diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--abm2ytr.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--abm2ytr.json new file mode 100644 index 0000000000000000000000000000000000000000..c3c08750a1a9d2605db6aaa3dff0609b2cfa36b5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--di43xtz.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--di43xtz.json new file mode 100644 index 0000000000000000000000000000000000000000..a8b0a8de2a589f72da12bca58bc0cfdab391ee40 --- /dev/null +++ b/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) 的初始保底录制，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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--nfgzvcf.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--nfgzvcf.json new file mode 100644 index 0000000000000000000000000000000000000000..47d08a9ab55b36a6053f4100bdb2d1c243086b29 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--pcptgtf.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--pcptgtf.json new file mode 100644 index 0000000000000000000000000000000000000000..c050ceb1cc217aeee67c27df7f9fb3bf7bcae4ad --- /dev/null +++ b/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": [ + { 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+ "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--sp9wjpd.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--sp9wjpd.json new file mode 100644 index 0000000000000000000000000000000000000000..9cebbed8e8fa2244c312f310619ebe1f75eecebc --- /dev/null +++ b/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 尚在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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--i3zdzmw.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--i3zdzmw.json new file mode 100644 index 0000000000000000000000000000000000000000..76d529a63f5ab163a9b2ecd3cc6c8f05c97ff061 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kbet766.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kbet766.json new file mode 100644 index 0000000000000000000000000000000000000000..f687bf318d5c3497d9a5ea614823a300a6bc3f9f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kufq5be.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--kufq5be.json new file mode 100644 index 0000000000000000000000000000000000000000..8a5921a8ee2129a8b4033f2dcb77a15d256cdd4c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rfw8uej.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rfw8uej.json new file mode 100644 index 0000000000000000000000000000000000000000..305789ee87929e22ae1f71b95367a40b8418655c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rsdvtnl.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--rsdvtnl.json new file mode 100644 index 0000000000000000000000000000000000000000..e87e0842a1fc5ea5ede05b7a5ea582c156f64df8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--wyfnshw.json b/phase2/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--wyfnshw.json new file mode 100644 index 0000000000000000000000000000000000000000..42f395f96a21dbf36b408e5f0449e867fb597176 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--7lwvpcx.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--7lwvpcx.json new file mode 100644 index 0000000000000000000000000000000000000000..e0caac5463d6dd304648c485f99b6b0ebabb8f38 --- /dev/null +++ b/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", + 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"resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-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 的代码解读，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" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--cqfott7.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--cqfott7.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd1db875cb206a9b1b19ec2e476bb954a4382b1 --- /dev/null +++ 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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" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--hqubqcv.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--hqubqcv.json new file mode 100644 index 0000000000000000000000000000000000000000..0671c27ec15e57cd334ae0c364372c2a1635468d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--rw8dmaa.