参与对折；后续也共同夹持局部向两侧拉伸。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 234,
+      "log_step": null,
+      "text_zh": "观察：视频 0–234 s 机器人进行局部抓取、展开和主对折尝试，未出现上层左近角单独翻入并平伏的三角叠片；视频 234 s 可见的是横跨主体的卷褶。"
+     },
+     {
+      "t": 291.73,
+      "log_step": 222,
+      "text_zh": "观察：视频 240–291.73 s 机器人继续拉伸和整理毯面，最终左近角仍展开，右侧卷起，未见指定的单层斜折角；agent 在 log step 222 也自述未完成对折和折角。判为未达成依据可见形态，而非仅依据零分或 agent 自述。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "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": "placement_angle_deg_abs",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_duration_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 226,
+   "log_step": 185,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 220–230 s，机器人右夹爪固定近侧局部、左夹爪把偏远侧中部拉向近侧，毯面形成鼓包和卷褶，未沿整条中线翻出边角叠合的双层主体；视频 234 s 松手后形态仍不符，后续整理至视频 291.73 s 也未修复。主对折始终未完成，后续指定折角未启动，因此断点属于毯子对折。"
+  },
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 226,
+    "log_step": null,
+    "evidence_zh": "观察：视频 224–234 s 左夹爪拉过局部后，毯子的上部堆成不规则卷叠，远边及两端没有与近边及相应角叠合；低斜视图可见明显拱起。机器人松手前后均未形成目标主对折，视频 291.73 s 仍有右侧卷起。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 185 的 halffold 脚本只在近侧偏右一个材料区域固定毯子，另一爪抓远侧中部并低空拉向近侧，缺少对远边两端及整幅折线的协调约束。视频 214–234 s 显示两处局部受牵引而其余毯面卷起、边角错开，说明这一接触布局未能把整幅远半幅同步翻合；log step 195 中 agent 也自述该次动作把毯子揉皱。未在本次运行中验证可行的替代接触方案。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；RGB 可判定明显卷叠、未对齐及折角缺失，但不能逐材料点复核精确层序、毫米级误差、释放净空和稳定窗口。评分器 reward 只报告整体失败，未报告 DAG 列出的原生几何指标，故这些 value 均为 null；抓取布局的因果归因结合脚本与视频推断，未验证本次可行的替代布局。"
+ },
+ "summary_zh": "本次单次实时操作与评分回放一致，机器人反复夹取、展开并尝试双臂对折，但两个节点均未达成，最终进度为0/2。断在毯子对折：视频 220–234 s 的局部固定与拖拉形成卷褶和错位，后续整理至视频 291.73 s 仍未修复，也未完成指定的上层折角。缺少状态日志和逐项几何指标，精确层序与验收阈值无法复核，接触布局归因属于结合日志和视频的推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 0、40、84、120、160、200、226、240、260、291 s 的帧，毯子始终未形成平整双层主体，两节点未达成、断点在毯子对折，与标注一致；log step 185/195/222 存在且与引用相符。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": "2026-10-30T23:27:03Z",
+  "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-blanket-fold-04-i01-standard--pusbtc2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--pusbtc2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c9407cfc5975210e9aa3c4f33c0dafe927649b3a1574dbd303be3040bf3c79f0",
+   "video_sha256": "505319986e2d549d0748acd5e684fe561172de2cfa2bcb4b71b5210a2e0da28d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--23xgh6e.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--23xgh6e",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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,
+   "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": 7736,
+   "submitted_actions": 7736,
+   "sim_steps": 7736,
+   "physics_steps": 77360,
+   "sim_time_s": 193.40000000002684,
+   "final_reward": 0.0,
+   "replay_wall_s": 906.3,
+   "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": 2,
+   "agent_resets": 11,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-buzz-wire-3d-07-i01-privileged--23xgh6e/replay.mp4",
+  "duration_s": 193.467,
+  "fps": 15.0,
+  "frames": 2902,
+  "sha256": "4d9f57204c82eda33902265efa29d0dda3726f818316cc2e2cb93f01e6d424d9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具木柄在起点甲板上；视频 10.0 s 夹爪在木柄处闭合，视频 20.0 s 工具随夹爪升到起点竖直线段上，原放置处已空。"
+     },
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0、66.0 s 机械臂改变接近姿态，视频 81.0、84.0 s 二指夹住木柄，金属环套在上方线段处；视频 130.0 s 腕部视角显示机械臂正带工具沿木柱周围的弯曲线段移动。"
+     },
+     {
+      "t": 193.4,
+      "log_step": 144,
+      "text_zh": "观察：视频 184.0、188.0、190.0、192.5、193.4 s，工具仍在木柱旁的上方弯曲线段，末段夹爪张开撤离，环挂在黑色绝缘套处，未沿后续线段下降至终点。log step 144 保存 7736 行部分轨迹，记录 cursor_m=0.917923，并明确生成脚本尚未完成 S4 到终点；这与本次视频终态相符。"
+     },
+     {
+      "t": 193.4,
+      "log_step": null,
+      "text_zh": "推断：本次视频中工具未走到终点，故完整遍历事件从未成立；参考成功视频 210.0 s 可见金属环已到绝缘终点竖直柱底部，而本次视频 193.4 s 仍在高处绝缘套。该比较只用于识别可见终点，不将参考运行的动作计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0、84.0、130.0 s，单臂二指平行夹爪夹持工具木柄，工具随手上升及绕线移动；中途松开后从侧面重抓，视频 190.0—193.4 s 再张开撤离，将环留挂在途中绝缘套。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "观察：视频 20.0、84.0、130.0 s，夹爪所持金属环套在线外随线移动，已检查画面未见环撞裸线；视频 193.4 s 环停在黑色绝缘套处。此项描述已走路段的避线交互，毫米级间隙和瞬时金属接触没有状态日志可核验。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具放在起点线柱旁，终点绝缘竖直柱旁没有工具，初态不满足终点放置。"
+     },
+     {
+      "t": 193.4,
+      "log_step": 141,
+      "text_zh": "观察：视频 188.0—193.4 s 机械臂在高处松开并撤离工具，工具留在木柱旁的绝缘套上，始终没有落到终点甲板；log step 141 执行的是途中 S4 绝缘套处释放脚本。参考成功视频 281.2 s 可见工具躺在终点竖直柱底部的甲板上，本次视频末帧该处仍空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 190.0,
+   "log_step": 141,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 184.0—193.4 s 工具抵达木柱旁的途中绝缘套后，机械臂松开木柄并撤离，没有继续通过剩余线段，金属环始终未到终点；约以视频 190.0 s 的最后挂放作导航锚点。log step 141 是 S4 释放，log step 144 保存的部分轨迹尚无 S4 至终点动作；因此失败步骤是金属环走完全线，尚未开始终点甲板放置。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 143,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的运动求解未找到从途中挂靠点继续沿线至终点的可执行方案。log step 118 的 plan_from_hang 对挂靠工具求抓取逆解并跟踪后续线段，位姿误差超过 0.002 m 时将候选标为失败；log step 143 从当前挂靠姿态测试的四个候选均为 ok=False，最远仅到沿线 0.982 m，且所列最小几何间隙均为负。log step 144 因而只保存至沿线 0.917923 m 的部分动作，视频 193.4 s 也确实停在途中。以上候选是会话内规划证据，不是视频中发生了相同碰撞的证据；现有材料不足以进一步区分接触布局与轨迹求解问题，根因保留在控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs 中有完整视频与运行日志，但没有状态日志；评分器 reward 未报告 DAG 所列八项终态数值指标。视频能确认两个节点均未完成，但不能精确核验瞬时金属碰线、交点历史和毫米级间隙。现象层留空：视频 184.0—193.4 s 显示的是途中绝缘套处的计划释放，未显示机器人实际执行后续瓶颈并持续卡住或瞄准终点后失准；log step 143 的离线候选碰撞不能当作本次动作现象。log step 120—121 的脱手尝试随后在 log step 122 重置并重放前缀，不能移植到交付视频；本次中段的局部偏移后来继续前行，也不能据此断言最终停止由该接触直接造成。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "机械臂抓起工具，经过上方线段并绕行木柱周围的弯曲线段，最后把环留挂在第四个绝缘套处；金属环未走完全线，也未将工具放到终点甲板，最终节点为 0/2。断点为金属环走完全线：会话中的后续抓姿与沿线运动求解没有找到可执行续程，交付仅含部分轨迹；无状态日志，精密接触无法核验，且没有充分可见证据为最后停止指定更具体的物理失败现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成（0/2）与视频 184–193.4 s 终帧一致（工具停在途中绝缘套，终点空）；断点 wire_traversed 正确；现象层留空并有 gap_zh，根因停在「控制」并标明会话规划证据不是视频观察，符合规则。未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:32:43Z",
+  "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-buzz-wire-3d-07-i01-privileged--23xgh6e/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--23xgh6e/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5cda32b7cf3ab08fd147dc6771dc5ae0d3ba14506fbc81e26a0c7e1393ae1d3d",
+   "video_sha256": "4d9f57204c82eda33902265efa29d0dda3726f818316cc2e2cb93f01e6d424d9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--qcsvq8v.json

@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--qcsvq8v",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 403,
+   "submitted_actions": 403,
+   "sim_steps": 403,
+   "physics_steps": 4030,
+   "sim_time_s": 10.075000000000076,
+   "final_reward": 0.0,
+   "replay_wall_s": 55.7,
+   "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": 129,
+   "agent_resets": 44,
+   "agent_sim_steps": 10188,
+   "agent_records": 11,
+   "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-buzz-wire-3d-07-i01-privileged--qcsvq8v/replay.mp4",
+  "duration_s": 10.133,
+  "fps": 15.0,
+  "frames": 152,
+  "sha256": "e3490b5ad94e07737f0ff4611b93c2731ea9b6e0d951df2126434347e2d42895"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，工具平放在起点竖直线段底部，金属环围着起点线端，木柄伸向甲板内侧。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.07 s，机械臂先升高、平移、下降，再向起点木柄靠近；视频 9.0–10.07 s 逐帧检查可见夹爪合拢，但工具始终留在原甲板位置，金属环没有沿起点竖直段上升，也未经过上方弯线。"
+     },
+     {
+      "t": 10.07,
+      "log_step": 746,
+      "text_zh": "推断：log step 742 运行抓取测试，log step 746 报告保存 403 条动作，与评分器 n_actions=403 及本次视频只含接近和合爪相符；后续会话中求解或执行沿线动作不属于这段交付回放。完整遍历未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 8.5–10.07 s，单臂二指夹爪向工具木柄靠近并合拢，木柄仍贴着甲板；局部被指端遮住，无接触对日志，不能确认实际是单侧擦碰还是尚未接触，未确认对向夹持，故不标抓握。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.07,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.07 s，工具一直停在起点线端甲板上，终点黑色绝缘线端旁没有工具；截至最后一帧，机械臂仍在起点木柄上方，未出现向终点搬运、释放及撤离。成功参考视频 281.2 s 可见工具已经位于另一端黑色绝缘线端旁，此为参考完成外观，不作为本次运行证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 9.5,
+   "log_step": 746,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.0–10.07 s，机械臂正在起点木柄处合爪，工具及金属环没有离开起点；log step 746 保存的 403 条抓取测试动作与评分器交付动作数相同。推断：沿线移动这一步在起始夹取处未能进入有效持物运动，交付回放结束前未修复。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.5,
+    "log_step": 596,
+    "evidence_zh": "观察：视频 9.0–10.07 s，夹爪向木柄合拢，金属环和木柄仍贴在起点甲板，未见工具随手抬起或移动。log step 596 的抓取测试代码只在 object_in_hand 返回 wand 时执行抬起，随后无条件保存记录；log step 746 确认该测试保存 403 条动作。推断：这段交付未建立可带动工具的夹持；不是持物移动后失手，瞬时单侧接触是否发生仍不能确认。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 596 显示 test_perfect_approach.py 只录制接近、合爪及条件性短距离抬起，随后不检查任务成功就保存到最终轨迹路径；log step 742 重跑该测试，log step 746 明确报告保存 403 条动作。log step 809 的完整执行脚本仅在最终 success 为真时覆盖该文件，log step 884–885 修改后再执行，记录结束前没有新的保存结果；评分器实际读取的仍为 403 条动作，视频也只有起点抓取测试。推断：将局部测试录制保留在最终交付路径，使后续求解和测试没有成为被评估的完整轨迹。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；log step 746 的状态输出前部被截断，未提供本次保存测试的完整 object_in_hand 读数。推断：视频与录制代码支持夹持未建立和两个节点未完成，但无法确定合爪失败的具体几何、力度或闭合时长原因，因此不另标控制子类；毫米级碰线、接触采样覆盖及终态数值不能由视频精确测量，原生指标在评分器字段中均未报告。"
+ },
+ "summary_zh": "观察：本次约 10.13 s 的交付回放只包含机械臂接近起点木柄和合爪，工具始终留在起点，完整遍历与终点放稳均未达成，最终为 0/2。推断：断点在沿线移动的起始夹取，未建立可带动工具的夹持；日志表明最终保存的仍是 403 条局部抓取测试动作，后续沿线求解与测试没有替换交付文件。观察：没有状态日志，不能确定指端瞬时接触及夹取失败的细分控制原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频逐帧核对：约10.1 s 的回放只含机械臂接近起点木柄并合爪，工具与金属环始终留在起点，两节点未达成，断点与交付类根因与日志（step 596/746，n_actions=403）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": "2026-10-30T23:26:06Z",
+  "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-buzz-wire-3d-07-i01-privileged--qcsvq8v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--qcsvq8v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d5c375fe8ba53ef2ace7c350afc412eb7c76958a51e842ee121747a15e57aba5",
+   "video_sha256": "e3490b5ad94e07737f0ff4611b93c2731ea9b6e0d951df2126434347e2d42895",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--47tsshh.json

@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--47tsshh",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 34,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 8869,
+   "live_rows": 8869,
+   "sim_steps": 8869,
+   "physics_steps": 88683,
+   "steps": 2672,
+   "elapsed_s": 7863.3,
+   "replay_wall_s": 696.7,
+   "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": 1.469,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.479,
+   "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-buzz-wire-3d-07-i01-standard--47tsshh/replay.mp4",
+  "duration_s": 221.8,
+  "fps": 15.0,
+  "frames": 3327,
+  "sha256": "5d651d134099b930b2797f824b6d5daca38c7d180f41b13ee7ef61beffcbf4f0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 金属环位于甲板前侧的起点竖直线段底端，工具平躺甲板；视频全程粗看后在视频 210.0–221.73 s 加密检查，金属环没有经过上方弯曲线路或到达另一端。"
+     },
+     {
+      "t": 221.4,
+      "log_step": 344,
+      "text_zh": "观察：视频 220.73–221.4 s，机械臂二指夹爪夹持工具柄部，工具从起点甲板离开，金属环随夹爪上升并仍套在起点竖直线段上；这里只完成了起始段提环，未走完全线。log step 344 的服务返回记录了 close、tug、lift 动作。"
+     },
+     {
+      "t": 221.73,
+      "log_step": 349,
+      "text_zh": "观察：log step 349 的机器人服务状态为 done=True、reason=wire_touched、control_steps=8869；评分器记录 live_matches_replay=1、deterministic=1。推断：log step 198 报告控制频率 40 Hz，8869/40=221.725 s，与视频 221.73 s 仍在起点竖直段的终止画面核对一致；本局在走完全线前已经碰线终止。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 220.73–221.4 s，单臂二指夹爪从两侧夹住工具的柄部组件并提起整件工具，金属环离开原来的甲板位置、沿起点竖直线段上升。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：log step 349 的服务以 wire_touched 终止本局；视频 221.53–221.73 s 夹爪仍持有金属环工具，环仍在起点竖直线段。候选方式“意外碰触”：所持工具的金属部分碰到裸露金属线，现有接触方式没有准确涵盖这种触碰；具体金属部位无法从像素分辨。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具在起点，另一线端的黑色绝缘竖段旁没有工具；初态不满足终点放置。"
+     },
+     {
+      "t": 221.73,
+      "log_step": 349,
+      "text_zh": "观察：视频 210.0–221.73 s 机器人始终在起点附近操作，结尾仍夹持悬空的工具，另一线端旁没有放下工具，也没有松爪撤离。log step 349 的服务碰线终止记录与此一致，因此终点放稳未达成、未开始尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 221.7,