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--rw8dmaa.json new file mode 100644 index 0000000000000000000000000000000000000000..eafee9570ee03e90bfee8d07cf98e50d69ba0bca --- /dev/null +++ b/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": 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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" + } + ], + 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"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 + 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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；视频 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", + 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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不能确定。", + "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": 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"7a09e6186b2396bba0455d63a8fcfc3c60109a645bfb757bbe451cc557d7a840", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--j2uvkza.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--j2uvkza.json new file mode 100644 index 0000000000000000000000000000000000000000..0c0a47c6aae73ec7f0475ef965e04bcee8d64d14 --- /dev/null +++ b/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": 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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作；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": 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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", + 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+ "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", + 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"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" + } + } +} diff --git a/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--oec3iki.json b/phase2/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--oec3iki.json new file mode 100644 index 0000000000000000000000000000000000000000..3f39d1834d7ca395e41de94f30b9b4c71ce26772 --- /dev/null +++ b/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左近角三角叠片；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": 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"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。缺少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" + }, + { 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"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, + 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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 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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, + 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"5cda32b7cf3ab08fd147dc6771dc5ae0d3ba14506fbc81e26a0c7e1393ae1d3d", + "video_sha256": "4d9f57204c82eda33902265efa29d0dda3726f818316cc2e2cb93f01e6d424d9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--qcsvq8v.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--qcsvq8v.json new file mode 100644 index 0000000000000000000000000000000000000000..3b93d09e194aacabd7eee45f31e16e6aa8a805c1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--47tsshh.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--47tsshh.json new file mode 100644 index 0000000000000000000000000000000000000000..7026cf5945feea31841de066189406ce02b7d4ff --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--9hi2mfz.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--9hi2mfz.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0163d5b20004b29056a7dba9c1bb6a882a3f1c --- /dev/null +++ b/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 的唯一帧显示工具仍在起点、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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--gwa59kv.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--gwa59kv.json new file mode 100644 index 0000000000000000000000000000000000000000..33e540525e1e0af2dbf05f755d0f92fbcefd21ce --- /dev/null +++ b/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": 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a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ngpq9rm.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ngpq9rm.json new file mode 100644 index 0000000000000000000000000000000000000000..4d76fb5cfe802782f70d0687350a8e71f9d8c835 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--paqywvf.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--paqywvf.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4b0a2819c8144d6711d8c8a1864b1c6deea830 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--tpewhfy.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--tpewhfy.json new file mode 100644 index 0000000000000000000000000000000000000000..7915de1d8f98fae2f578a83a30d7b6dd65aba214 --- /dev/null +++ b/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, + 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"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": 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b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--vbty4rt.json new file mode 100644 index 0000000000000000000000000000000000000000..b9debf32e2f1fe8c078fadf5b2282e45c5b37d8f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--w9quk65.json b/phase2/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--w9quk65.json new file mode 100644 index 0000000000000000000000000000000000000000..5646d16daea18d185365591e1d3a6975e7776b0e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--ktwag7a.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--ktwag7a.json new file mode 100644 index 0000000000000000000000000000000000000000..4e702dd1d787e9dd76c7ff2f18fea48b56145763 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--qpysspt.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--qpysspt.json new file mode 100644 index 0000000000000000000000000000000000000000..0606ba2648b4096d47a68317c5c7454f262a806c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--r7p3zp8.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--r7p3zp8.json new file mode 100644 index 0000000000000000000000000000000000000000..cd68dccd54c10e520b13a573b9dcb88a98873ba8 --- /dev/null +++ b/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": 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a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--tqvcgcq.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--tqvcgcq.json new file mode 100644 index 0000000000000000000000000000000000000000..9db240a2dc1f951dee6493aab89edb0d4917d155 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--uwfbgxr.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--uwfbgxr.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1b2f78b83a4e6e494ba1de2d72594ce2517493 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--zgufpa8.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--zgufpa8.json new file mode 100644 index 0000000000000000000000000000000000000000..1897edb45493239f7030a6ff73c3f9813156e46c --- /dev/null +++ b/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": 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0000000000000000000000000000000000000000..02495e7f160e2fb4f6e95bf8ed7c6fb0a8b2e563 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6crjv5z.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6crjv5z.json new file mode 100644 index 0000000000000000000000000000000000000000..dcd8c731f0b5d58b4b2969fe6381aeda46866279 --- /dev/null +++ b/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。视频 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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6fbwvbc.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--6fbwvbc.json new file mode 100644 index 0000000000000000000000000000000000000000..bb454fd5726e4e0bfb5aa6ae468a09fd76dad83d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--hwhjsyn.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--hwhjsyn.json new file mode 100644 index 0000000000000000000000000000000000000000..a04f5f5d902f83211cf9ce20ed1b1a01af6dbfae --- /dev/null +++ b/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触设计，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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--jfa8dkj.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--jfa8dkj.json new file mode 100644 index 0000000000000000000000000000000000000000..012b7f11d979ef764ddafa2c2c64c93b84d86bb8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--thjzhmq.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--thjzhmq.json new file mode 100644 index 0000000000000000000000000000000000000000..614e06c46d83e2b77931d677a0b40436f4119971 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zdkubmc.