+   "log_step": 349,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 220.73–221.4 s 机械臂夹起工具、让金属环沿起点竖直线段上升；视频 221.53–221.73 s 工具仍在该段，随后视频结束。log step 348–349 显示 agent 的控制脚本正在把持物位姿插值到沿线路径的起始坐标架，首段 bl0 只执行 3 行后，机器人服务报告 done=True、reason=wire_touched。推断：该不可逆碰线发生在沿线操作中，前面的空夹已由实际提环修复，终点放置尚未开始；断点定位约为视频 221.7 s。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 221.7,
+    "log_step": 349,
+    "evidence_zh": "观察：视频 221.4–221.73 s 机械臂仍持有套在起点竖直线段上的环，末段略作位姿调整，未沿上方线路前进；log step 349 的实时机器人服务明确报告 wire_touched，并结束本局。这确认了工具金属部分与裸露线的碰撞；具体接触点由视频无法分辨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：失败发生在持环调姿的运动控制阶段。log step 348 的实际执行脚本用固定工具偏移量计算目标 TCP，并对当前 TCP 与理想线路坐标架的目标位置、四元数分别插值；log step 349 返回首段 bl0 执行 3 行后碰线终止，与视频 221.53–221.73 s 的持物调整一致，说明这段控制未保持工具与线的间隙。agent 自述是把实测柄方向校正到理想方向而使环横移（log step 350、353），但其所称约 11 度和约 6 毫米没有独立状态测量支持；不足以进一步区分工具偏移建模、轨迹生成或跟踪误差，根因停在控制。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐子步接触对；视频足以确认未走完全线、未做终点放置，碰线事实由本局服务终止字段确认，但不能量出毫米级环线间隙或确定发生接触的具体金属部位。agent 自述的约 11 度姿态校正、约 6 毫米环心横移（log step 350、353）尚未独立核实，无法据此确定更细的控制子类。DAG 所列八个原生指标未在本局 reward 中报告，故数值均置 null。"
+ },
+ "summary_zh": "机械臂反复尝试抓取后，在视频约 220.73–221.4 s 真正夹起工具并使金属环沿起点竖直线段上升，但没有走完全线，也未开始终点放置，两个节点最终均未达成。视频约 221.7 s 的持环调姿对应机器人服务的 wire_touched 终止记录（log step 349），断点为沿线移动，现象为碰撞，根因有证据支持到控制层。缺少状态日志，具体碰触部位、毫米级位移与更细控制子类无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点在 wire_traversed（沿线操作中）、视频 220.7–221.7 s 夹起工具使环沿起点竖直段上升，与帧一致；wire_touched 终止为服务读数（N5），现象“被挡/碰撞”与根因停在“控制”均有支持，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": "2026-10-30T23:24:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--47tsshh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--47tsshh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "90a0569d1469f74983d801bad5a076bd83c79793e18fc1d909840e1ec57963b7",
+   "video_sha256": "5d651d134099b930b2797f824b6d5daca38c7d180f41b13ee7ef61beffcbf4f0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--9hi2mfz.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--9hi2mfz",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 10807.4,
+   "replay_wall_s": 5.1,
+   "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": 0.698,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.637,
+   "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-buzz-wire-3d-07-i01-standard--9hi2mfz/replay.mp4",
+  "duration_s": 0.067,
+  "fps": 15.0,
+  "frames": 1,
+  "sha256": "761f51e6ed24f352bdddaa584ba33f6e34885632dbd3706b5b6f859822876b29"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "观察：视频 0.000 s 的唯一帧中，工具木柄和金属环仍在靠近甲板前缘的起点线端，机器人张开的夹爪悬在甲板外侧，未夹住工具。log step 14 的机器人服务状态为 control_steps=0；最终评分器记录 n_actions=0、live_rows=0、physics_steps=0，且 live_matches_replay=1，本次没有执行沿线遍历。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 n_actions=0、live_rows=0；agent 没有向机器人服务提交执行轨迹，没有本步实际操作接触可标。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 s 的唯一帧中，工具仍躺在前缘起点线脚旁，另一端黑色绝缘段下方的终点甲板没有放置该工具；夹爪与工具分离。已对照成功参考视频 281.200 s 中工具位于另一端甲板的外观，本次没有该终点放置状态；评分器 physics_steps=0，也没有发生后续移动或一秒静置确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 n_actions=0、live_rows=0；没有交付机器人执行轨迹，未发生终点放置操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 1470,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.000 s 的唯一帧显��工具仍在起点、夹爪空张；评分器 n_actions=0、live_rows=0、sim_steps=0。log step 1468、1469 仍在比较候选逆解的关节差，log step 1470 继续调用 r.ik 搜索后续路点，未提交执行动作；最先需要的沿线遍历尚未启动，没有可定位的物理失败时刻。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本次视频确实存在，但只有视频 0.000 s 的一个初始帧（总时长 0.067 s），没有状态日志；评分器及完整调用记录均显示未提交执行动作。会话的逆解搜索、候选关节越限和路点误差属于计算过程，不能作为受评机器人执行中的故障；按无交付运行的现行规则（DECISIONS.md D23）将现象和根因留空，不能仅由耗尽预算或缺少交付推断能力根因。"
+ },
+ "summary_zh": "本次受评记录停留在初态：工具仍在起点，金属环走完全线与工具放稳终点两个节点均未达成，最终为 0/2。agent 会话直到 log step 1470 仍在进行逆解搜索，评分器确认没有提交执行动作，因此断点定位为沿线遍历的首步前。视频仅有一个初始帧且无状态日志，没有执行中的物理故障证据；按无交付规则将失败现象及根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：视频仅有 0.000 s 一帧，工具仍在起点、夹爪空张；评分器 n_actions=0、live_rows=0，无交付；两节点均未达成，断点为 wire_traversed 首步前，现象与根因按 D23(a) 留空并有 gap_zh；contact_actual 按规则标“不适用”。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:15:01Z",
+  "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-buzz-wire-3d-07-i01-standard--9hi2mfz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--9hi2mfz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee5aebc71a5c00728fb1d2f4bc187f95f149633f1edcce7401ad5245dcf91f79",
+   "video_sha256": "761f51e6ed24f352bdddaa584ba33f6e34885632dbd3706b5b6f859822876b29",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--gwa59kv.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--gwa59kv",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 7,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 5560,
+   "live_rows": 5560,
+   "sim_steps": 5560,
+   "physics_steps": 55598,
+   "steps": 1172,
+   "elapsed_s": 5579.8,
+   "replay_wall_s": 284.0,
+   "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-buzz-wire-3d-07-i01-standard--gwa59kv/replay.mp4",
+  "duration_s": 139.067,
+  "fps": 15.0,
+  "frames": 2086,
+  "sha256": "93143794781dc0a467335538ed2c5a2736b041c28b5a9f138c010a712590f1ba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具躺在起点甲板边，金属环套在近侧竖直线段底端，机器人夹爪尚未抓住木柄。全段抽帧显示机器人反复接近、闭合和撤回，工具在大部分视频中仍留在该起点。"
+     },
+     {
+      "t": 132.0,
+      "log_step": 237,
+      "text_zh": "观察：视频 129.0–134.0 s 密集画面中，机器人二指夹爪夹住木柄，工具离开原来的甲板位置，金属环随夹爪沿起点竖直线段上升；这只是遍历的局部进展。"
+     },
+     {
+      "t": 139.0,
+      "log_step": 290,
+      "text_zh": "观察：视频 137.07–139.0 s（包括最后一秒）工具仍被夹持，环仅升至起点竖直线段中部，未走过上方弯曲段，更未到另一端。log step 290 的实时机器人服务返回 done=true、reason=wire_touched，运行 reward 中 live_matches_replay=1、deterministic=1；完整无碰线遍历未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 131.67–139.0 s，机器人单臂二指夹爪从两侧夹住工具木柄，木柄与金属环随夹爪抬升和旋转；早期多次闭合并未带走工具。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机器人所持工具金属部分在末次旋转中触碰裸露金属线（log step 290 服务返回 wire_touched；视频约 138.1–139.0 s）。候选名称：碰撞；“避开”不能表达这次实际碰线，其他现有接触方式也不对应这一碰撞。此前沿起点竖直段移动，未完成全线避碰。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具在起点；本次全段抽帧及视频 137.07–139.0 s 密集画面均未显示机器人把工具运往另一端的甲板。最后工具仍悬在起点线段旁并被夹爪夹持，没有终点支撑、释放或撤手。"
+     },
+     {
+      "t": 139.0,
+      "log_step": 290,
+      "text_zh": "观察：本次视频 139.0 s 工具仍在近侧裸露竖直线段，另一端黑色绝缘竖直段底部没有工具；对照成功参考视频 240.0 s 与 281.2 s 可见的工具所在终点位置，本次工具显然未到终点，终点放置步骤尚未启动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 138.9,
+   "log_step": 290,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 138.1–139.0 s，机器人夹持木柄在起点竖直线段旁旋转，金属环仍未经过上方路线。log step 290 执行 roll_x -5，实时机器人服务在第9个动作行后返回 reason=wire_touched、done=true，此后没有修复机会。推断：log step 8 给出的控制频率为40 Hz，log step 288 的 control_steps=5524 对应视频 138.1 s，log step 290 的5560对应视频 139.0 s；已以画面中的抬升停止及随后旋转核对该控制步映射，断点锚定末次旋转。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 138.9,
+    "log_step": 290,
+    "evidence_zh": "观察：视频 138.13–139.0 s，机器人持工具旋转时环与固定裸露金属线之间的间隙收窄；log step 290 的实时服务确认工具金属部分碰线（wire_touched）并终止本次单一实时局。工具没有从夹爪滑落，也未进入终点放置阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 138.9,
+    "log_step": 290,
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人在夹持工具时改变姿态未能保持金属部分与线的净空，属于精细运动控制失败。log step 285 的旋转检查固定 TCP 位置改变局部轴姿态并检验逆解，log step 288 与290 的服务实测 TCP 位置几乎不变而姿态改变，随后服务报告 wire_touched；视频约 138.1–139.0 s 也显示夹爪持工具旋转。目标仍是沿线移动，现有证据不足以进一步认定抓取几何、感知偏差或反馈跟踪中的具体子类。"
+   }
+  ],
+  "gap_zh": "无状态日志；视频分辨率不足以区分最终接触发生在金属环哪一处或工具的其他金属部件，碰线事实由本次实时服务的终止原因确认。无法独立量化毫米级环线净空及连续交点历史，也不足以细分控制根因；两个节点未完成则可从工具始终未到终点直接判定。运行 reward 未报告 DAG 所列8项原生数值指标，均填 null。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "机器人反复调整抓取后夹住木柄，将金属环沿起点竖直线段抬升，但没有走过上方弯曲段，两节点均未完成，终点放置未启动。视频约 138.1–139.0 s 的持物旋转触发实时服务 wire_touched，断在沿线遍历，表现为碰撞，根因保守归为控制。缺少状态日志，无法确认具体金属触点及控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未完成、断点 wire_traversed（操作中）、被挡/碰撞现象与保守的“控制”根因均有帧和服务读数（log step 290 wire_touched、control_steps 5560≈视频139.0 s）支持，时钟换算有说明且与视频时长吻合；未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:16:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--gwa59kv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--gwa59kv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57207cb91db17663062d20ca6893ba68e14006c543199f722107405a5b2367a7",
+   "video_sha256": "93143794781dc0a467335538ed2c5a2736b041c28b5a9f138c010a712590f1ba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ngpq9rm.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--ngpq9rm",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 9224,
+   "live_rows": 9224,
+   "sim_steps": 9224,
+   "physics_steps": 92237,
+   "steps": 1762,
+   "elapsed_s": 4098.1,
+   "replay_wall_s": 673.6,
+   "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-buzz-wire-3d-07-i01-standard--ngpq9rm/replay.mp4",
+  "duration_s": 230.667,
+  "fps": 15.0,
+  "frames": 3460,
+  "sha256": "956832f2077c1747e9c1c824495b2104e60b3481384d5553820a9db7a80d3610"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": 43,
+      "text_zh": "观察：视频约38.5–45.5 s，机器人二指夹爪夹着木柄向上移动，工具离开起点甲板，环随夹爪沿起始竖线升高；不是只见夹爪闭合。"
+     },
+     {
+      "t": 202.5,
+      "log_step": null,
+      "text_zh": "观察：全片每约5 s抽帧可见机器人带环经过上方弯段、绕木柱转向回程；视频约202.5 s及208–225 s的腕部视角中，环仍在高处回程线段，尚有通往终点的弯段和下降段未走。"
+     },
+     {
+      "t": 230.6,
+      "log_step": 135,
+      "text_zh": "观察：视频226–230.6 s密集帧中，机器人持柄转腕，环仍在木柱旁高处线上，没有经过终点竖段到达甲板；log step 135的实时服务返回done=True、reason=wire_touched。评分器字段live_matches_replay=1、resumes=0支持这是同一次评分尝试；完整遍历未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约38.5–45.5 s，固定底座机械臂的二指夹爪夹住工具木柄并带其升高；视频230.6 s仍夹持木柄。中途松手后重新抓柄，工具未完成终点放置。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频230.6 s工具金属环仍围在线上，log step 135的服务检测到工具金属碰裸线并判负。候选名称“非预期碰触”：现有抓握、推扫、压擦、托舀、勾、支撑、避开均不能准确表示这次瞬时碰线；此前沿线运动与最终碰触依次发生，不能把整次操作记为成功避开。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 230.6,
+      "log_step": 135,
+      "text_zh": "观察：视频230.6 s外部视角中终点甲板处没有放下的工具，腕部视角仍见木柄夹在夹爪内、金属环位于木柱旁高处线段；机器人没有开始向终点甲板放置并撤手。对照oracle视频281.2 s可见的工具落在甲板形态，本片没有出现该终点结果，因此此节点为false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 230.5,
+   "log_step": 135,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约229.5–230.6 s，机器人在木柱旁回程交叉区域夹持木柄转腕，环未到终点；log step 135的服务在crossing_clearance_turn执行中返回done=True、reason=wire_touched，随后没有修复机会。失败发生在沿线遍历操作中，终点放置尚未开始。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 230.5,
+    "log_step": 135,
+    "evidence_zh": "观察：视频226–230.6 s，夹爪带工具在相邻线段靠近的区域缓慢转动，末帧环仍围着裸线；log step 135的服务明确记录工具金属碰线（wire_touched）并结束该实时episode。碰撞使沿线遍历中断，并非工具掉落或终点放后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：末段转腕轨迹的生成与执行校验没有保证工具金属全程避线。log step 131显示严格转腕路径三次adaptive IK求解均被拒绝；log step 132改用放宽的逆解序列，log step 133计算出其最大位置误差约7毫米；log step 134执行前只以重建的线在环孔内的偏移小于8毫米作为该路径的通过门限，并将关节插值细分后执行，没有在该执行门限中验证全部金属部件的沿途间隙。该序列实际执行到视频约230.5 s时，log step 135服务报wire_touched；这支持具体转腕轨迹未保持所需避碰间隙。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐子步接触对；视频分辨率不足以确定首先触线的是环缘还是其他金属部位，也不能精确量出碰线间隙。日志中的几何重建与逆解误差属于agent脚本的模型计算，不能据此确定真实误差来源；因此不另归因为感知或反馈控制。DAG列出的八项原生终态指标均未在评分器reward字段中上报，native_metrics保留null。"
+ },
+ "summary_zh": "机器人抓起工具并沿起始竖线、上方弯段及木柱周围移动，但金属环在回程交叉区域转腕时碰线，完整遍历和终点放稳均未完成（0/2）。视频约230.5 s的末段动作与log step 135服务的wire_touched结束记录一致，日志支持转腕轨迹及其避碰校验不足。缺少逐子步接触对，无法确认具体首先碰线的金属部位。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：环在回程交叉区转腕时于视频约230.5 s碰线，log step 135服务返回wire_touched；两个节点均未达成，断点、现象和推断型根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:23:32Z",
+  "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-buzz-wire-3d-07-i01-standard--ngpq9rm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--ngpq9rm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "09885354ee7b8a1422ea225739330b9d52f6825d0a057a881c46c21acec0edf0",
+   "video_sha256": "956832f2077c1747e9c1c824495b2104e60b3481384d5553820a9db7a80d3610",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--paqywvf.json