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zdkubmc.json new file mode 100644 index 0000000000000000000000000000000000000000..ba9e70cb26f73084dbf051abb4b0e0df9252539c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zjpddum.json b/phase2/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--zjpddum.json new file mode 100644 index 0000000000000000000000000000000000000000..23edb459e47c215a4739d5559409b6a1655c0631 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--4dwzrjh.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--4dwzrjh.json new file mode 100644 index 0000000000000000000000000000000000000000..7686fe658a9d0c65d692372840d6f8a2787f00be --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e8c1b90a83a58aa695ef696c26f09f339e5c62 --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn", + "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": 1762, + "submitted_actions": 1762, + "sim_steps": 1762, + "physics_steps": 17612, + "sim_time_s": 44.02999999999857, + "final_reward": 1.0, + "replay_wall_s": 174.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 1762, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 26, + "agent_resets": 30, + "agent_sim_steps": 31736, + "agent_records": 4, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.546, + "peak_memory_gb": 1.604, + "peak_processes": 13, + "peak_disk_gb": 1.327, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn/replay.mp4", + "duration_s": 44.133, + "fps": 15.0, + "frames": 662, + "sha256": "8c9659eb36f57f17ff782083119ed9a3b4659b6e45d2df51a5649678e096ae40" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 25.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的外部视角中，浅木色刺球位于棕色笼体内，绿色目标区为空；视频 6.0–12.0 s 的腕部视角可见机器人二指夹爪合拢夹住朝上的尖刺，随后刺球随夹爪抬升和倾转。" + }, + { + "t": 25.667, + "log_step": null, + "text_zh": "观察：视频 24.0–25.3 s 刺球下侧尖刺仍贴近笼口；视频 25.7–26.3 s 放大外部画面中，球体和下侧尖刺已升至棕色上环之上，刺球与笼口之间出现间隙。完整出笼起点约为视频 25.7 s，视觉误差约半秒。" + }, + { + "t": 44.067, + "log_step": null, + "text_zh": "观察：视频 28.0–44.07 s 刺球持续随夹爪移动，离开空笼后被搬向绿色目标区，末帧仍与笼体完全分离，没有重新入笼。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.0–12.0 s 机器人单臂二指夹爪从两侧夹住刺球上端尖刺，随后保持夹持，倾转并提升整个刺球穿过笼口。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 44.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.333, + "log_step": null, + "text_zh": "观察：视频 34.0–41.3 s 机器人夹持刺球移离笼口，搬至绿色虚线方框上方并下降；外部视角中原笼已空，棕色笼体和蓝灰色安装座留在原处。此阶段仍有明显运动，尚不计入停稳确认完成。" + }, + { + "t": 44.067, + "log_step": null, + "text_zh": "观察：视频 42.0–44.07 s 的外部及腕部画面中，机器人保持夹持，刺球悬在绿色目标区上方的低位并保持不动；可见尖刺位于方框范围内，笼体与安装座仍留在原处。部分靠近夹爪的几何被遮挡，画面本身不能测出全部网格顶点和严格速度阈值。" + }, + { + "t": 44.0, + "log_step": 256, + "text_zh": "推断：结合视频 42.0–44.07 s 的停稳画面、inputs/run.json 的评分器字段 success=1、all_success=1、strict_goal_reached=1、success_in_hold_only=0，以及 log step 256 对最终保存的1762行动作进行两次官方回放均成功的输出，判定包括全部尖刺包含、速度限制和连续两秒确认的节点在视频约 44.0 s 达成并保持至结尾。该时刻取自已检查的末段视频，误差约0.2秒；没有把 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 34.0–44.07 s 机器人单臂二指夹爪持续夹持刺球尖刺，搬运到绿色目标区、下降并保持静止，结尾没有松手；本任务允许持物验收。" + } + ] + } + }, + "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，倾转并提升，约在视频 25.7 s 完整出笼，随后搬至绿色目标区并保持夹持，约在视频 44.0 s 完成终态确认，两个节点最终均成立。评分器报告两次回放成功、严格目标在提交动作内达成，且无深接触复核事件，因此不标失败断点或失败原因。缺少逐帧状态日志，完整出笼时刻为视觉估计；毫米边界、严格速度和两秒确认的精确验收由评分器成功字段支持，三个原生指标未在评分字段中单独报告，故数值留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点（出笼约 25.7 s、入目标区约 44.0 s）与帧和评分器字段一致，接触标注（单臂夹爪抓握）合理，成功运行无失败断点，未发现需改动的错误。出笼起点的精确时刻（21–26 s 间帧上难以分辨尖刺是否全部出笼）只能由视觉估计，标注已说明误差。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:26:19Z", + "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-hedgehog-in-cage-05-i01-privileged--cmjhrxn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--cmjhrxn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b72fa6172971b6550eb70cb6dbd0449a9ce8a1b7c8d0f6bafb1491a21cc34f03", + "video_sha256": "8c9659eb36f57f17ff782083119ed9a3b4659b6e45d2df51a5649678e096ae40", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg.json new file mode 100644 index 0000000000000000000000000000000000000000..d88a13211bfeeb54e7f727c61c22910a278cdf39 --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg", + "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": 4151, + "submitted_actions": 4151, + "sim_steps": 4151, + "physics_steps": 41504, + "sim_time_s": 103.76000000000647, + "final_reward": 1.0, + "replay_wall_s": 424.1, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 4151, + "strict_replay_required": 0, + "agent_sessions": 1, + "agent_resets": 2, + "agent_sim_steps": 8303, + "agent_records": 7, + "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-hedgehog-in-cage-05-i01-privileged--ep2yumg/replay.mp4", + "duration_s": 103.867, + "fps": 15.0, + "frames": 1558, + "sha256": "1d7a6a41d6d31b78f34d2ab4d132d75cc6bae884fd525de2334da1315a301f96" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 93.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅木色刺球位于棕色笼体内部，绿色虚线目标区空置；机器人夹爪尚未接触刺球。" + }, + { + "t": 10, + "log_step": null, + "text_zh": "观察：视频 8.0–10.0 s，机器人二指夹爪在笼口夹住刺球朝上的尖刺；随后视频 14.0–26.0 s，刺球随夹爪倾转并逐渐抬高，球体露出后仍有尖刺伸入笼口。" + }, + { + "t": 93.5, + "log_step": null, + "text_zh": "观察：视频 90.0–92.5 s，朝下尖刺仍伸入笼口；视频约 93.5 s，两处外部视角均可见该尖刺越过上环，球体及全部尖刺已在笼口上方。出笼时刻视觉估计误差约 0.5 s；视频 94.5–103.8 s，刺球继续随夹爪离开笼体，未再进入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂的二指平行夹爪夹住刺球朝上的尖刺，在倾转与上提过程中持续夹持并带动整球出笼（视频 8.0–95.0 s）。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 101.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100, + "log_step": null, + "text_zh": "观察：视频 96.0–101.5 s，机器人持续夹持刺球，从笼口上方横移到绿色虚线目标区并下降；棕色笼体与底座一直留在原处。视频 100.0–101.0 s，刺球仍在下降，尚不能计入静止区间。" + }, + { + "t": 103.8, + "log_step": 46, + "text_zh": "观察：视频 101.5–103.8 s，刺球在绿色虚线框上方保持夹持姿态，末尾密集帧未见明显移动；腕部视角显示球体和可见尖刺位于框内。log step 46 的提交动作回放结果为 success=True、episode_end=success、review=None；inputs/run.json 的评分器字段 success=1、all_success=1、strict_goal_reached=1、strict_goal_row=4151，且 replay_hold_steps=0。" + }, + { + "t": 101.7, + "log_step": null, + "text_zh": "推断：视频末尾静止画面与评分器严格成功共同支持全部顶点边界、高度、系统侧和速度要求已满足并连续保持两秒；将经确认的连续达标区间起点记为视频约 101.7 s（误差约 0.5 s），视频约 103.8 s 确认完成。精确速度、毫米内缩及确认计时不能单靠画面测出，此处未把 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人同一二指夹爪持续夹住刺球上方尖刺，将整球横移、下降至绿色目标区，并保持夹持直到视频 103.8 s；没有松手。" + } + ] + } + }, + "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": "机器人夹住刺球上方尖刺，倾转并缓慢抬升，视频约 93.5 s 整球及全部尖刺脱笼，随后搬到绿色目标区并持续夹持，最终完成两个节点。视频约 101.7 s 起进入最终停稳区间，末尾画面及评分器严格成功支持连续两秒终态验收通过，无失败断点。没有逐帧状态日志，出笼与静止起点为视觉近似，毫米边界和严格速度由成功判定支持；评分器未报告三个原生指标的数值，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，两节点时间与接触标注与帧一致：93.5 s 球及尖刺出笼，103.5 s 球在目标框内被夹持；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": "2026-10-30T23:42:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--ep2yumg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": 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"intervals": [ + [ + 14.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 浅木色刺球位于棕色笼体上部围合空间中；视频 3.2–5.9 s 的腕部画面可见机器人二指夹爪在刺球朝向夹爪的尖刺两侧合拢，随后刺球随夹爪倾转、上移。" + }, + { + "t": 14.8, + "log_step": null, + "text_zh": "观察：视频 13.6–14.6 s 刺球仍贴近笼口，下侧尖刺尚在穿过顶部开口；视频约 14.8 s 球体和下侧尖刺已整体升至笼口上方，视频 15.0–16.4 s 可见尖刺与笼口之间的间隙进一步增大。完全出笼时刻按画面估计，误差约 0.3 s。" + }, + { + "t": 27.267, + "log_step": null, + "text_zh": "观察：视频 20.0–25.1 s 机器人夹持刺球横移至笼外并下降，棕色笼体留在原蓝色底座上；视频 26.0–27.267 s（包含末帧）刺球始终位于笼外，没有重新进入或被笼杆套住。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–5.9 s 机器人单个二指夹爪从两侧夹住刺球朝向夹爪的尖刺部位，随后保持夹持并倾转、上提整个刺球穿出笼口。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 27.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.133, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 机器人将完整刺球横移至笼外目标区域上方，视频 23.0–25.133 s 夹爪带球垂直下降；视频 25.133 s 腕部画面显示刺球位于绿色虚线框内，外部视角显示球悬空、笼体和底座留在原处。" + }, + { + "t": 27.267, + "log_step": null, + "text_zh": "观察：视频 25.133、25.333、25.667、26.0、26.333、26.667、27.0 和 27.267 s 的外部及腕部画面显示夹爪持续夹持刺球，姿态和位置无可见变化，末帧仍在目标区域内。inputs/run.json 的评分器字段 success=1、strict_goal_reached=1、success_in_hold_only=0、replays=2、all_success=1，确认提交动作内已通过严格终态验收。" + }, + { + "t": 27.2, + "log_step": null, + "text_zh": "推断：视频约 25.1 s 完成下降并持续静止至视频 27.267 s，结合本次评分器严格成功结果，将包含两秒确认窗的本节点达成时刻估计为视频约 27.2 s，精度约半秒。全部网格顶点的毫米余量、速度阈值及余件系统侧的精确判定由本次评分结果支持；无逐帧状态日志，画面不能独立测出这些数值。" + }, + { + "t": null, + "log_step": 596, + "text_zh": "观察：log step 588 修改最终脚本为高位水平搬运后垂直下降，log step 589 启动该脚本；log step 596 读取最终提交文件，actions 形状为 (1090, 8)，与评分器 n_actions=1090 一致。