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--paqywvf",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 10881,
+   "live_rows": 10881,
+   "sim_steps": 10881,
+   "physics_steps": 108808,
+   "steps": 2948,
+   "elapsed_s": 7887.2,
+   "replay_wall_s": 709.1,
+   "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-buzz-wire-3d-07-i01-standard--paqywvf/replay.mp4",
+  "duration_s": 272.133,
+  "fps": 15.0,
+  "frames": 4082,
+  "sha256": "5c9702bfebe034c222ba4b20269d7bbaeb5185fbfec3f484bd7d911154db5029"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具躺在起点甲板，视频 80.0 s 夹爪靠近木柄，视频 90.0 s 工具已离开原处并随夹爪升到起始竖直线段中部；视频 145.0 s、160.0 s 和235.0 s 可见夹爪继续带着工具经过上方线段及柱旁弯曲段，中途多次让工具悬挂后换握。上述是部分沿线运动，尚未到另一端。"
+     },
+     {
+      "t": 272.067,
+      "log_step": 271,
+      "text_zh": "观察：视频 271.0–272.07 s 机器人在柱旁上方线段转腕换握，工具仍在高处，环没有走完余下线段到甲板上的终点；log step 271 的实时机器人服务在 rotF 动作返回 done=True、reason=wire_touched，log step 272 再次确认同一终止原因。"
+     },
+     {
+      "t": null,
+      "log_step": 272,
+      "text_zh": "观察：评分器字段 deterministic=1、live_matches_replay=1、sim_startups=1、resumes=0，log step 272 的实时服务状态为 control_steps=10881、done=True；本次标签依据这次单局实时尝试的视频，未把 agent 的离线逆解候选当作已执行运动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪夹住工具木柄，工具离开起点并随夹爪沿线移动；中途多次张开夹爪，让环暂挂在黑色绝缘段，再夹住木柄继续。视频 90.0 s、145.0 s、235.0 s 可见工具随夹爪运动。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "沿线搬动时，夹爪所持工具的金属环绕裸线通过，若干次停在绝缘段换握；这是终止前部分路段的避开，末次换握发生金属碰线，未完成全程无碰线通过。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "末次换握时，已张开的夹爪旋转并扫碰悬挂工具，工具发生摆动；视频 271.6–272.07 s 配合 log step 271 的 wire_touched 服务终止及 log step 273 的 agent 自述支持这一非预期接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具位于起点竖直线端旁的甲板上，终点是另一根黑色绝缘下降段的下端；开局并不满足终点放置。"
+     },
+     {
+      "t": 272.067,
+      "log_step": 271,
+      "text_zh": "观察：全程粗看及视频 260.0–272.07 s 的加密画面均未见工具降到终点甲板；最后一帧工具仍在柱旁上方线段，机器人正在换握，终点甲板没有工具。log step 271 服务在换握转腕时以 wire_touched 终止，尚未开始终点放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 271.8,
+   "log_step": 271,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 271.6–272.07 s，机械臂在柱旁上方线段进行换握转腕，夹爪扫过悬挂工具，工具摆动，余下线段尚未走完；log step 271 的机器人服务在 rotF 动作返回 done=True、reason=wire_touched，之后请求被 EpisodeOver 拒绝。失败发生在沿线移动步骤的换握过程中。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 271.8,
+    "log_step": 271,
+    "evidence_zh": "观察：视频 271.6–272.07 s 的外部视角可见转动的夹爪扫到柱旁悬挂工具，工具随即摆动；log step 271 的实时服务报告转腕动作最大压力 1722.1 N，并以 wire_touched 判负。金属碰线由服务确认，画面不能分辨其首次接触的具体金属表面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 271.8,
+    "log_step": 271,
+    "evidence_zh": "推断：末次换握的夹爪撤离空间不足，张开手指的转动扫掠区与悬挂工具相交。log step 271 的执行代码先放低工具并开爪，只沿接近轴退开 0.045 m，随后令第七关节转动半周；其机器人间隙估计仅为 0.0000514 m，仍执行转腕。log step 88 的 robot_clear 检查机器人对线、柱和甲板的距离，log step 141 增补腕部模型，但所示检查未包含松开后悬挂工具的扫掠碰撞；视频 271.6–272.07 s 出现碰动和终止，与这一接触几何缺口吻合。agent 在 log step 273 也自述后退不足导致手指扫到工具；更大撤离距离的完整可行换握未被实际验证。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志，视频无法定量复核全程交点历史或辨认末次工具金属与裸线首次接触的具体表面；碰线事实采用同一实时单局服务的 wire_touched 终止读数，并以末段画面支持。评分器未报告 DAG 所列的八项终态原生数值，均填 null；工具尚在中途而非终点，两个节点未完成不依赖这些毫米级测量。"
+ },
+ "summary_zh": "机器人夹起木柄并带动金属环走过起始竖直段和部分上方弯曲段，多次挂在绝缘段上换握，但两个目标节点均未完成。视频约 271.8 s 的末次换握中，开爪后撤离空间不足，转腕扫碰悬挂工具，实时服务以 wire_touched 结束尝试，尚未开始终点放置。缺少状态日志及原生终态数值，不能精确复核首次金属接触点或连续交点历史。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未完成、断点在 wire_traversed 末次换握（约 271.8 s）与视频帧和 log step 271/272 的服务读数一致；现象与根因有证据支撑，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:20:38Z",
+  "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-buzz-wire-3d-07-i01-standard--paqywvf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--paqywvf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e84c3802daaf8b00760c089bad89ed30f94c3faab66e8c0149d07d5903cb2135",
+   "video_sha256": "5c9702bfebe034c222ba4b20269d7bbaeb5185fbfec3f484bd7d911154db5029",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--tpewhfy.json

@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--tpewhfy",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 192,
+   "live_rows": 192,
+   "sim_steps": 192,
+   "physics_steps": 1920,
+   "steps": 48,
+   "elapsed_s": 8145.6,
+   "replay_wall_s": 21.6,
+   "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-buzz-wire-3d-07-i01-standard--tpewhfy/replay.mp4",
+  "duration_s": 4.867,
+  "fps": 15.0,
+  "frames": 73,
+  "sha256": "f31e7f0cb1a92f003674052ac2ac3b5a881ae2d5a283365026b6fa45e1ee194a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，金属环及木柄平放在起点竖直线段底部的甲板边缘，夹爪张开且与工具分离。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 23,
+      "text_zh": "观察：视频 0.0–4.8 s，机械臂空手抬升并横移，腕部相机俯视扫描线与甲板；工具一直留在起点，没有随夹爪上升或沿线移动。视频 3.8–4.8 s 已逐帧核对；log step 23 的执行脚本仅提交两组相机扫描运动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：视频 0.0–4.8 s，机械臂只用腕部相机扫描场景，夹爪没有接触工具或金属线；尚未开始抓取与沿线操作。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.8 s，工具始终位于起点线端，终点黑色绝缘竖段底部没有工具，未发生搬运、放下或撤手验收。成功参考视频 281.27 s 可见工具位于终点绝缘竖段底部，作为完成外观对照；本次视频没有出现该结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 241,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 241 最后一条消息为模型服务的“This request was blocked by Gemini's filters”；此前 log step 240 仍在分析夹爪点云。视频 0.0–4.8 s 只有空手相机扫描，工具未动，没有可定位的抓取��沿线移动或放置失败事件。推断：会话在操作任务工具之前被提供方过滤中断，结果尚未由物理失败或成功固定，因此按外因中断处理。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 241 记录提供方过滤拦截；输入含完整短视频和运行日志，但没有状态日志，reward 未报告 DAG 的八项原生终态指标。推断：视频对应已执行的相机扫描前缀，不能把会话中的离线逆解测试当成实际操作或失败；中断前没有可见物理失败，故现象与根因均留空，不标没尝试，也不将本次归入机器人失败分析。过滤发生在 agent 工作第 8128 秒（log step 241），这不是视频时刻。"
+ },
+ "summary_zh": "本次视频 0.0–4.8 s 仅有机械臂空手移动腕部相机扫描，工具始终留在起点，沿线遍历与终点放稳均未达成，最终进度为 0/2。log step 241 记录模型提供方过滤拦截，操作工具前会话即中断；保留目录的 success=0，但按外因中断处理，断点未知，现象及根因留空。无状态日志且八项原生终态指标未报告，不能由离线轨迹求解结果补记动作或接触。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频 0.0–4.8 s 只有空手腕部相机扫描，工具未动，两个节点均未达成；log step 241 为 Gemini 过滤拦截（agent 时间 8128 s，未转成视频时间），此前只提交了相机扫描动作（sim submit 仅在 step 23），按外因中断留空现象与根因并写 gap_zh，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:15:02Z",
+  "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-buzz-wire-3d-07-i01-standard--tpewhfy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--tpewhfy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "74da4e9a423a76c6794bb5448a5e00b82fb5dd6fb66045c9dbdf72cec3b39b0c",
+   "video_sha256": "f31e7f0cb1a92f003674052ac2ac3b5a881ae2d5a283365026b6fa45e1ee194a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--vbty4rt.json

@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--vbty4rt",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 9,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5159,
+   "live_rows": 5159,
+   "sim_steps": 5159,
+   "physics_steps": 51590,
+   "steps": 1202,
+   "elapsed_s": 10107.6,
+   "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-buzz-wire-3d-07-i01-standard--vbty4rt/replay.mp4",
+  "duration_s": 129.067,
+  "fps": 15.0,
+  "frames": 1936,
+  "sha256": "8a6ef8c1eb797435b6b0ce4bf4bf86fc15429a04e2771b852a84a92f3bca1949"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中金属环平躺于左侧起点竖线根部，长柄斜向甲板内侧；视频全程粗查及视频 86.4–97.6 s 的密集帧中，夹爪移动而环与柄仍留在原处，没有带环上行或经过上方线段。"
+     },
+     {
+      "t": 92.0,
+      "log_step": 148,
+      "text_zh": "观察：视频 92.0 s 的主视角显示夹爪空悬在工具上方，环仍在起点；log step 148 的机器人服务虽然返回闭爪动作 Success，视频没有工具随夹爪移动的结果，不能据此认定抓取或遍历完成。"
+     },
+     {
+      "t": 129.0,
+      "log_step": 173,
+      "text_zh": "观察：视频 128.0、128.2、128.4、128.6、128.8、129.0 s 及最后一帧视频 129.0 s 中，环仍在起点、柄仍平放原处，夹爪悬在上方。log step 173 的服务状态为 completed、committed_rows=5159；评分字段 graded_by_live=1、sim_startups=1、resumes=0，故这里判断的是该单局实时尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人单臂二指夹爪尝试接近工具柄，但未见夹住或提起工具；实际建立的是夹爪对上方线段的压触。log step 162 的实时安全监测明确记录 pressing=the gripper、on=the wire、max_force_n=187.6；视频 123.13 s 显示夹爪停在线段处。未把闭爪命令当作对工具的实际抓握。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具位于左侧起点竖线根部，另一端在靠木柱的黑色末弯下方，工具并不处于终点放置位置。"
+     },
+     {
+      "t": 129.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查及视频 128.0–129.0 s 的密集末秒帧显示，工具仍留在左侧起点，未搬到靠木柱的终点。参考成功 oracle 视频 273.33 s、281.2 s，工具在靠木柱的终点下方接受放置；本运行未出现该位置变化，因此终点放置条件始终不成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 92.0,
+   "log_step": 148,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 90.13–94.93 s，机器人为沿线操作接近工具柄，夹爪却停在甲板上方并空夹，工具始终未离开起点；此后直到视频 129.0 s 也没有完成抓持与沿线运动。log step 148 返回闭爪动作成功，log step 149 的三次到位检查仍有 103.5–124.3 毫米误差；后续 log step 162 的服务安全监测直接记录夹爪压线，说明该步骤的接近操作受阻，始终未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 123.1,
+    "log_step": 162,
+    "evidence_zh": "观察：视频 121.07–123.13 s 夹爪滞留于上方线段处，工具仍平放在起点。log step 162 的实时服务安全监测（机器人服务报告实际压力与驱动占限比例的通道）记录夹爪压在线上，joint2 fraction=1.0、cap_nm=50.0，事件最大压力 187.6 N，最长施力 3.1275 s；目标 TCP 为 [0.311,-0.408,0.179]，实测停在 [0.376,-0.333,0.301]。推断：这是夹爪受线段阻挡而未能接近工具柄；不另将同一受阻事件重复标成接触力异常。时间映射使用 log step 12 的控制频率 40 Hz：服务事件 control step 4924/40=视频 123.1 s，已核对视频 123.13 s 的夹爪停滞；总控制步 5159/40=128.975 s 亦与视频 129.067 s 相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：所用夹爪接近姿态与周围线段的空间关系不适配，夹爪在到达甲板上的工具柄前便与上方线段压触。依据是视频 92.0 s 的空夹、视频 121.07–123.13 s 的停滞，以及 log step 162 服务直接报告夹爪压线且实际 TCP 高于目标 122 毫米；log step 164 退让后仅上升约 27 毫米，也未获得工具。可行替代已由同任务成功 oracle 核对：oracle 视频 30–45 s 夹爪下降至柄附近后将工具带离起点，oracle 视频 100 s 环已随夹爪升到高处；这些参考帧只证明另有可行接近/抓持方式，不计入本运行进度。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐物理子步核查工具金属与裸线的毫米级接触、连续交点历史及终态静止量；原生终点指标也未在评分字段中报告，故 native_metrics 全部留空值。实时监测能够确认夹爪压线，但没有细分夹爪具体链接；这不等于工具金属碰线，亦不据此手工填写约束。视频明确显示工具没有离开起点，足以判定两个节点均未达成。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "机器人多次接近工具柄，却始终未夹起工具，金属环停在起点，沿线遍历与终点放稳均未完成（0/2）。断点是沿线操作中的接近/抓持阶段：夹爪受上方线段阻挡，实时服务直接记录夹爪压线，接近姿态与局部接触空间不适配。无状态日志及原生终点指标，不能判定子步级工具碰线细节，但不影响两个目标未达的判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成的判断与视频一致：0、30、60、92、110、123 s 帧中环与柄始终留在起点，夹爪悬在上方；log step 162 的服务安全监测（step 4924，pressing the gripper on the wire，187.6 N）与 TCP 实测 [0.376,-0.333,0.301] 对目标 [0.311,-0.408,0.179] 支持被挡/碰撞，步数 4924/40=123.1 s 的映射也已说明；log step 149 的到位误差 103.5–124.3 mm 与之同量级，支持把断点放在沿线接近阶段、根因为抓取和接触设计。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": "2026-10-30T23:29:38Z",
+  "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-buzz-wire-3d-07-i01-standard--vbty4rt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--vbty4rt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "beaa15bd1121a7a1a08e86dc8e58c2c2fe7cbe4425906e69cb9d29d932dfeb44",
+   "video_sha256": "8a6ef8c1eb797435b6b0ce4bf4bf86fc15429a04e2771b852a84a92f3bca1949",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--w9quk65.json

@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--w9quk65",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "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": 65,
+   "live_success": 0,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 11663,
+   "live_rows": 11663,
+   "sim_steps": 11663,
+   "physics_steps": 116627,
+   "steps": 1732,
+   "elapsed_s": 4025.1,
+   "replay_wall_s": 651.8,
+   "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": 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-buzz-wire-3d-07-i01-standard--w9quk65/replay.mp4",
+  "duration_s": 291.667,
+  "fps": 15.0,
+  "frames": 4375,
+  "sha256": "76c11a395b139f7a1a8eb263a16c50ce7def58c72179d9316a83363db713bcf2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具木柄躺在起点竖直线脚旁的甲板上，金属环套在该线脚附近；上方弯曲线段与另一端仍在远处。"
+     },
+     {
+      "t": 285.7,
+      "log_step": 265,
+      "text_zh": "观察：视频 284.0–285.7 s 单臂二指夹爪在起点甲板处合拢，随后视频 286.0–291.4 s 木柄及金属环一起离开原位置并随夹爪上升，环仍围绕起点竖直段；log step 265 的服务夹爪开度最终为 0.0153 m，log step 267 的各次提升读数保持该开度。"
+     },
+     {
+      "t": 291.6,
+      "log_step": 277,
+      "text_zh": "观察：视频 291.47–291.60 s 夹爪持工具在起点竖直段附近短促下移并偏转，金属环贴近该段裸线后画面结束，未见工具经过上方全程及另一端；log step 277 的机器人服务状态为 done=True、reason=wire_touched、control_steps=11663，log step 281 再次读得同一终止原因。"
+     },
+     {
+      "t": 291.6,
+      "log_step": null,
+      "text_zh": "推断：已检查视频全程每隔约 10 s 的画面及视频 274.0–291.6 s 的密集末段，工具此前一直留在起点，末段仅沿起点竖直线提升，未完成连续全线遍历，因此此事件从未达成。成功参照视频 60.0–240.0 s 可见工具依次出现在上方路线及终点段，本次未出现相应运动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 285.7–291.6 s，单臂二指夹爪夹住工具木柄两侧，木柄与金属环随夹爪一起提升及偏转。此前多次空夹或靠近未将工具带离起点。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选接触方式“碰触”：视频 291.53–291.60 s 所持工具的金属环贴近起点裸线，log step 277 的服务以 wire_touched 确认工具金属碰裸线。现有接触方式没有一般碰触值，且无足够证据称其为推扫或压擦；不标为避开。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具位于起点线脚，另一端黑色绝缘竖段旁没有放置的工具，终点放置初始不成立。"
+     },
+     {
+      "t": 291.6,
+      "log_step": 277,
+      "text_zh": "观察：视频全程粗查及视频 284.0–291.6 s 密集帧中，机器人未把工具送到终点黑色绝缘竖段旁；视频 291.6 s 工具仍由夹爪握持、悬在起点裸线旁，服务随即以 wire_touched 终止。既无终点降放，也无释放撤手及联合静置确认。成功参照视频 281.2 s 可见木柄已躺在另一线脚旁甲板上，位置与本次终态不同���"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "finish_angle_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "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_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "stable_time_s",
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 291.5,
+   "log_step": 277,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 286.0–291.4 s 机器人持工具沿起点竖直线提升，视频 291.47–291.60 s 初始调整运动使环偏向裸线，尚未转入上方全线路线便终止。log step 277 机器人服务明确返回 done=True、reason=wire_touched；本次只有一局且无重置（reward.resumes=0、sim_startups=1、live_matches_replay=1），碰线后未恢复遍历。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 291.5,
+    "log_step": 277,
+    "evidence_zh": "观察：视频 291.47–291.60 s 夹爪带着木柄短促下移并偏转，金属环在起点固定裸线处发生接近至贴碰；log step 277 的服务终止原因 wire_touched 表示工具金属触碰裸线。碰撞发生时环仍在起点竖直段，未走完全线。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：局部持环运动未维持环与裸线的间隙。log step 275 的执行脚本从当前 TCP 高度 0.37 m 直接以固定环心 W0 高度 0.166 m 构造首批目标，逐点求 IK 后按 dt=0.1 s 的 joint_position 行发送，没有像 log step 267 的成功提升那样对当前关节到首目标的过渡细分，也没有在该批运动中重新观测环心并修正。视频 291.47–291.60 s 确见首段调整后环偏向裸线，log step 277 随即报告 wire_touched；证据支持局部运动控制失效，但不能唯一分清过渡轨迹、工具变换估计及跟踪误差各自的贡献，故保留控制总类。"
+   }
+  ],
+  "gap_zh": "无状态日志，无法量化末次环心误差、精确接触部位与接触力，也无法把控制根因唯一细分。log step 277 的“planned rows 231”只表示规划数量；视频在起点段即终止，因此 agent 在 log step 282 所称“执行231行”及归因于后段 poses 190–241 的 IK 残差，不能视作已执行路线或该次碰线的确证。DAG 所列八项原生终态数值未见于 run.json 的 reward，native_metrics 均留 null。"
+ },
+ "summary_zh": "机器人多次接近、空夹和调整后，于视频约 285.7 s 夹住木柄并把金属环沿起点竖直段提升，但未完成全线遍历，终点放置也未开始，最终为 0/2 节点。视频约 291.5 s 初始调整运动中工具金属碰到裸线，机器人服务以 wire_touched 终止；局部运动控制未保持环线间隙。没有状态日志，无法唯一分清末次过渡轨迹、工具变换估计与跟踪误差的贡献，agent 关于后段 IK 残差的总结不代表视频中执行到该段。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成、final=0、断点 wire_traversed 在视频约 291.5 s 起点段、wire_touched 终止，均与视频末段帧及 log step 276-277、281 一致；现象“被挡/碰撞”有服务读数支持；根因停在“控制”并写明无法细分，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": "2026-10-30T23:19:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--w9quk65/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--w9quk65/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0563070cc317b65279d1dd7c275f37890d0714ec9357208dba1022f919d93974",
+   "video_sha256": "76c11a395b139f7a1a8eb263a16c50ce7def58c72179d9316a83363db713bcf2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--ktwag7a.json

@@ -0,0 +1,288 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--ktwag7a",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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,
+   "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": 1287,
+   "submitted_actions": 1287,
+   "sim_steps": 1287,
+   "physics_steps": 12870,
+   "sim_time_s": 32.174999999999244,
+   "final_reward": 0.0,
+   "replay_wall_s": 237.6,
+   "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": 201,
+   "agent_resets": 94,
+   "agent_sim_steps": 48429,
+   "agent_records": 2,
+   "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-07-i01-privileged--ktwag7a/replay.mp4",
+  "duration_s": 32.267,
+  "fps": 15.0,
+  "frames": 484,
+  "sha256": "641690348fab94d004cbe33b26aab8508d68b003a07bee1bd3cae7d5737033aa"
+ },
+ "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，银件与金件分开放在桌面左右两侧，尚未装合。"
+     },
+     {
+      "t": 8.3,
+      "log_step": 935,
+      "text_zh": "观察：视频 7.0–8.2 s，两夹爪分别夹持银件、金件并将其提离原桌面位置；视频 8.2–8.4 s，银件相对左夹爪突然滑转、向下倾斜。推断/旁证：log step 935 展示生成脚本 task-1005 的会话返回，先报告 left=coil_silver、right=coil_gold，随后在 Staging complete 报告 left=None、right=coil_gold；是否对应本次交付回放的同一时刻无法确认，不用该读数确定节点进度或滑转时刻。"
+     },
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–23.6 s，机器人使金件靠近银件，但仍在夹爪接触下调整；视频 23.9–24.4 s，银件落回桌面，金件仍在其右上方，未形成匹配的同一整体。视频 28.9 s 两件均落在桌面，仍彼此错开。"
+     },
+     {
+      "t": 32.2,
+      "log_step": 942,
+      "text_zh": "观察：视频 31.2–32.2 s（含最后一秒逐帧检查），两夹爪张开，两件静止在桌面且分离错位；不同于成功参考 inputs/oracle/replay.mp4 的视频 120.7 s 中金银条框交错嵌合的终态。log step 942 读取交付文件的 actions shape 为 (1287, 14)，与本次评分器 n_actions=1287 一致；评分器 strict_goal_reached=0、success=0。装配节点从未满足，不以其他调试试验的测量替代本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–8.2 s，左二指夹爪夹住银件条框，右二指夹爪夹住金件条框，双臂共同提起并搬动两件；后续右臂持金件靠向左侧银件，尝试相对移动与转动。银件滑转后左夹爪仍与其接触，最终两爪张开。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 8.3,
+   "log_step": 935,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.2–8.4 s，双臂持件搬运时银件在左夹爪中明显滑转；视频 23.9 s 银件回到桌面而金件仍在右上方，视频 32.2 s 两件最终分开，金银线圈装合这一步始终未修复完成。推断/旁证：log step 935 的生成脚本 task-1005 会话输出在 Staging complete 报告 left=None，随后进入 Executing assembly trajectory；是否对应交付回放同一时刻无法确认，不据此定位断点。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 8.3,
+    "log_step": 935,
+    "evidence_zh": "观察：视频 7.0–8.2 s 银件随左夹爪被提起，视频 8.2–8.4 s 银件突然相对夹爪倾转，失去原先稳定的夹持位姿；此后机器人继续靠拢两件，但视频 32.2 s 仍未装合。推断/旁证：log step 935 的生成脚本 task-1005 会话输出在 Staging complete 报告 left=None；是否对应交付回放同一时刻无法确认，滑转观察仅依据上述视频帧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.3,
+    "log_step": 935,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 8.2–8.4 s 银件相对左夹爪滑转，此后机器人继续靠拢两件，至视频 32.2 s 仍未装合，支持双臂装配控制没有保持并恢复银件的有效夹持。推断/旁证：log step 935 的生成脚本 task-1005 会话输出在 Staging complete 报告 left=None 后继续 Executing assembly trajectory；该会话现象可作控制问题的旁证，但是否对应本次交付回放同一时刻无法确认，不能与视频滑转认定为同一事件。证据支持控制层失败，但不足以进一步区分抓持受力设计、逆解跳变或实际关节跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志、夹持绑定历史或原始力/关节跟踪数据，不能精确定位本次评分回放是否及何时解除辅助抓取或其具体机制；log step 935 是生成脚本 task-1005 的会话输出，无法确认其中 left=None 与交付回放滑转是否为同一事件，视频 8.3 s 仅为可见滑转的粗略导航锚点。评分器未报告 DAG 所列九项连续验收指标，故其 value 均为 null；log step 983 的数值来自另一个 1086 动作调试文件，不用于本次 1287 动作交付。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "机器人双臂分别抓起银件与金件并尝试靠拢装配，但唯一装配节点未达到，最终为 0/1。观察：视频约 8.3 s 银件在左夹爪中滑转，后续继续装配仍未恢复，视频 32.2 s 两件分开放在桌面。推断：证据支持控制层失败；log step 935 的生成脚本会话读数仅作旁证，无法确认与交付回放为同一事件，缺少逐帧状态和受力数据，不能进一步确定脱握机制或精密验收误差。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频帧支持：8.0→8.4 s 银件在左夹爪中滑转倾斜，24.5 s 银件落桌，32 s 两件分离；装配节点 false、断点 coils_assembled / 操作中、现象「没保持住」、根因「控制」均成立。唯一问题：把 log step 935 中生成脚本（task-1005 会话运行）的 left=None 当作交付回放（1287 动作）里同一事件的观察，属把 agent 日志当作被评分回合的事实。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧支持：8.2–8.4 s 银件在左夹爪中滑转倾斜，最终（至 32.2 s）两件分离错位于桌面，coils_assembled=false、断点「操作中」、没保持住成立；log step 935 已按上一轮意见降为旁证，时钟与证据层次无问题。根因「控制」带明确的不确定说明，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": "2026-10-30T23:46:12Z",
+  "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-07-i01-privileged--ktwag7a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--ktwag7a/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--ktwag7a/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--ktwag7a/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d748a05f22a07af77654f0394cebc13b095885412d93f76e35bce271f294d556",
+   "video_sha256": "641690348fab94d004cbe33b26aab8508d68b003a07bee1bd3cae7d5737033aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--qpysspt.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--qpysspt",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 4829,
+   "submitted_actions": 4829,
+   "sim_steps": 4829,
+   "physics_steps": 48282,
+   "sim_time_s": 120.70500000001032,
+   "final_reward": 1.0,
+   "replay_wall_s": 507.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 4829,
+   "strict_replay_required": 0,
+   "agent_sessions": 2,
+   "agent_resets": 11,
+   "agent_sim_steps": 9658,
+   "agent_records": 3,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.826,
+   "peak_memory_gb": 5.95,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.256,
+   "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-07-i01-privileged--qpysspt/replay.mp4",
+  "duration_s": 120.8,
+  "fps": 15.0,
+  "frames": 1812,
+  "sha256": "83551b7c6bb5809ac8ff9bd02f07493807740d8737efc42809bb5a29e0b91490"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      120.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主视图中金件在右、银件在左，二者分开，装合条件尚未成立。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–11.6 s 右侧机械臂的二指夹爪夹住金件端部并抬起，金件离开原来的桌面位置，随夹爪上移；银件仍留在桌面，左臂未参与操作。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–23.0 s 右夹爪持续持金件转动；视频 30.0–114.0 s 金件逐渐移向并交错嵌入银件，右夹爪仍在夹持，尚不能计为松手后的装合完成。"
+     },
+     {
+      "t": 120.733,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 119.733–120.733 s，金银件保持交错装合并由桌面承托；右夹爪已张开，约视频 120.2 s 起明显后撤，至视频 120.733 s 与金件之间可见间隙，装合体没有可见滑移或转动。"
+     },
+     {
+      "t": 120.7,
+      "log_step": 75,
+      "text_zh": "推断：视频约 120.7 s 为联合验收完成的导航时间（约半秒精度）；视频末尾的装合、松手和撤离与 log step 75 中交付轨迹两次重放均 success=true、all_success=true、deterministic=true、strict_goal=[1,4829] 一致，且本次评分字段 strict_goal_reached=1、replay_tolerance_needed=0。亚毫米位姿误差、速度、全机器人净距及连续确认条件由严格评分成功确认，不能从画面逐项精测；节点终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.2–11.6 s 右二指夹爪夹持金件端部并抬离桌面，随后保持抓握、移动和转动金件以与桌面上的银件装合，最后张爪撤离；左夹爪未参与操作。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "右夹爪抓住并抬起金件，通过移动和转动使其与桌面上的银件交错装合，随后张爪撤离；唯一节点在视频约 120.7 s 完成并保持至结束，终态为 1/1。交付轨迹的两次严格重放均成功，评分未记录审查或强推事件。没有状态日志，视频只能核对装合形态、桌面承托和撤离，精密误差、速度、净距及确认窗口依赖严格成功评分；9 项原生指标的具体数值未在评分字段中报告，均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点装合在视频末尾 120.7 s 达成，与严格评分 strict_goal_row=4829（=末步）及两次重放成功一致；右夹爪抓握金件、银件留桌的接触标注与帧相符，无失败层，标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:34:26Z",
+  "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-cast-coil-07-i01-privileged--qpysspt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--qpysspt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d22ecbba8846522242a9ee0249d26901e3b93cc689a186d89e1eecc61bc146ab",
+   "video_sha256": "83551b7c6bb5809ac8ff9bd02f07493807740d8737efc42809bb5a29e0b91490",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--r7p3zp8.json

@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--r7p3zp8",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 538,
+   "submitted_actions": 538,
+   "sim_steps": 538,
+   "physics_steps": 5380,
+   "sim_time_s": 13.450000000000124,
+   "final_reward": 0.0,
+   "replay_wall_s": 62.0,
+   "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": 9,
+   "agent_sim_steps": 1996,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.523,
+   "peak_memory_gb": 1.956,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.162,
+   "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-07-i01-privileged--r7p3zp8/replay.mp4",
+  "duration_s": 13.533,
+  "fps": 15.0,
+  "frames": 203,
+  "sha256": "722ba654e32da5a4bdf92930d819df46bb165194d58691e7bae3aaa067571877"
+ },
+ "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 主视图中银件在左、金件在右，二者分开摆在桌面，未形成交错整体。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 262,
+      "text_zh": "观察：视频 2.4–4.2 s 左夹爪在银件外侧收拢、停留，银件仍在桌面；视频 6.4–8.6 s 右夹爪在金件外侧闭合，金件亦未被带起。log step 262 是最终 538 步交付文件的生成记录，object_in_hand（工具返回的当前夹持对象）对左右爪均为 None；此处只用它佐证画面中的未夹起。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 269,
+      "text_zh": "观察：视频 10.4–11.2 s 右夹爪回撤时拨动金件，金件在桌面上移位并转动，但没有靠向银件形成嵌合；log step 269 中 agent 也将交付说明改为撤回的手指拨动金件。"
+     },
+     {
+      "t": 13.4,
+      "log_step": 267,