log step 597 请求对此文件进行新环境回放，log step 602 的成功报告是 agent 自述；本文件的物理进度依据本次视频和评分器字段，不采纳会话中其他测试的节点值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20.0–27.267 s 机器人单个二指夹爪持续夹住刺球的尖刺部位，带球横移、下降并悬空停稳于目标区内；结尾没有松手，本任务允许夹持验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": 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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": 471, + "submitted_actions": 471, + "sim_steps": 471, + "physics_steps": 4710, + "sim_time_s": 11.7750000000001, + "final_reward": 0.0, + "replay_wall_s": 56.9, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 3, + "agent_resets": 28, + "agent_sim_steps": 754, + "agent_records": 10, + "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-hedgehog-in-cage-05-i01-privileged--pq8sy6f/replay.mp4", + "duration_s": 11.867, + "fps": 15.0, + "frames": 178, + "sha256": "76603199dd6854461c68ad4ac260cfba7afabc85ad2b6ccd4065d41c12d12d76" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 刺球位于棕色笼内；视频 1.0–6.6 s，机器人二指夹爪从笼口上方接近并夹住朝上的尖刺，随后带球转动和小幅平移，球体及其余尖刺始终仍在笼内。" + }, + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 6.6–8.1 s 逐帧检查可见，机器人夹爪倾转时，刺球在视频约 7.5 s 脱离夹爪并下落到笼底；视频 10.8–11.8 s 刺球仍在笼内，夹爪空持在笼口上方，未重新抓起。全片未出现完整脱笼状态。" + }, + { + "t": null, + "log_step": 286, + "text_zh": "观察：log step 286 的文件检查显示交付动作数组为 471×8；log step 285 的最后一次录制尝试输出从 rise wp 15 ih hedgehog_ball 变为 rise wp 20 ih None，并触发保存后退出。该局部录制与本录像抓取后脱手的动作顺序一致，不把会话中其他试验的进展计入本轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 1.5–7.4 s，机器人单个二指平行夹爪的相对两指夹住刺球朝上的尖刺并带球调整姿态；视频约 7.5 s 失去夹持，刺球落回笼内。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 0.0–11.8 s 的外部视角显示，笼前绿色虚线目标方框始终空置；视频约 7.5 s 刺球落回笼内，视频 10.8–11.8 s 仍停在笼底，机器人未开始向目标区搬运。未出现刺球及全部尖刺位于目标区内的状态。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "t": 7.5, + "log_step": 285, + "where": "操作中", + "evidence_zh": "观察：视频约 7.5 s，机器人正在笼口夹持尖刺、倾转提球，刺球脱离夹爪后掉入笼底；至视频 11.8 s 未恢复夹持，更未完整脱笼。log step 285 最后一次录制尝试也输出 rise wp 15 仍持球、rise wp 20 已无持物，并保存局部轨迹。" + }, + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 7.5, + "log_step": null, + "evidence_zh": "观察：视频 6.0–7.4 s 刺球的上方尖刺仍位于机器人两指之间，球随夹爪调整；视频约 7.5–7.7 s 球体向下落去，夹爪留在笼口上方，视频 7.8–11.8 s 球留在笼底。已建立的抓握在出笼动作中丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.5, + "log_step": 281, + "evidence_zh": "推断：机器人能夹住尖刺并带球调整，但未能在视频约 7.5 s 的倾转提球中维持夹持。会话试验 exec10 的 log step 274、279 均在 joint5 逆解距当前关节约 1.33 rad 的警告后报告 wp 24 丢持；两者之间 log step 275 重新提交了 exec10，log step 278 显示新一轮 IN_HAND 和 rise wp 4，故属于同一脚本的两次试验，而非交付回放的两条独立诊断。exec11（log step 281）在逆解失败及 joint5 约 1.06 rad 切支警告后报告 wp 20 丢持。后续录制 exec12/13（log step 283、285）也在提球 wp 20 报告无持物，与视频脱手的动作顺序一致，但其进度查询过滤了 [rcb] 警告行，无法确认这些录制是否发生切支。会话诊断仅作辅助证据，不能据此认定逆解切支直接导致本视频脱手；根因保留在控制大类，无法区分轨迹或逆解、反馈控制与接触设计等具体机制。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "输入未提供状态日志，也无交付回放的逐帧关节、接触力和辅助抓握解除原因，无法确认脱手是逆解切支、碰笼受力还是其他夹持失稳机制；会话中的逆解警告仅作为控制归因的辅助证据，不换算成视频时间。log step 283、285 的进度查询过滤了 [rcb] 警告行，因此未显示警告不能用来确认或排除交付录制发生逆解切支。评分器未报告 target_linear_speed、target_angular_speed 或 goal_confirmation_duration 的数值，原生指标均记 null。" + }, + "summary_zh": "机器人夹住刺球上方尖刺并尝试调整姿态出笼，但视频约 7.5 s 失去夹持，刺球落回笼底，至视频 11.8 s 未恢复；两个节点最终均未达到，目标区始终空置。断点为刺球出笼，现象为没保持住，控制层面的归因为推断，会话逆解诊断仅作辅助证据。缺少交付回放的逐帧关节和接触记录，且录制进度输出过滤了逆解警告，不能确认脱手的具体触发机制；会话中其他尝试的进展未计入本次评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点（两个均未达成）、断点（刺球出笼，操作中，约 7.5 s 脱手）和现象（接触·没保持住）与视频一致；根因停在“控制”可接受。唯一需改的是根因证据：把 log step 274 与 279 当作两次独立的逆解警告，实为同一条日志输出，且与交付录像所对应的 exec12/13 不是同一次运行，应降低表述强度。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "两个节点均未达成、断点（刺球出笼，操作中，约 7.5 s 脱手）、现象（接触·没保持住）与根因（控制，标为推断且会话证据仅作辅助）均与视频一致；上一轮的根因证据问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:46:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--pq8sy6f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--pq8sy6f/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--pq8sy6f/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--pq8sy6f/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac61c204043281556bdbf3535871ce0a9980584a318679b51ba6f36f4d13b589", + "video_sha256": "76603199dd6854461c68ad4ac260cfba7afabc85ad2b6ccd4065d41c12d12d76", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--vocycfe.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--vocycfe.json new file mode 100644 index 0000000000000000000000000000000000000000..250051bf9e08554c19413f38425c11c59e3b9d1b --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--vocycfe.json @@ -0,0 +1,227 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--vocycfe", + "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": 2024, + "submitted_actions": 2024, + "sim_steps": 2024, + "physics_steps": 20231, + "sim_time_s": 50.577499999998196, + "final_reward": 1.0, + "replay_wall_s": 128.8, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 2024, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 6, + "agent_resets": 8, + "agent_sim_steps": 14843, + "agent_records": 5, + "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-hedgehog-in-cage-05-i01-privileged--vocycfe/replay.mp4", + "duration_s": 50.667, + "fps": 15.0, + "frames": 760, + "sha256": "5eb745206d15cb5d3c219b9a56cf10b43b1f3e45655cda98de27e2563e5bd070" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 24.