+      "text_zh": "观察：视频 12.6、12.8、13.0、13.2、13.4 s 两件仍明显分离，金件相较初态已有转动，银件留在原区域。log step 267 对已保存文件的重放返回 success=false，评分器 strict_goal_reached=0、deterministic=1；未完成判断同时有画面支持，并非只依据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 10.4–11.2 s 机器人右夹爪的手指回撤时拨动金色零件，使它沿桌面移位、转动。左爪先在银件外侧试闭合，右爪再在金件外侧试闭合；未见任何一爪以相对两侧接触夹住并带起零件，故不记抓握，也不将两臂先后动作记为双臂协作抓握。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 2.8,
+   "log_step": 262,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.4–4.2 s 左爪完成一次接近、闭爪后，银件仍未被夹起；之后右爪亦未夹起金件，视频 10.4–11.2 s 仅在回撤中拨动金件。log step 262 两次夹持查询均为 None，脚本随后跳过要求两爪均持物的移动分支并返回；至视频 13.4 s 两件仍分开，第一次抓取失败未获修复。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.8,
+    "log_step": 262,
+    "evidence_zh": "观察：视频 2.8 s 放大主视图中左爪两指停在银件外侧，没有包住银件；视频 7.8–8.0 s 右爪停在金件端部外侧，亦未带起金件。log step 262 最终生成记录对两爪均报告未持物。所需的抓握接触没有建立，后来右指拨动金件属于侧面接触，不是先夹住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 262,
+    "evidence_zh": "推断：视频 2.8 s 左爪指尖在银件外侧留有间隙，视频 7.8 s 右爪指尖聚在金件端框的同一外侧；这种到达与闭爪布局未把条框置于两指之间形成对向夹持。log step 262 恢复沿声明轴接近抓取点的方案并逐级闭爪，仍两次返回 None；视频 10.4–11.2 s 右指只拨动金件，支持抓取接触布局未奏效。当前运行没有验证成功的替代握法。",
+    "source_zh": "视频"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 247,
+    "evidence_zh": "推断：log step 173 明确把搜索限制为三平移加单一层轴旋转的四维相对位姿，log step 243–246 继续在有限网格和单旋转轴内检查通道；agent 在 log step 247、272 却据此声称所有刚体运动都无法装配。log step 248 的交付策略因此仅尝试抓取、有限接近后返回，未设计达到装配位姿的路径；最终 log step 262 两爪未持物后直接跳过移动分支，视频全段也没有嵌合动作。受限搜索没有找到路径不足以支持排除全部姿态路径，且 log step 271 仍余 4789 s，说明此结论影响了交付策略，而非单由零进度反推规划错误。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐指接触对，无法精确测量抓取点误差及确认每个指尖的接触力；因此未进一步归因为特定逆解、关节限位或力控参数。评分器未报告 DAG 所列九项连续验收指标，均保留 null。成功参考视频只用于核对嵌合外观，不用于给本次运行记进度；agent 的无解论断未被采纳为任务设计问题。"
+ },
+ "summary_zh": "机器人先后在银件、金件外侧接近并闭爪，均未建立可带起零件的抓握；右爪回撤时拨动金件，至视频 13.4 s 两件仍分离，装配节点从未达到，最终 0/1。断点在装配操作中的首次未修复抓取失败，证据支持抓取接触布局失效，以及 agent 将受限几何搜索推广为全局无解后采用不达装配目标的交付策略。缺少状态日志与连续验收测量，无法细分接触力或精密位姿误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装配节点未达成（最终 false，评分器 success=0、strict_goal_reached=0）与视频一致：0–13.4 s 金银两件始终分离，右爪回撤拨动金件。断点、接触、现象（没建立接触）和两个根因（抓取和接触设计、推理/规划）均有视频与日志（step 248 的生成脚本只做抓取并有限靠近、step 262 两爪 None、step 267 重放 false）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": "2026-10-30T23:21:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--r7p3zp8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--r7p3zp8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8c4063e44ef8230ddf00407f62fe80f3302513a7c95859670b3d593bad16c3b7",
+   "video_sha256": "722ba654e32da5a4bdf92930d819df46bb165194d58691e7bae3aaa067571877",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--tqvcgcq.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--tqvcgcq",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 517,
+   "submitted_actions": 517,
+   "sim_steps": 517,
+   "physics_steps": 5170,
+   "sim_time_s": 12.925000000000116,
+   "final_reward": 0.0,
+   "replay_wall_s": 43.1,
+   "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": 2,
+   "agent_resets": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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-07-i01-privileged--tqvcgcq/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 15.0,
+  "frames": 195,
+  "sha256": "c317a546b8b4e5114be43e887c911c3d95884dbf8b563b375010c979da6598c5"
+ },
+ "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 的主视图和侧视小窗中，银件在左、金件在右，两件之间有明显空隙，尚未形成交错装配整体。"
+     },
+     {
+      "t": 5.2,
+      "log_step": 121,
+      "text_zh": "观察：视频 4.8–5.2 s 左夹爪夹持银件并使其离开桌面，视频 6.0–7.8 s 银件降回左侧附近，金件仍留在右侧；两件没有靠拢或交错。log step 121 的最终录制脚本只命令左臂抓银件、原处抬起和下降、松爪及双臂撤离，保存动作数组形状为 (517, 14)，与评分器 n_actions=517 一致。"
+     },
+     {
+      "t": 12.93,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–12.93 s 双臂已撤开，金银两件在桌面上静止且仍明显分离；成功参考视频 120.0 s 的同类主视图中两件则交错嵌为同一整体。评分器 strict_goal_reached=0、success=0，与本次视频未装合一致；节点判假依据为本次画面中的分离状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–5.2 s 左臂二指夹爪夹住银色零件的条框，银件随夹爪离桌抬起；视频 6.0–7.8 s 夹爪将银件下降放回附近，视频 8.4 s 已张爪撤离。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 8.4,
+   "log_step": 121,
+   "where": "探索",
+   "evidence_zh": "观察：视频 4.8–5.2 s 机器人左夹爪仅将银件抬起，视频 6.0–7.8 s 又将其放回附近，视频 8.4 s 左夹爪开始离开银件，此后双臂撤离；视频 12.93 s 两件仍分离。log step 121 的最终脚本明确为原处抓起、放回银件，并保存 517 个动作，没有向金件搬运或对合的指令。推断：评分尝试停留在抓取探测阶段，未进入两件对合，断点取装配节点，以探测结束撤离处作导航锚点。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中没有状态日志，评分器也未报告 DAG 所列九项精密指标，因此其数值均留空。log step 121 交付的是原处抓起、放回的探测轨迹，视频未显示一次向装配目标执行却失准、卡住或失握的对合动作；据此现象层留空，不能把两件最终分离直接称为位姿不准，也不能把已开始的抓取探测称为没尝试。log step 102、113、117 的会话试验存在逆解困难，log step 120 的另一次搬运试验存在下降误差，但这些均不是最终交付轨迹，且不能独立确定它们为何导致最终未形成完整装配方案；根因层留空，不将预算用尽或改存短轨迹本身当作根因。"
+ },
+ "summary_zh": "评分轨迹中左夹爪抓住银件并短暂抬起，随后放回附近、双臂撤离；视频 12.93 s 金银件仍明显分离，装配节点从未达成，最终为 0/1。断点位于装配步骤的抓取探索阶段，最终交付对应 log step 121 的 517 动作原处抓放脚本。交付没有对合尝试中的可见接触或运动故障，失败现象和根因留空；缺少状态日志及精密验收指标，但不影响从画面判定未装合。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频与标签一致：左爪抓起银件后放回原处、双臂撤离，12.93 s 两件仍分离，装配节点 false，断点与证据可从视频和 log step 121 核对；现象/根因留空并附 gap_zh，符合不把预算用尽或停止当作原因的规则。",
+    "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": "2026-10-30T23:34:59Z",
+  "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-cast-coil-07-i01-privileged--tqvcgcq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--tqvcgcq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9019abb28e41c31a7e5fd786a87add4c49a30dc16fab07bcdfe302f8e416d091",
+   "video_sha256": "c317a546b8b4e5114be43e887c911c3d95884dbf8b563b375010c979da6598c5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--uwfbgxr.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--uwfbgxr",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 7139,
+   "submitted_actions": 7139,
+   "sim_steps": 7139,
+   "physics_steps": 71390,
+   "sim_time_s": 178.47500000002344,
+   "final_reward": 0.0,
+   "replay_wall_s": 845.7,
+   "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": 0,
+   "agent_sessions": 105,
+   "agent_resets": 105,
+   "agent_sim_steps": 43026,
+   "agent_records": 11,
+   "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": 1.98,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.487,
+   "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-07-i01-privileged--uwfbgxr/replay.mp4",
+  "duration_s": 178.533,
+  "fps": 15.0,
+  "frames": 2678,
+  "sha256": "2126d7cc794a418b007ddeff9b36998bbdbdef745dc3e3088901400446e09880"
+ },
+ "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 金件位于银件右侧，两件各自立在白色桌面上，条框没有交错装合。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–18.0 s 右臂二指夹爪接近并合拢夹住金件外侧条框；视频 30.0–72.0 s 金件随右夹爪向左移近银件，原位置随之空出，银件基本留在原处。"
+     },
+     {
+      "t": 72.0,
+      "log_step": null,
+      "text_zh": "观察：视频 60.0–80.5 s 的加密画面中，金件左侧条框靠近银件右侧边缘，但两件仍横向并列，没有嵌合成同一整体；视频 84.0–168.0 s 金件又逐渐向右退离，未出现装合状态。"
+     },
+     {
+      "t": 178.47,
+      "log_step": 228,
+      "text_zh": "观察：视频 174.0–178.47 s 右夹爪张开并向右上撤离，末帧金银件仍分开立在桌面；log step 228 记录所保存 attempt33 为 7139 行，服务终态 success=False、松手后 in_hand=None；评分器 strict_goal_reached=0、deterministic=1，与画面未装合一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.0–174.0 s 右臂二指夹爪合拢夹住金件右侧外框，并带动金件向银件推进、回退；视频 174.0–178.47 s 松开后撤离。银件由桌面承托，左臂未见主动配合操作。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 72.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 72.0 s 右夹爪持金件靠近银件右缘，两件仍并列而未交错装合；视频 76.0–168.0 s 后续调整逐渐退离，视频 174.0–178.47 s 在未装合处松手撤开，该装配步骤始终未修复。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 72.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 69.3–80.5 s 金件左侧条框仅到银件右缘附近，没有进入银件条框间形成交错整体；视频 178.47 s 松手撤离后仍明显横向分开。成功参考的末帧可清楚显示金银条框交错，说明本次画面中的差异是装配位置未到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 72.0,
+    "log_step": 224,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 224 写入交付版本 attempt33 的控制器，在角误差或横向误差超过门限时停止向前推进，连续低进展时执行 4 毫米回退；log step 225、227 的该版本运行输出多次触发回退，位置残差反而增大，log step 228 最终仍保存失败轨迹。视频 72.0–168.0 s 同样显示金件接近后逐渐退离，说明所用推进、纠偏与回退控制未收敛到装配位姿。",
+    "note_zh": "没有逐步接触、受力与跟踪状态，不能进一步区分接触设计、轨迹执行或反馈控制子类；不把 agent 对夹持柔顺性及卡齿的解释当作已证实物理机制。"
+   }
+  ],
+  "gap_zh": "本任务无状态日志。视频可直接判定未装合，但不能测量亚毫米位置误差、角速度、机器人保守净距或确认窗口内漂移；评分器未报告 DAG 所列九项原生指标，故其 value 均为 null。接近处的精确阻挡接触及受力机制无法确认，根因保留在控制层级。日志中的脚本运行耗时未换算为视频时间，节点及断点时刻均来自实际检查的画面。"
+ },
+ "summary_zh": "机器人用右夹爪夹住金件并向桌面上的银件推进，但两件未形成交错整体，装配节点全程未达到，最终为 0/1。视频约 72.0 s 接近后持续调整并逐渐退离，视频 174.0–178.47 s 在未装合处松手撤开；交付控制器的反复纠偏与回退未能收敛。无状态日志或精密验收测量，无法进一步确定具体接触与受力机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装配节点未达成、final=false、断点 coils_assembled/操作中、位姿不准与控制根因均与画面和日志(step 222-228：金件在距重合约208-266 mm处卡住，评分 success=False)相符；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:34:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--uwfbgxr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--uwfbgxr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a13d18654b8f6fd346f1181a1c322b59372f986e7779e687edebb8536844aabd",
+   "video_sha256": "2126d7cc794a418b007ddeff9b36998bbdbdef745dc3e3088901400446e09880",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--zgufpa8.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--zgufpa8",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 2707,
+   "submitted_actions": 2707,
+   "sim_steps": 2707,
+   "physics_steps": 27070,
+   "sim_time_s": 67.67499999999826,
+   "final_reward": 0.0,
+   "replay_wall_s": 343.0,
+   "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": 11,
+   "agent_sim_steps": 0,
+   "agent_records": 12,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.509,
+   "peak_memory_gb": 1.871,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.852,
+   "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-07-i01-privileged--zgufpa8/replay.mp4",
+  "duration_s": 67.733,
+  "fps": 15.0,
+  "frames": 1016,
+  "sha256": "79f904164e6ac4035e431289f67e2cf8abfd90d1968ff8db059c0b02ed04ede2"
+ },
+ "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": 325,
+      "text_zh": "观察：视频 0.0 s 金、银条框分立在桌面上，尚未互锁。log step 325 是本次最后一次 reset 并开始录制；此前各次试验不计入本段节点进度。"
+     },
+     {
+      "t": 23.0,
+      "log_step": 339,
+      "text_zh": "观察：视频 14.0–18.0 s 金件随右爪向左移动；视频 21.0–24.0 s 银件随左爪升起，原桌面位置空出。此后银件从上方靠近金件；拿起和靠近尚未满足装配与双件释放条件。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 344,
+      "text_zh": "观察：视频 37.0–43.5 s 银件停在金件上方且横向错开，两爪仍环夹各自零件。log step 344 的最后一次 INSERT_HIGH 报告末端误差 0.037 m、零件相对角差 0.1544 rad；log step 350 随后的高位对齐调用报逆解残差 23.2 mm。这里只把日志用作该保存片段内动作的佐证，视频锚点取自画面。"
+     },
+     {
+      "t": 67.6,
+      "log_step": 366,
+      "text_zh": "观察：视频 50.5–65.0 s 左爪继续降低、转动和回撤银件，金件在桌面上被带着偏移；视频 66.7–67.6 s 银件仍由左爪夹持、明显高于金件，两件未形成桌面上对齐的交错整体。log step 366 保存 2707 行动作且服务状态 success=False，评分器 n_actions=2707、strict_goal_reached=0、deterministic=1；log step 367–369 的后续运动发生在保存之后，不作为本片段进度。"
+     },
+     {
+      "t": 67.1,
+      "log_step": null,
+      "text_zh": "推断：结合本视频的分离初态、持物操作及尚未对合且未松手的末态，装配联合条件未曾持续成立，节点区间为空、最终为 false。参考成功视频 120.6 s 可见金银条框在同一桌面高度交错，夹爪已张开撤离；该参考仅用于辨认完成外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.0–18.0 s，右二指夹爪夹住金件并将其向银件方向移动，左二指夹爪夹住银件；视频 21.0–24.0 s 左爪将银件从桌上提起，随后两臂配合靠近两件。视频约 43.0–46.0 s 右爪松开金件并撤离，此后左爪继续夹持银件调整，至视频 67.6 s 仍未松手。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 38.0,
+   "log_step": 344,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 38.0 s 银件向金件上方靠近后仍保持明显高度差和横向偏移；视频 43.0–46.0 s 机器人仅释放金件，之后继续用左爪调整银件，至视频 67.6 s 仍未对合、未释放银件。log step 344 报告高位最后一段末端误差增至 0.037 m，之后的调整没有完成该装配步骤；断点取这次未修复的对齐偏差处。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 38.0,
+    "log_step": 344,
+    "evidence_zh": "观察：视频 37.0–43.5 s 左爪持银件停在金件上方，条框没有落入相配的交错位置；视频 50.5–65.0 s 银件虽继续下降和转向，两件仍错位，视频 67.1 s 银件的底横杆明显高于金件底部。log step 344 的 INSERT_HIGH 末端误差为 0.037 m，log step 361 在继续下降时误差由 0.002 m 增至 0.055 m；对应的是装配位姿未实现，而非目标内松手后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 344,
+    "t": 38.0,