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅木色刺球位于棕色笼内，绿色虚线目标区为空。" + }, + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 21.0–24.0 s，机器人夹爪持续夹持刺球并抬升，朝下的尖刺仍贴近或穿过笼口；视频约 24.5 s，外部视角可见整球与最低尖刺已高于笼口并与笼体分离，视频 25.0–26.0 s 间隙继续扩大。出笼时间按可见分离取约 24.5 s，误差约 0.5 s。" + }, + { + "t": 50.6, + "log_step": null, + "text_zh": "观察：视频 26.0–50.6 s，机器人夹爪带着刺球离开笼口、移向目标区并下降，刺球未再进入笼体；视频 50.6 s，刺球与留在原支座上的笼体清楚分离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.0–24.5 s，单臂二指夹爪合拢夹住刺球的一根尖刺，带动整球倾转、旋转并上提穿出笼口。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 50.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.6, + "log_step": null, + "text_zh": "观察：视频 34.0–48.6 s，机器人保持夹持，将完整刺球搬至笼外的绿色虚线方框上方并下降；视频 48.6–50.6 s 的外部和腕部视角显示刺球停在方框内、无明显移动，笼体及其支座留在原位，末端始终未松开。" + }, + { + "t": 50.6, + "log_step": 97, + "text_zh": "观察：视频 49.5、50.0、50.2、50.4、50.6 s 的刺球和夹爪姿态保持一致，全部可见尖刺位于目标框内。log step 97 读取最终保存运行的 success=True；inputs/run.json 的评分器 reward.success=1、all_success=1、strict_goal_reached=1、strict_goal_row=2024，且 replay_hold_steps=0、success_in_hold_only=0。" + }, + { + "t": 50.6, + "log_step": null, + "text_zh": "推断：结合视频约 48.6 s 起停稳至视频 50.6 s 的画面与评分器在提交动作内严格成功的结果，将包含连续两秒确认的入目标区节点记为视频约 50.6 s 达到，终态为真；此处未将 agent 工作时间换算为视频时间。缺少状态日志，毫米内缩、全部网格顶点、高度、分隔面及精确速度阈值由成功评分支持，不能由像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26.0–50.6 s，单臂二指夹爪持续夹住同一尖刺，携带整球平移、下降并夹持停稳于目标区，没有松手。" + } + ] + } + }, + "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": "机器人夹住刺球的一根尖刺，经倾转、旋转和抬升，在视频约 24.5 s 完整出笼，此后未再入笼。机器人继续夹持搬运并下降，在视频约 48.6–50.6 s 停稳于绿色目标区，结合评分器严格成功结果，将含两秒确认的入目标区节点记为视频约 50.6 s 达到，最终完成 2/2。无状态日志，出笼时刻约有 0.5 s 视觉误差，毫米级包含、精确速度及确认计时不能独立逐帧核验，最终满足性由本次成功评分支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：刺球在约 24 s 前后完整脱出笼口（误差在 1 s 内），之后保持夹持搬至目标区；入目标节点依据评分器严格成功（strict_goal_row=2024）记为约 50.6 s，合理；夹爪抓握接触正确，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:40:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": 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"infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-standard--ghhqjfe/replay.mp4", + "duration_s": 237.133, + "fps": 15.0, + "frames": 3557, + "sha256": "0e84fbe3c95488949c8b5dcb1e00b5a576944fcdf8e35ec194a28c27cba0c50e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅木色刺球位于棕色笼体上部，球体及多根尖刺仍在笼内，未解除容纳关系。" + }, + { + "t": 25.2, + "log_step": 59, + "text_zh": "观察：视频 14.0–24.8 s，机器人二指夹爪夹着上方尖刺进行倾转，刺球仍在笼口内；视频 25.2 s 刺球脱离夹爪并转落，视频 25.4–26.0 s 外部视角显示它落到笼底。log step 59 是这段在线提取动作的返回，未报告成功。" + }, + { + "t": 132.0, + "log_step": null, + "text_zh": "观察：视频 40.0–132.0 s 的外部及腕部抽帧显示机器人从侧面重新夹住尖刺、逐渐抬高刺球，但球体和尖刺始终仍处在笼杆之间；视频 140.0–152.0 s 又将它降回笼底附近。" + }, + { + "t": 237.067, + "log_step": 367, + "text_zh": "观察：视频 220.0–236.0 s，机器人最后一次夹持并小幅抬升刺球；逐帧检查视频 236.133–237.067 s，球体仍处在笼体下部，多根尖刺留在笼杆之间。log step 367 的在线服务返回记录了最后一次小幅抬升，done 为 false；没有出现完整脱笼状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 14.0–25.0 s，单臂二指夹爪从两侧夹住上方尖刺并带动刺球倾转；视频 25.2 s 脱手后，机器人改从笼体侧面夹住露出的尖刺，后续多次换握及小幅抬升，至视频 237.067 s 仍在笼内操作。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色虚线目标区空置，刺球位于笼内。" + }, + { + "t": 237.067, + "log_step": null, + "text_zh": "观察：通览视频 0.0–237.067 s 的三视角抽帧及操作片段，机器人始终围绕笼体操作，没有将刺球搬到绿色目标区；视频 236.133–237.067 s 的全部末尾帧仍显示刺球位于笼体下部、目标区空置。因此入目标区及连续停稳条件均未达成。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "t": 25.2, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 25.0 s 刺球尚夹在机器人两指之间，视频 25.2 s 已与夹爪分离，视频 25.4–26.0 s 落回笼底；机器人随后虽重新抓住并调整刺球，直到视频 237.067 s 仍未将球体和全部尖刺带出笼体。首次出笼失败从未通过完成该步骤得到修复。" + }, + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 25.2, + "log_step": 59, + "evidence_zh": "观察：视频 24.6–25.0 s 的腕部视角显示机器人两指夹着尖刺、刺球随夹爪倾转；视频 25.2 s 刺球突然转离两指，视频 25.4–26.0 s 下落到笼底，夹爪留在笼口上方。log step 59 的在线机器人服务安全监测返回该提取动作的最大外部接触力为 75.0 N，log step 61 中 agent 也自述转动时抓持解除。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "推断：首次提取使用的避碰模型缩短了尖刺，因而规划出的通过笼口运动没有为完整几何留出空间。log step 28 的圆柱拟合输出给出一根水平尖刺负向长度约 48.7 毫米；log step 31 的规划代码却将该端设成 39.0 毫米，log step 34 又删去距离球心超过 29 毫米的原始表面点后重建模型，消除了原始点云对完整尖刺的补偿。