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人没有把装配目标稳定实现为实际位姿。log step 343–344 中前几段 INSERT_HIGH 末端误差约 0.0025–0.0031 m，最后一段增为 0.037 m；log step 350 明确报高位路径逆解残差 23.2 mm，log step 351 再求同类目标残差为 0.0453 m；log step 360–361 的后续下降虽仍握着银件，末端误差增至 0.055 m且相对角差增至 0.297 rad。视频 38.0–67.6 s 的错位与这些执行反馈一致。没有足够证据分离接触路径、逆解和闭环跟踪各自的作用，故只标控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告 DAG 所列九项精密验收指标，无法从画面测定亚毫米误差、各碰撞几何净距及静置窗口；这些指标均留 null。日志内有多次重置，本次只采用 log step 325 重置至 log step 366 保存的片段，保存后的 log step 367–369 不属于交付。缺少逐时刻关节目标、实际轨迹与接触力，不能进一步确认根因是接触路径不适配、逆解受限还是反馈跟踪不足；未作更细归因。"
+ },
+ "summary_zh": "机器人用两爪分别抓握金、银件，移动金件并将银件抬高靠近，但装配节点始终未完成，最终为 0/1。视频约 38.0 s 开始的高位对齐偏差未被后续调整修复；结尾银件仍在左爪中且明显高于金件，日志也记录对齐逆解残差及执行误差，根因标为控制。没有状态日志或精密终态测量，无法细分控制问题；log step 366 保存后的动作未计入本次交付。",
+ "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 未达成（final=false）、断点 coils_assembled/操作中、现象位姿不准、根因控制（未细分）均与视频（0–67.6 s）、log step 342–366 及评分器 success=0 一致；时钟均为视频时间，仅用保存片段（step 325–366），保存后的 step 367–369 未计入。细分根因证据不足，停在大类合理。",
+    "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": "2026-10-30T23:27:16Z",
+  "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-cast-coil-07-i01-privileged--zgufpa8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--zgufpa8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ad9859307c7060176ed2c14eb3a94eeb33ca2746ca7ca59b8fcac2858435d508",
+   "video_sha256": "79f904164e6ac4035e431289f67e2cf8abfd90d1968ff8db059c0b02ed04ede2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6bgsggv.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--6bgsggv",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 1451,
+   "live_rows": 1451,
+   "sim_steps": 1451,
+   "physics_steps": 14510,
+   "steps": 1185,
+   "elapsed_s": 9188.9,
+   "replay_wall_s": 119.3,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.425,
+   "peak_processes": 9,
+   "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-cast-coil-07-i01-standard--6bgsggv/replay.mp4",
+  "duration_s": 36.333,
+  "fps": 15.0,
+  "frames": 545,
+  "sha256": "40c059bac665eb02a586120cf17355392a9ce7c514cd4aa047783b7efa2af9ed"
+ },
+ "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 的主视图和侧视小窗中，金件在桌面右侧、银件在左侧，两件分离，未装合。"
+     },
+     {
+      "t": 21.5,
+      "log_step": 167,
+      "text_zh": "观察：视频 19.0–21.5 s 右夹爪将金件抬起、转动并向银件送入；视频 21.5–22.5 s 金件与银件相抵，银件明显向左滑移并转动，未形成成功参考视频中交错对齐的整体。log step 167 是机器人执行持金件接近装配入口的命令。"
+     },
+     {
+      "t": 36.2,
+      "log_step": 285,
+      "text_zh": "观察：视频 23.0–30.0 s 多次微调、视频 31.0–35.0 s 再次接近和撤回后，视频 35.3–36.27 s 两件仍明显错位，右夹爪仍夹住金件，银件留在左侧桌面；不满足装合后完全松手撤离。log step 285 是最后一次机器人动作，服务返回 control_steps=1451、done=False；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 14.5–16.0 s 及视频 19.0–22.5 s，右二指夹爪夹住金色零件的右端条框并抬起、旋转和搬移；后续持金件接近并推移银件，视频 36.2 s 仍持金件。左夹爪虽移动取景及撤让，未见夹住银件，不记双臂抓握协作。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 21.5,
+   "log_step": 167,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.5–22.5 s，右夹爪持金件向银件接近时，两件相抵并把银件推移、带转。视频 23.0–36.27 s 后续调整和撤回均未完成装合，末帧金件仍被夹持；这是金银线圈装合步骤中未修复的失败。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 21.5,
+    "log_step": 167,
+    "evidence_zh": "观察：视频 21.25 s 银件仍大致沿初始方向放置，视频 21.5–22.5 s 右夹爪所持金件压到银件一侧，银件随接近动作滑向左侧并偏转，金件没有顺利进入配合位置；视频 23.0–30.0 s 仍停在错位的相邻位置。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志；评分器未报告 DAG 所列九项精密验收指标，不能从视频测出亚毫米误差、速度和净距，native_metrics 均置 null。视频可确认碰撞推移，但不足以验证预定接近路径及接触布局本来可行，故不能可靠区分路径规划、相对位姿估计与控制跟踪问题，根因留空。log step 191 仍使用银件初始坐标计算相对位置，log step 274、283 才据重新估计的银件位置调整；这些会话诊断未独立验证，不能直接当成精确状态测量。log step 309 出现模型提供方过滤提示，且此前 log step 285 的实时服务仍为 done=False；过滤限制了继续恢复的机会。本标签记录过滤之前已经可见、在已交付轨迹内未修复的装配碰撞，不将过滤或停止当作机器人现象或根因。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "机器人右夹爪抓起并转动金件，多次接近桌上的银件，但金银线圈装合节点始终未达，最终为 0/1。视频约 21.5–22.5 s 持金件的接近动作将银件推移、带转，后续未修复，视频 36.2 s 仍错位且金件未松手。会话末段遇模型过滤；无状态日志及精密验收读数，具体根因证据不足。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达、末帧金件仍被夹持且两件错位，与视频一致；断点在装合步骤，持金件接近时推移银件的碰撞现象有帧支持，根因留空并附 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": "2026-10-30T23:29:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--6bgsggv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--6bgsggv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22652bd0b676839752dc8e57bdafec62412bc556d3dbc5d295e42cd0a3f79610",
+   "video_sha256": "40c059bac665eb02a586120cf17355392a9ce7c514cd4aa047783b7efa2af9ed",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6crjv5z.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--6crjv5z",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 2531,
+   "live_rows": 2531,
+   "sim_steps": 2531,
+   "physics_steps": 25310,
+   "steps": 1225,
+   "elapsed_s": 3320.1,
+   "replay_wall_s": 213.5,
+   "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": 0.483,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.264,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-cast-coil-07-i01-standard--6crjv5z/replay.mp4",
+  "duration_s": 63.333,
+  "fps": 15.0,
+  "frames": 950,
+  "sha256": "2d19cb492719be3b2298c0133d6ef18b367b8204dbfeb2b39d738bb91255c2d3"
+ },
+ "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 金件在右、银件在左，分别由桌面承托，条框尚未交错装合。"
+     },
+     {
+      "t": 48.8,
+      "log_step": 299,
+      "text_zh": "观察：视频 44.0–48.8 s 左夹爪夹住银件侧柱并提起，右夹爪同时夹持已提起的金件；视频 50.0–60.4 s 双臂搬动两件并尝试合拢，但金件倾斜、银件偏转，未形成交错装配整体。"
+     },
+     {
+      "t": 63.2,
+      "log_step": 336,
+      "text_zh": "观察：视频 60.8–61.6 s 两夹爪张开，两件分开落回桌面；视频 62.4、62.8、63.2 s 均显示银件在左前、金件在右后，仍有明显间隔。log step 336 的机器人服务返回 Episode done: False，评分器 live_success=0、replay_success=0；节点未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 44.0–48.8 s 左二指夹爪夹握银件侧柱并提起，右二指夹爪同时夹握金件；视频 50.0–60.4 s 两臂各持一件尝试合拢和下放，随后张爪释放。此前左夹爪多次在银件上闭合重试，右夹爪先建立金件抓持。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 54.0,
+   "log_step": 330,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 52.0 s 金件倾斜悬在银件右上方；视频 54.0–60.4 s 双臂继续合拢、下放时两件保持明显相对角度和横向错位，未嵌成交错整体。视�� 60.8 s 松手后两件分离，此后直到视频 63.2 s 未修复。log step 330 是执行这段合拢、下放、释放序列的脚本。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 54.0,
+    "log_step": 330,
+    "evidence_zh": "观察：视频 54.0、58.0、60.4 s 金件斜靠在银件右侧，两者条框没有交错嵌合；视频 60.8–61.6 s 张爪释放后各自落回桌面，视频 63.2 s 仍分开。松手前已未装配到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 54.0,
+    "log_step": 330,
+    "evidence_zh": "推断：log step 330 的控制脚本用预设持物偏移和 IK 结果生成整段固定关节插值，完成后直接执行张爪、撤回；其间没有根据两件实际相对位姿修正装配。视频 52.0–60.4 s 的实际持物姿态明显偏离其拟定的平行交错终态，脚本仍继续下放和释放，支持执行控制未将两件对齐的归因；具体控制子类不能确定。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告 DAG 所列九项精密验收指标，无法测量亚毫米误差、机器人净距和联合确认窗口；这些指标均填 null。视频已直接显示两件未装合，节点可判 false。缺少实际持物变换、逐时刻关节跟踪误差和该段接触力记录，不能进一步区分持物偏移估计、轨迹跟踪或接触阻挡，故根因仅标控制，不推定失抓或强推导致失败。"
+ },
+ "summary_zh": "机器人多次调整抓取，最终双臂各夹持一件并尝试合拢、下放，但视频约 54.0 s 起可见两件相对姿态错位，松手后分开留在桌面，装配节点始终未达到，最终为 0/1。固定序列未根据实际错位纠偏便继续释放，根因保留为控制；无状态日志及精密验收测量，无法确定更细的控制失效机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装配节点 false、breakpoint 位于合拢/下放段、位姿不准、根因保持在控制大类且不强推子类，均与视频帧一致；未发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:41:42Z",
+  "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-cast-coil-07-i01-standard--6crjv5z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--6crjv5z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d8caf1daa18f25b0ee6c1207762289637bd954d5ff7d557158ba97b8a0076c6",
+   "video_sha256": "2d19cb492719be3b2298c0133d6ef18b367b8204dbfeb2b39d738bb91255c2d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6fbwvbc.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--6fbwvbc",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 4622,
+   "live_rows": 4622,
+   "sim_steps": 4622,
+   "physics_steps": 46220,
+   "steps": 626,
+   "elapsed_s": 7205.0,
+   "replay_wall_s": 321.0,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.089,
+   "peak_processes": 16,
+   "peak_disk_gb": 0.98,
+   "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-07-i01-standard--6fbwvbc/replay.mp4",
+  "duration_s": 115.6,
+  "fps": 15.0,
+  "frames": 1734,
+  "sha256": "ac3347809e509bc76e8f89707da7a6be046852d221ae9ca5d84d9ce7f0ffb44e"
+ },
+ "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 的高位主视图中金件在右、银件在左，两件明显分离，初态未装合。"
+     },
+     {
+      "t": 44.8,
+      "log_step": null,
+      "text_zh": "观察：视频 44.67–45.27 s，右夹爪接触金件后，金件翻倒在桌面；视频 48.47–51.47 s 右夹爪夹住金件并使其离桌、转动，但两件仍分开。"
+     },
+     {
+      "t": 97.47,
+      "log_step": 306,
+      "text_zh": "观察：视频 97.47 s 右夹爪已撤离，金件仍偏在银件右前方，条框未交错嵌合。log step 306 中 agent 曾自述“seated in the assembly pose”，但该说法不能由画面支持，agent 又在 log step 313 撤回该判断。"
+     },
+     {
+      "t": 115.5,
+      "log_step": 324,
+      "text_zh": "观察：视频 114.53–115.53 s 右夹爪张开、撤开，金件仍在银件右前方并有明显角度和位置错开，没有参考成功视频 120.7 s 中金银条框交错成同一整体的形态。评分器 success、live_success、replay_success 均为 0，live_matches_replay=1；log step 324 中 agent 最终也承认未装合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 48.47–51.47 s，右二指夹爪夹住金件局部并提起、转动，金件离开原桌面位置随夹爪运动；随后还有多次重抓。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 44.67–45.27 s，右夹爪接触并碰翻金件；视频 56.47–57.47 s，左夹爪接触银件并使其在桌面转动。视频 112.87–113.47 s，右夹爪再次碰动金件，使其倾转。两臂没有同时各持一件完成配合装配。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 44.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 44.67–45.27 s，右夹爪在抓取金件时将其碰翻，这是装合尝试中首先清楚可见的操作偏差。机器人之后重新夹起和调整金件，但视频 97.47 s 及 115.5 s 仍显示两件错开，装合步骤一直未完成。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 44.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 44.67 s 金件仍直立，右夹爪随即接触其上部；视频 44.87 s 金件开始翻转，视频 45.07–45.27 s 已倒向另一面，右夹爪离开。接触碰倒了待抓金件；机器人后续操作直到视频 115.5 s 也未完成金银件装合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 对金件位姿及抓取位置的估计错误，使夹爪落在不合适的结构上，且后续无法可靠定位而放弃继续装合。log step 235 把一次拟合称为“clean”并据此指定新抓取点，log step 236 执行后，agent 在 log step 242 明确承认拟合所得抓取点错误、手指撞倒零件；视频 44.67–45.27 s 可见右夹爪接触后金件翻倒。后续 log step 315 输出未确认抓持，log step 316 承认抓取点落在顶部条框，log step 316、321、322 的脚本输出预测与观测包围盒显著不符并触发拟合拒绝，log step 323 据此停止操作。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告 DAG 所列九项精密测量，故原生指标均留空值；视频足以排除装合，但不能独立确认辅助抓取是否激活或为何解除。log step 303、306 曾声称悬挂及装合，log step 313 又解释为辅助抓取在搬运中断开；已检查的视频 89.07–93.87 s 未清楚显示相应的完整离桌搬运，故不把该解释直接标为“没保持住”。最终 agent 自述金件直立（log step 324），但视频 113.07–115.53 s 显示金件再次倾转，节点判断以视频为准。"
+ },
+ "summary_zh": "机器人多次接触、抓持并调整金件，右夹爪曾将其提起转动，但金银件始终未形成交错整体，装合节点最终为 0/1。视频约 44.8 s 抓取接触将金件碰翻，之后继续重抓仍未完成；日志记录了错误的位姿拟合和抓取位置估计，后续拟合拒绝使 agent 停止操作。没有状态日志和精密验收测量，辅助抓取是否解除及其原因不能独立确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装合节点未达成、final false、断点 coils_assembled（操作中）与视频一致：视频 43.5 s 金件直立，44.8 s 右夹爪接触后倾倒，45.3 s 已倒；97.5 s、115.3 s 金件仍在银件右前方错开。感知根因有日志 step 235/242/316 的估计错误记录支持，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": "2026-10-30T23:40:27Z",
+  "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-07-i01-standard--6fbwvbc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--6fbwvbc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "663289f934b8ccb37874cd439ca6518bed937bf8d5736bd4b8008367a78da35e",
+   "video_sha256": "ac3347809e509bc76e8f89707da7a6be046852d221ae9ca5d84d9ce7f0ffb44e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--hwhjsyn.json

@@ -0,0 +1,303 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--hwhjsyn",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 16955,
+   "live_rows": 16955,
+   "sim_steps": 16955,
+   "physics_steps": 169550,
+   "steps": 3795,
+   "elapsed_s": 10793.3,
+   "replay_wall_s": 1107.2,
+   "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": 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-07-i01-standard--hwhjsyn/replay.mp4",
+  "duration_s": 423.933,
+  "fps": 15.0,
+  "frames": 6359,
+  "sha256": "0a26cc76080ef98bf98bbe1d6f91a51919b172430a82c8aa9ccea73bf6fdc1fd"
+ },
+ "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 金件在桌面右侧、银件在左侧，两件分离，尚无交错装合。"
+     },
+     {
+      "t": 85.0,
+      "log_step": null,
+      "text_zh": "观察：视频 80–110 s 左夹爪夹持银件并将其提离原位、转动，再放回桌面；金件仍在右侧。视频 120–335 s 机器人继续对银件反复换握和调姿，两件始终没有形成同一交错整体。"
+     },
+     {
+      "t": 357.0,
+      "log_step": null,
+      "text_zh": "观察：视频 350–365 s 右夹爪接近并夹住银件的一端，左手仍与银件另一端接合；视频 370–382 s 左手退出后银件随右手悬持。两只手协作的是银件的解脱和换握，并非各持一件完成装配。"
+     },
+     {
+      "t": 394.0,
+      "log_step": 312,
+      "text_zh": "观察：视频 388–398 s 左夹爪再次伸入银件附近，银件随后倾转；视频 399–402 s 左爪闭合后空手撤开，银件仍留在右手一侧并随右手移动。log step 312 的实时机器人服务反馈记录左夹爪实际开口 OPEN 为 0，支持这次换握未夹住零件；该服务反馈为机器人本体测量，不是 agent 的完成声明。"
+     },
+     {
+      "t": 423.8,
+      "log_step": 327,
+      "text_zh": "观察：视频 410–421 s 右手把银件降低到桌面并张爪撤出；逐帧检查视频 422.93–423.87 s，银件在前方斜放、金件在后方，两件有明显间隔，没有参考成功视频末段所示的交错整体。log step 327 的服务终态为 done=false、reason=null；评分器 success=0、live_matches_replay=1。装合状态未见达到，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 80–110 s 及后续调姿阶段先由左二指夹爪夹住银件提转；视频 350–365 s 右二指夹爪夹住银件一端，配合左手解脱，随后改由右手持银件。最后一次左手换握未夹住。未见金件离开其原桌面位置；两手不是各持一个配合件。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "勾",
+      "note_zh": "观察：视频 278–335 s 左夹爪张开后，银件仍挂在其手指上并随手移动；视频 350–365 s 右手夹持银件时，左手仍以伸入框内的手指接合银件，随后退出。这里记录左手指与银件框的勾挂接触，与右手的夹持为不同接触链路。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 394.0,
+   "log_step": 308,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 388–398 s 机器人为继续装配而尝试把银件从右手换到左手，银件发生倾转，左夹爪未形成有效夹持；视频 399–402 s 左爪空手撤回，右手仍带着银件。此后机器人只把银件放回桌面，直到视频 423.87 s 两件仍分离，装配步骤未修复。log step 308 是该次换握脚本，log step 314 为 agent 自述“银件移动，左手夹空”，与这些帧一致。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 394.0,
+    "log_step": 312,
+    "evidence_zh": "观察：视频 393–398 s 银件在右手一侧倾转，左夹爪在银件端部附近闭合；视频 399–402 s 左手空手离开，银件没有随左手走。log step 312 服务测得左夹爪开口为 0。这次装配准备所需的左手夹持没有建立；不是整个运行从未触碰银件。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 180.0,
+    "log_step": 167,
+    "evidence_zh": "观察：视频 100 s 左夹爪已提持银件，视频 160–185 s 银件在左手持握及调姿后仍相对夹爪下垂、偏转，未保持固定的持物姿态，并非整件完全掉落。log step 167 的静态观测脚本及 log steps 169、171 的跟踪结果、agent 关于端部握持扭转和持续下垂的自述（log steps 165、178）为佐证。视频 278–335 s 还能看到银件挂在张开的左夹指上，说明接触后来转为勾挂；勾挂本身不作为滑脱的证明。这是同一未完成装配节点的早期持物失稳，与视频 393–402 s 最后一次左手换握从未夹住的事件不同。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "t": 180.0,
+    "log_step": 167,
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：视频 160–185 s 左夹爪提持银件并调姿后，银件相对夹爪仍发生下垂、偏转；视频 278–335 s 左爪张开后银件仍与伸入框内的夹指勾挂，视频 350–370 s 需右手夹住银件配合左手退出。log step 167 的脚本仅连续等待并采集三次观测以检查静态握持，log steps 169、171 中 agent 的视觉跟踪输出 QUARTER_STATIC 显示银件中心高度从约 0.218 m 降至 0.214 m、姿态也变化；这些是 agent 自己的估计，不是服务真值。agent 自述端部握持在重力下扭转、静态时继续下垂（log steps 165、178），夹指被勾住、需另一手支撑退出（log steps 251、275、284），与画面一致。所选端部夹持及夹指进入框内的接触布局难以保持装配姿态、也妨碍干净退出，机器人反复换握而未形成金银交错整体，最后视频 393–402 s 再次换握夹空。该归因不把全部调姿都视为滑移，也不否认右手后来曾独立持住银件；尚未验证能完成整条装配路线的替代抓法。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分字段未报告 DAG 中九项精密原生指标，无法测量亚毫米误差、机器人净距或确认窗口；这些指标保留 null。可见两件始终分离足以判节点未达到。夹指局部被框体遮挡，无法确认各次辅助抓取建立或解除的准确时刻及接触力；静态握持的数值来自 agent 视觉跟踪估计，不能当作服务真值。抓取和接触设计根因由画面、脚本及标明来源的 agent 自述共同推断，尚未验证可完成整条装配路线的替代抓法，也不足以证明最后换握的接触方案本来可行而仅由反馈控制导致失败。"
+ },
+ "summary_zh": "机器人多次提转银件并用双手脱钩、换握，但金银线圈始终未装成互锁整体，最终节点为 0/1。早期银件在握持中下垂偏转，后期又勾挂于张开的左夹指，视频约 394 s 的最后一次左手换握夹空；综合画面和日志，将根因修订为抓取和接���设计，替代抓法的完整可行性未知。置信度由 7 降至 6：持物接触的力学原因仍属推断，缺少状态日志和辅助抓取状态，九项精密验收指标也未报告。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达到（终值假）、视频时间与接触标注基本与帧一致；但根因只解释了视频约 394 s 最后一次换握，忽略了整个运行里反复出现的“银件在夹持中下垂/转动、夹指挂住银件”这一主要失败模式，根因归类过窄且证据不足以支持“反馈控制”为唯一原因。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 coils_assembled 终值假与帧一致（视频 423.5 s 银件斜放、金件在后，未交错）；第 1 轮后的根因（抓取和接触设计）与现象（没建立接触、没保持住）有画面和日志支持，alt_feasible=未知，未见需要修改的错误。",
+    "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": "2026-10-30T23:47:09Z",
+  "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-cast-coil-07-i01-standard--hwhjsyn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--hwhjsyn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--hwhjsyn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--hwhjsyn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "07c3b90cb6ddf58c59a3b88e79ae5b5ac1cac01c2346f3998a2125ce3336a2b0",
+   "video_sha256": "0a26cc76080ef98bf98bbe1d6f91a51919b172430a82c8aa9ccea73bf6fdc1fd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--jfa8dkj.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--jfa8dkj",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 3751,
+   "live_rows": 3751,
+   "sim_steps": 3751,
+   "physics_steps": 37510,
+   "steps": 917,
+   "elapsed_s": 3354.3,
+   "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-cast-coil-07-i01-standard--jfa8dkj/replay.mp4",
+  "duration_s": 93.867,
+  "fps": 15.0,
+  "frames": 1408,
+  "sha256": "646aaee439a04e87c7d4f1e4c1ab4068965ee037d30eb5366ab0ffcfe5a18a23"
+ },
+ "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 金件在桌面右侧、银件在左侧，彼此分离，初始未装合。"
+     },
+     {
+      "t": 43.0,
+      "log_step": 42,
+      "text_zh": "观察：视频 42.0–44.25 s 左夹爪夹住银件上缘并使其离开桌面；视频约 44.5 s 银件脱离夹爪回到桌面，金件一直留在右侧，两件没有嵌合。log step 42 的脚本正在抓取并转动银件以采集几何。"
+     },
+     {
+      "t": 82.5,
+      "log_step": 56,
+      "text_zh": "观察：视频 80.25–83.0 s 右夹爪夹着金件向上提起，金件原位置随之空出，但金件仍在桌面右侧，没有移到银件处；视频约 83.25 s 右夹爪张开，金件在右侧落回桌面并翻倒。"
+     },
+     {
+      "t": 93.8,
+      "log_step": null,
+      "text_zh": "观察：视频 92.8–93.8 s 双臂已撤回，银件仍立在左侧，金件侧倒在右侧，两件间有清楚的空隙；全片抽查及抓取、释放段加密检查均未见参考成功视频中的金银条框交错整体。"
+     },
+     {
+      "t": null,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 的实时服务状态为 control_steps=3751、done=false、resumes=0；评分器 reward 中 success=0、live_success=0、graded_by_live=1、finalized=1，且 infra_error=0。评分结果与视频中两件始终分离一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪在视频约 41.5–44.5 s 夹住银件上缘并提起，随后银件脱落；右二指夹爪在视频约 78–83.25 s 夹住金件上缘并提起，随后张爪。两次抓握先后发生，未见两手同时各持一件协作装配。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 11.5–13.5 s 左夹爪在银件旁运动并碰推银件，银件在桌面上小幅移位、转动，未随夹爪提起。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 83.25,
+   "log_step": 56,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 83.25 s 右夹爪在银件右方远处张开，金件落回桌面，未与银件接合，直到视频 93.8 s 仍未修复。log step 56 的脚本对三个搬运目标均输出 IKfail，记录 seated: None，随后仍执行张爪和回撤；断点为金银线圈装合。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 83.25,
+    "log_step": 56,
+    "evidence_zh": "观察：视频 82.5–83.5 s 金件仍被右夹爪保持在桌面右侧，与左侧银件明显分离，随后右夹爪张开使金件落下、翻倒；释放前没有到达配合位置，最终也没有形成金银交错整体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 83.25,
+    "log_step": 56,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 51、54–56 的脚本选定右手从金件上方夹持，直接搬向左侧银件；log step 56 对三个目标 [-0.125,0.204,0.459]、[-0.195,0.197,0.459]、[-0.056,0.212,0.459] 均输出 IKfail、seated: None，却在循环后无条件张爪，没有先改变握姿、装配位置或两件的搬运方案。视频 80.25–83.5 s 核实金件只在原侧被提起后释放。失败后的动作分支仍释放未到位零件，使该装配方案直接结束在分离状态；这是可在执行前后规划中检查和改换的搬运、释放顺序问题。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告 DAG 所列九项精密验收指标，故这些 native_metrics 的 value 为 null；两件明显分离已足以判定节点未完成。log step 56 未保留失败 IK 的完整残差或限位状态，不能据此断言右臂在所有握姿下均不可达，故现象采用画面直接支持的位姿不准。agent 在 log step 59 自述已超过有效时间预算，但 run.json 的 wall_s=3354、time_limit_s=10800，不支持将结束解释为已耗尽规定预算。"
+ },
+ "summary_zh": "机器人先后用左夹爪提起银件、右夹爪提起金件，但两件始终未装合，节点最终为 0/1。视频约 83.25 s，右夹爪在金件尚远离银件时释放；日志显示三个搬运目标 IK 均失败后，脚本仍无条件张爪并结束该方案，归因为推理/规划。缺少状态日志及精密验收测量，但末帧中两件明显分离，完成与否无歧义。",
+ "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（金银两件全程分离）、断点 coils_assembled/操作中、位姿不准 + 推理/规划 均有视频帧和 log step 56 的 IKfail 输出支持；未发现需要改动内容的错误。",
+    "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": "2026-10-30T23:48:00Z",
+  "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-cast-coil-07-i01-standard--jfa8dkj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--jfa8dkj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b47fcca8ee080270757e843419bfde6a129d67ab0638cd9e652f756bfac64b07",
+   "video_sha256": "646aaee439a04e87c7d4f1e4c1ab4068965ee037d30eb5366ab0ffcfe5a18a23",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--thjzhmq.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--thjzhmq",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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,
+   "replay_success": 0,
+   "runtime_binding_ok": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "gpu_backend": 1,
+   "finalized": 1,
+   "n_actions": 31734,
+   "live_rows": 31734,
+   "sim_steps": 31734,
+   "physics_steps": 317340,
+   "steps": 7231,
+   "elapsed_s": 6831.9,
+   "replay_wall_s": 1581.5,
+   "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-cast-coil-07-i01-standard--thjzhmq/replay.mp4",
+  "duration_s": 793.4,
+  "fps": 15.0,
+  "frames": 11901,
+  "sha256": "7bd6edc8ca47b54300d44e322f1ba99a8dae4017f435d8432329a92c3deb87f9"
+ },
+ "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：视频起始主视图中银件在左、金件在右，两件分开立于白色桌面；全片每约10秒检查并对抓取、搬运及结尾加密检查，未见金银条框形成同一交错整体。成功参考视频120.7 s可见金银条框交错嵌合，此处仅用于辨认目标形态，不作为本次到达证据。"
+     },
+     {
+      "t": 640.0,
+      "log_step": 176,
+      "text_zh": "观察：视频636–646 s中右夹爪夹住金件一端，将其从原处提起、翻转并移到桌面中央偏前；视频694–716 s中左夹爪夹起原位银件并翻转。两件确实被分别抓持搬动，但此时仍分离，不能据抓取或翻转记装配到达。"
+     },
+     {
+      "t": 778.5,
+      "log_step": 219,
+      "text_zh": "观察：视频775–780 s中左夹爪从银件上端凸出部夹起银件并绕行；主视图可见银件离开原位，左腕相机中银件相对夹指的位置和倾角随后改变。视频782–784 s中机器人持银件接近金件时碰推金件，两件未交错嵌合。"
+     },
+     {
+      "t": 793.3,
+      "log_step": 228,
+      "text_zh": "观察：视频791.5–793.3 s中左夹爪张开，银件倾倒至桌面前部，金件留在其后，两件仍为分离的形态；结尾最后一秒也未出现装合。log step 228的实时服务返回done=False、reason=None；评分器success=0、live_matches_replay=1、review_events=0，与画面未完成一致，结论不单由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频636–646 s右二指夹爪夹持金件一端进行提起、翻转和搬放；视频704–716 s左二指夹爪抓持银件翻转，视频775–791 s再夹住银件凸出部搬向金件，右爪此时空置。两臂先后操作，未见同时各持一件配合装合；视频782–784 s还出现左臂持银件碰推金件的非计划接触。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 778.5,
+   "log_step": 219,
+   "where": "操作中",
+   "evidence_zh": "观察：视频775–780 s中左夹爪已夹起银件搬向装配起始位置，但银件相对夹指发生倾转；视频782–784 s持银件又碰推金件，至视频793.3 s两件仍未装合。log step 219记录的是这次单一实时回合的提起和搬运，log step 228随后松爪放下，log step 232中agent明确自述未完成；本次持物偏差之后没有重新抓稳并完成装配。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 778.5,
+    "log_step": 219,
+    "evidence_zh": "观察：视频775–776 s银件已被左二指夹爪夹起，原桌面位置腾空；视频778–780 s左腕相机中银件的条框相对夹指明显转动、偏移，机器人仍夹着它，没有保持起抓时的持物相对姿态。log step 232中agent也自述银件在夹指间转动；此处记夹内滑转，并非从未抓到或已完全掉出夹爪。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 782.5,
+    "log_step": 219,
+    "evidence_zh": "观察：视频781.5–784 s左臂持银件向金件靠近，银件与金件邻接处虽被夹爪局部遮挡，但主视图清楚显示原先静置的金件被接近中的机器人及所持银件碰动并转向，两件停在错开的相邻位置，未进入交错装配形态。log step 221–222的服务本体读数也显示左末端未到指令位置；这些读数只作接近受阻的补充，不将位姿误差单独再标一次。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 778.5,
+    "log_step": 232,
+    "evidence_zh": "推断：视频775–780 s显示左夹爪只夹银件上端凸出部，多层条框主体悬在抓点下方，搬运中银件相对夹指转动；log step 232中agent自述抓点远离质心、银件在摩擦抓握中转动，因无法可靠确认持物位姿而未执行后续装配路径。可见持物姿态丢失与偏端承载布局相符，支持抓取和接触设计不适配；agent所称厘米级及角度误差未作真实测量采用。未在本次银件姿态下验证可替代的稳定抓法，是否存在可行替代记未知。",
+    "source_zh": "视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "观察：inputs中无状态日志，评分器也未报告DAG的九项精密终态指标；视频能确认两件始终未装合，但无法测量亚毫米配准误差、逐碰撞几何净距或辅助抓取状态。log step 223、225、227是agent自己的持物配准估计且结果不一致，不能据此确定滑转幅度；滑转起点仅以视频778.5 s作粗略导航，具体抓点相对质心的位置及可行替代抓法尚未核实。"
+ },
+ "summary_zh": "机器人先后抓持、翻转金银件，并将银件搬向金件，但始终未形成交错装合，唯一节点全程未达，终态为0/1。末段银件在夹内滑转，随后机器人持银件碰推金件，最终分开放下；结合可见的偏端抓持布局及agent自述，根因推断为抓取和接触设计不适配。无状态日志与精密验收指标，滑转幅度及可行替代抓法未核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点 coils_assembled 全程未达、final=false、断点 ref/where 与视频一致（视频793.3 s末帧金银两件仍分离）；接触标注（单臂左夹爪抓握）与帧相符，未见时钟换算或把 agent 停止当作原因的问题。根因‘抓取和接触设计’为带 alt_feasible=未知 的推断，证据（偏端抓持、778–780 s 夹内转动）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": "2026-10-30T23:38:51Z",
+  "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-cast-coil-07-i01-standard--thjzhmq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--thjzhmq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "74ca03e2649485d8a84d63ac82c74d336b0a9ffad1afbe000047385abbec5e07",
+   "video_sha256": "7bd6edc8ca47b54300d44e322f1ba99a8dae4017f435d8432329a92c3deb87f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zdkubmc.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--zdkubmc",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 35886,
+   "live_rows": 35886,
+   "sim_steps": 35886,
+   "physics_steps": 358860,
+   "steps": 6189,
+   "elapsed_s": 7686.5,
+   "replay_wall_s": 3094.9,
+   "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": 0.436,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.586,
+   "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-07-i01-standard--zdkubmc/replay.mp4",
+  "duration_s": 897.2,
+  "fps": 15.0,
+  "frames": 13458,
+  "sha256": "26ace38ea701969c9df37b54e3cd6e2a6aa82ef8ac6b32696dc216dc727636a5"
+ },
+ "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，两个条框零件分别立在白色桌面上，尚未互锁。"
+     },
+     {
+      "t": 312.0,
+      "log_step": null,
+      "text_zh": "观察：视频 304–323 s，机器人左夹爪推拨银件向金件靠拢，银件随接触平移、转向并斜靠到金件旁；视频 312 s 可见两件仍各自成块、条框错位，没有交错嵌合成同一整体。"
+     },
+     {
+      "t": 432.0,
+      "log_step": null,
+      "text_zh": "观察：视频 430–446 s，左夹爪在银件一侧接触顶住，右夹爪接触金件并推进；两件相邻但条框没有装合。成功参考视频 120.73 s 的金银条框交错嵌在同一占地范围内，与本次形态明显不同；参考仅用于辨认目标形态。"
+     },
+     {
+      "t": 897.13,
+      "log_step": 500,
+      "text_zh": "观察：视频 892–897.13 s（含最后一秒）两件仍分别立在桌面，银件在左、金件在右，中间有明显间隙，右夹爪位于金件上方；没有互锁终态。log step 500 中实时机器人服务返回 done=False、reason=None；评分器 live_success=0、replay_success=0、live_matches_replay=1，与装配未完成一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 304–323 s 左夹爪以指尖/外侧推拨银件，使其在桌面平移、转向；视频 430–446 s 两臂配合，左夹爪接触顶住银件，右夹爪推金件向其靠拢。此前及后续也有单爪推拨各件；可见作用以顶推和拨转为主，没有据空夹指令认定抓握。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 312.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 306–323 s，机器人左夹爪把银件推向金件，但两件仅错位靠拢，未形成互锁；视频 430–446 s 的双臂顶推和后续转向尝试也未修复该装配步骤，视频 897.13 s 仍分离。断点取首次明显靠拢却未对合的约视频 312 s。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 312.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 306–323 s，左夹爪推动银件后，银件相对金件仍有明显朝向和位置错位；视频 432 s 两臂将两件顶在一起时，金银条框仍分别位于左右两块区域，没有互相穿入并对合。视频 897.13 s 两件还留有间隙。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，也没有逐帧装配框架误差、碰撞接触对或完整接触力序列；九项原生验收指标未由 reward 报告，均置 null。观察：视频 40、60、80、200、250、306–323、430–446、600 s 的接触以推拨、顶住和拨转为主，未见稳定持件后完成对合；视频 897.13 s 两件仍分离错位。log step 245、247、253 记录了抓取/闭爪抬升尝试，不能将未见成功抓取写成从未尝试抓取。log step 400、433、441 的 no ik 和航点拒绝只证明局部执行受阻；log step 402、435、455、457–458、471–472 显示其后仍继续替换路径、换臂或推进，不能据此确定未装合的主要根因。推断：抓取和接触设计是候选，但现有证据未证实推拨式接触本身不适配或无法达到验收精度，是否存在本标准模式下可行替代为未知；成功参考为特权模式（inputs/oracle/oracle.json 的 mode=privileged），仅用于辨认目标形态，不能验证本模式的替代可行性，故根因留空。日志与视频未建立逐次动作映射，未以 agent 时间换算视频时间，也未把 agent 对装配框架或相对朝向的自述作为观察。"
+ },
+ "summary_zh": "机器人反复在桌面推拨、转动金银零件，并尝试双臂一挡一推，但两件始终未形成交错互锁整体，装配节点最终为 0/1。断点在装配操作中的位姿未对合；局部逆解失败与航点拒绝不足以确定主要根因，接触设计也仅为未证实的候选，故根因留空。没有状态日志及精密验收指标，无法量化误差或验证本模式下的替代方案，根因仍有证据缺口，置信度降至 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点和位姿不准现象与视频一致；但根因“控制·控制”只依据 no-ik / 航点拒绝这类辅助执行困难，而这些日志并不能说明为何未对合；全程只用闭合夹爪推拨、从不抓取，依 DECISIONS 判别次序应先考虑“抓取和接触设计”（或未知），且需写明 alt_feasible。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "装配节点未达成、断点（操作中，约视频 312 s）、位姿不准现象及根因留空并写明缺口，均与视频和第 1 轮处理一致；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": "2026-10-30T23:47:19Z",
+  "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-cast-coil-07-i01-standard--zdkubmc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zdkubmc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zdkubmc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zdkubmc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69e7e6056cf0901b2e8c66cd0facee40ad901bcc3248f369861ab7150e94d185",
+   "video_sha256": "26ace38ea701969c9df37b54e3cd6e2a6aa82ef8ac6b32696dc216dc727636a5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zjpddum.json

@@ -0,0 +1,294 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--zjpddum",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "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": 2180,
+   "live_rows": 2180,
+   "sim_steps": 2180,
+   "physics_steps": 21800,
+   "steps": 460,
+   "elapsed_s": 10890.4,
+   "replay_wall_s": 210.8,
+   "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": 0.27,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.893,
+   "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-07-i01-standard--zjpddum/replay.mp4",
+  "duration_s": 54.6,
+  "fps": 15.0,
+  "frames": 819,
+  "sha256": "e32ea231e4ab14bd3e6e43d2e5850ada19fdb74415e4516aba0240cfdfcfced8"
+ },
+ "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 金色件位于桌面右侧、银色件位于左侧，两件明显分离，装配状态初始不成立。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 66,
+      "text_zh": "观察：视频 6.0–8.5 s 右夹爪抵在金色件近侧，视频 9.0–10.0 s 撤回时金色件偏转、倾斜；银色件仍在左侧，未出现两件交错装合。log step 64、66 的服务最大外部压力分别为 98.4 N、29.0 N；视频 13.3–17.3 s 又出现受阻接近，log step 92 的服务记录压力峰值 127.1 N。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 131,
+      "text_zh": "观察：视频 19.6–21.2 s 右夹爪在金色件上方及外侧接近并顶住其条框，随后退出；银色件仍在左侧，未出现两件交错嵌合。log step 131 是机器人下降抓取命令的服务返回，记录最大外部压力 164.1 N。"
+     },
+     {
+      "t": 33.6,
+      "log_step": 183,
+      "text_zh": "观察：视频 27.3–28.3 s、33.3–34.3 s 右夹爪闭合并尝试上移，金色件未被搬到银色件处；视频 35.0–44.0 s 机器人继续在金色件的条框间下降、退出，两件保持分离。"
+     },
+     {
+      "t": 54.533,
+      "log_step": 316,
+      "text_zh": "观察：视频 53.6–54.533 s（含最后一帧）右夹爪仍位于右侧金色件处，银色件留在左侧，二者之间有明显桌面空隙；没有装合后松手撤离的终态。评分器字段 live_success=0、replay_success=0、live_matches_replay=1，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 6.0–8.5 s 右夹爪抵压金色件近侧条框，视频 9.0–10.0 s 撤回时带动金色件偏转、倾斜；视频 13.3–17.3 s、20.2 s、36.5 s 等接近动作中仍可见指部/夹爪结构与金色件横框或立柱相抵，随后退回；左臂未参与操作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 27.5 s、33.5 s 及 53.6–54.533 s，右二指夹爪在金色件条框两侧闭合夹持；没有观察到将金色件搬运至银色件的动作。log step 148、173、316 的服务读数均出现非零 held_finger_contact_mm，支持发生过双指持物接触，但不表示装配完成。"
+     }
+    ]
+   }
+  },
+  "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
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 8.5,
+   "log_step": 66,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.0–8.5 s 右夹爪抵在金色件近侧条框处，未能完成抓取搬运；视频 9.0–10.0 s 机器人撤回时带动金色件偏转、倾斜。log step 64、66 的服务分别记录最大外部压力 98.4 N、29.0 N，log step 70 提交撤回路径；视频 13.3–17.3 s 再次接近受阻，log step 92 的服务记录最大外部压力 127.1 N，log step 93 中 agent 自述路径卡住，随后 log step 98 撤回。视频 20.2 s 的下降受阻及 log step 131 的 164.1 N 是后续重复事件。视频末帧 54.533 s 金银两件仍分离，装配步骤始终没有完成；视频约 8.5 s 是首次受阻过程的导航锚点，并非精确首碰时刻。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 8.5,
+    "log_step": 66,
+    "evidence_zh": "观察：视频 6.0–8.5 s 右夹爪在金色件近侧条框处相抵，视频 9.0–10.0 s 随夹爪撤回金色件发生偏转、倾斜；log step 64、66 的服务最大外部压力分别为 98.4 N、29.0 N。视频 13.3–17.3 s 夹爪再次接近金色件并受阻，log step 92 的服务压力峰值为 127.1 N；log step 93 中 agent 自述该路径卡住，log step 98 随后撤回。视频 20.2 s、35.0–37.0 s 及 39.0–43.0 s 的下降相抵和反复退出是同类现象的重复，log step 131、203、205 的服务最大外部压力分别为 164.1 N、281.9 N、82.3 N。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：视频 6.0–10.0 s 的首次受阻及金色件随夹爪撤回而偏转，与视频 20.2 s、36.5 s 的后续相抵一致；视频 20.2 s、36.5 s 可见所选接近方向使夹爪先遇到金色件外侧横框或相邻立柱，未能直接进入所需的条框夹持位置；多次换向仍未得到可用于装合的搬运。log step 135 中 agent 自述侧向接近先碰上部板框，log step 220 自述张开的长指与相邻立柱重叠，均与画面中的阻挡一致，支持接触几何选择不适配。参考成功视频 8–24 s 显示右夹爪可抓住并移动金色件，参考视频 120.7 s 显示两件嵌合且右夹爪撤开，说明存在可行替代抓取路径。",
+    "source_zh": "视频 / 日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志；服务未报告 DAG 所列九项精密验收指标，均记为 null。视频能确定两件一直分离及多次接近受阻，但不能确定每次辅助抓取建立/解除的精确物理时刻，也不足以将全部抓取失败进一步归为某个感知误差或控制参数。断点视频约 8.5 s 仅为首次受阻过程的导航锚点，不声称精确首碰或倾斜起始时刻。服务控制步与视频的对应仅作交叉核对：log step 43 的 watch 0.5 s 推进 20 个控制步，得 40 Hz；推断：log step 66 的 control_steps=340 对应视频约 8.5 s，log step 70 的 control_steps=528 对应视频约 13.2 s，已用视频 8.5–13.3 s 的撤回动作核对；log step 131 的 814 个控制步对应视频约 20.35 s，已在视频 19.6–21.2 s 的下降受阻处核对。未转换 agent 时间或墙钟时间。"
+ },
+ "summary_zh": "机器人右臂反复接近、闭爪及尝试提起金色件，但金银两件在全片至视频 54.533 s 始终分离，金银线圈装合最终 0/1。首次抓取接近在视频约 6.0–8.5 s 已受阻，视频 9.0–10.0 s 撤回时带动金色件偏转、倾斜；断点以视频约 8.5 s 为导航锚点，视频 13.3–17.3 s、20.2 s 及之后为重复受阻，画面与服务压力读数支持抓取和接触设计不适配。无状态日志及精密验收测量，无法判定每次辅助抓取的确切建立与解除时刻。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "终态未装合、coils_assembled=false 正确；但断点定在 20.2 s（log step 131）偏晚：视频约 6–10 s 右夹爪在金色件旁推挤并使其转动/倾倒，约 13–17 s 又一次受阻（log step 92/93，控制步 678），这才是首次失败，20.2 s 之后是重复。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "终态两件分离、coils_assembled=false、断点 8.5 s（首次受阻）、被挡/碰撞与抓取和接触设计的证据与画面一致；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": "2026-10-30T23:49:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zjpddum/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zjpddum/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zjpddum/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--zjpddum/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1471f857991e57592e67d42e42d0f8b82c87a2ed522667677edde8162cbf83a",
+   "video_sha256": "e32ea231e4ab14bd3e6e43d2e5850ada19fdb74415e4516aba0240cfdfcfced8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--4dwzrjh.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--4dwzrjh",
+ "taskKey": "roboarc/hedgehog_in_cage_05",
+ "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7",
+ "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": 1295,
+   "submitted_actions": 1295,
+   "sim_steps": 1295,
+   "physics_steps": 12943,
+   "sim_time_s": 32.357499999999234,
+   "final_reward": 1.0,
+   "replay_wall_s": 95.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 1295,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 12,
+   "agent_sim_steps": 5180,
+   "agent_records": 4,
+   "agent_replays": 5,
+   "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-05-i01-privileged--4dwzrjh/replay.mp4",
+  "duration_s": 32.467,
+  "fps": 15.0,
+  "frames": 487,
+  "sha256": "1dc1957a5302a7c1b6bb2bd12c265457827fb022ac9f03e26072f5e50e7e2b85"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "hedgehog_out_of_cage": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 刺球位于棕色笼体内，绿色目标框空置；视频 10.6–11.4 s 单臂二指夹爪在笼口处夹住朝上的尖刺，随后刺球随夹爪倾转并上升。"
+     },
+     {
+      "t": 16.667,
+      "log_step": null,
+      "text_zh": "观察：视频 15.3–16.5 s 球体已露出，但下端尖刺仍贴近或穿过笼口；视频 16.67 s 下端尖刺也升至笼口上方，刺球与笼体出现可见间隙，视频 17.0–18.0 s 分离更清楚。完全出笼时点记为约视频 16.7 s，视觉误差约0.3秒。"
+     },
+     {
+      "t": 32.4,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–32.4 s 机器人持续夹持刺球向目标区搬运并下降；刺球未重新进入笼内，笼体与底座仍留在原处。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.6–18.0 s 单臂二指夹爪合拢夹住刺球向上的尖刺，带动球体倾转并上提；尖刺夹在两指之间，刺球持续随夹爪运动。"
+     }
+    ]
+   },
+   "hedgehog_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–28.0 s 机器人把出笼后的刺球移到绿色虚线目标框上方并下降，视频 28.0–30.0 s 仍在降低高度；视频 30.4 s 至最后一帧视频 32.4 s，外部视角显示刺球低悬于框内，腕部视角显示球体和可见尖刺位于方框边界内，夹爪保持闭合，笼体与安装底座留在原位，未见明显运动。"
+     },
+     {
+      "t": 32.4,
+      "log_step": 57,
+      "text_zh": "推断：结合视频 30.4–32.4 s 的停稳终态及评分器 reward.success=1、all_success=1、strict_goal_reached=1、strict_goal_row=1295，判定全部顶点边界、高度、速度及连续两秒确认条件最终通过；log step 56 记录重新生成并保存提交轨迹后回放成功，log step 57 的官方回放核验记录1295个提交动作并报告两次成功、deterministic=true。完整验收的导航时点取末帧附近视频 32.4 s，约有0.3秒不确定性；未把 agent 时间换算为视频时间，毫米边界和精确速度不能由画面独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.0–32.4 s 同一单臂二指夹爪持续夹住刺球上端尖刺，搬运、下降并在绿色目标区内夹持停稳，结尾未松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "goal_confirmation_duration",
+   "unit": "s",
+   "threshold": 2.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人夹住刺球上端尖刺，倾转上提后于约视频 16.7 s 完整出笼，再搬至绿色目标框内下降并保持夹持，末帧附近视频 32.4 s 完成终态确认，两个节点最终均成立。评分器报告两次确定性回放成功且严格目标在提交动作内达成，无失败断点。缺少逐帧状态日志，完整出笼和验收时点为视觉近似，毫米级边界、精确速度与两秒确认由最终评分结果支持；三个原生指标未报告具体数值，均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间、接触和成功结论与视频及评分器字段一致；出笼约16.7 s、末帧入目标区，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": "2026-10-30T23:27:38Z",
+  "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-hedgehog-in-cage-05-i01-privileged--4dwzrjh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--4dwzrjh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "526d2ba974345cdcfe985ef8f5b4f4c8f23d8983668726528167cee684583c14",
+   "video_sha256": "1dc1957a5302a7c1b6bb2bd12c265457827fb022ac9f03e26072f5e50e7e2b85",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}