log step 57 据此输出正间隙，log step 58 下发提取路径；实际视频 25.2 s 出现脱手并落回笼底，log step 59 同段服务记录接触力峰值 75.0 N。log step 128 中 agent 亦将此前失败归结为模型截短尖刺、尖刺碰到顶环。之后的换握与路径搜索仍未完成出笼（视频 237.067 s；log step 378、385 输出 NO PATH）。", + "source_zh": "日志", + "t": 25.2, + "log_step": 31 + } + ], + "gap_zh": "没有逐帧状态日志或接触对记录，无法独立核实脱手瞬间具体是哪根尖刺接触笼环或笼杆，以及辅助抓持解除的确切触发条件；模型截短尖刺导致提取失败是结合执行代码、服务接触力和画面的推断。评分器未报告目标线速度、角速度及确认持续时长，三个原生指标均保留 null。" + }, + "summary_zh": "机器人实际夹住刺球尖刺并多次倾转、换握和抬升，但刺球从未完整出笼，两个节点最终均未达成。首次提取在视频 25.2 s 脱手落回笼底；日志显示避碰模型把已拟合的长尖刺缩短后规划通过笼口，后续恢复操作直到视频 237.067 s 仍未完成出笼。缺少逐帧接触对及抓持状态，具体碰撞部位和抓持解除机制仍只能推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值、时间、断点（视频 25.2 s 首次提取脱手落笼底）和接触均与视频及日志一致；唯一问题是根因类别：证据描述的是几何模型把被遮挡长尖刺估短（对物体尺寸的错误估计），应归 认知·感知，而不是 推理/规划（后者指目标、步骤顺序或跨阶段策略选错）。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达成、断点（视频 25.2 s 首次提取脱手落笼底）、接触和 感知 根因（已按上轮修正，标为推断）与视频及日志一致，未发现新问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + 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"roboarc-hedgehog-in-cage-05-i01-standard--mn8wtyl", + "taskKey": "roboarc/hedgehog_in_cage_05", + "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7", + "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": 126, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 34027, + "live_rows": 34027, + "sim_steps": 34027, + "physics_steps": 340270, + "steps": 16060, + "elapsed_s": 9300.6, + "replay_wall_s": 2118.4, + "video_rendered": 1, + "gpu_lost": 0, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-standard--mn8wtyl/replay.mp4", + "duration_s": 850.733, + "fps": 15.0, + "frames": 12761, + "sha256": "7fa055b65f0be712b95a5ad0b2f40eddc49e4accdfc8b9ebe5e86ca4de4303e9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，浅木色刺球位于棕色笼体上部，球体及尖刺仍被笼杆围住。" + }, + { + "t": 75, + "log_step": 223, + "text_zh": "观察：视频 73–77 s，机器人从笼口下探，夹爪接近球体和尖刺时将刺球顶斜；视频约 87.5–88 s，刺球向下落到笼底，视频 90 s 夹爪抬离而刺球留在笼内。log step 223 的同次旋转夹爪、下探、闭合、提升序列未使刺球出笼。" + }, + { + "t": 824, + "log_step": null, + "text_zh": "观察：全片粗查及视频 806–829 s 密集检查中，机器人后续从笼体侧面伸入、闭合夹爪，刺球仍在笼底，未出现整个刺球随夹爪离笼的画面；视频 849.8 s、850.6 s 两个末秒画面中，刺球仍在笼内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 73–77 s，单臂夹爪从上方伸入笼口，指部抵压刺球/尖刺并使其倾斜，夹爪同时贴抵笼口；视频约 87.5 s 刺球落到笼底。后续夹爪继续从顶部及侧面接近、闭合，但未见夹住并带走刺球，不据闭合指令标成成功抓握。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 90 s 刺球位于笼底，绿色虚线目标区为空；后续全片粗查未见机器人把刺球运往目标区。" + }, + { + "t": 850.6, + "log_step": null, + "text_zh": "观察：视频 849.8 s、850.6 s，浅木色球体及尖刺仍在笼底，笼外绿色虚线框内没有刺球，明确不满足入目标区；此判断来自画面，不由零分倒推。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "t": 75, + "log_step": 223, + "where": "操作中", + "evidence_zh": "观察：视频 73–77 s，机器人在笼口取刺球时，下探夹爪接触并顶斜刺球，而非把它从笼内提走；视频约 87.5–88 s 刺球落到笼底。机器人之后多次改变上方和侧面接近姿态，到视频 850.6 s 仍未完成取出，故这一取出失败始终未修复。log step 223 记录对应的旋转夹爪下探、闭合和提升尝试。" + }, + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 75, + "log_step": 223, + "evidence_zh": "观察：视频 74–77 s，机器人夹爪插在笼口，指部压碰刺球/尖刺后刺球明显倾斜，末端停在笼口附近，随后提升也未将整个刺球带出；视频约 87.5–88 s 刺球落到笼底。log step 225 的同一在线局服务本体读数还显示：笼外可到所命令的低位，而笼口上方命令 TCP 高度 0.25 m 时实测停在约 0.265 m，多个关节力矩达到约 50 N·m，支持笼体接触阻挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "视频", + "evidence_zh": "推断：视频 73–77 s 的夹爪下探首先顶斜刺球，视频 87.5–90 s 刺球落底而夹爪空手抬起；结合 log step 223 的宽开口下探后逐步闭合序列，以及 log step 225 笼外可下降、笼口处受阻的对照，所选抓取接近姿态与笼口/刺球几何不适配，未形成能带球出笼的抓取。可行替代在初态已验证：参考录像 inputs/oracle/replay.mp4 的视频 9–18 s 展示夹爪夹持朝上尖刺、调整姿态后完整提离笼体；这只证明初态存在替代方案，不是本次轨迹的进度证据，也不证明落底后仍可沿同一路径取出。" + } + ], + "gap_zh": "观察：inputs/ 中没有逐帧状态日志，无法测出每一瞬间的接触对、摩擦力或毫米级穿透，也不能排除短暂单侧接触或瞬时夹持；因此只记录可见抵压/碰撞，不把闭合指令或 held_finger_contact_mm 的数值当作成功抓握。三个原生速度/确认时长指标未在评分器 reward 字段中报告，均填 null；两个节点未达由刺球持续留笼和目标区空置的可见关系决定。" + }, + "summary_zh": "机器人尝试从顶部及侧面取出刺球，但两个节点均未达到，最终为 0/2。视频约 75 s 的笼口下探将刺球顶斜，约 87.5 s 刺球落至笼底，后续尝试直到视频 850.6 s 仍未取出；画面与日志支持抓取接近几何不适配、发生碰撞受阻。缺少逐帧接触状态，无法进一步确定瞬时夹持与各接触力。", + "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（0/2）与视频一致：笼内刺球始终未出笼，终帧仍在笼底、目标区为空；断点 hedgehog_out_of_cage、被挡/碰撞与抓取和接触设计的根因有视频及 log step 225 服务读数支持，未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:42:14Z", + "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-hedgehog-in-cage-05-i01-standard--mn8wtyl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--mn8wtyl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4ff81f8e0a9da230af1348257237b1162ec600594631bd4632c45b9d6c16f606", + "video_sha256": "7fa055b65f0be712b95a5ad0b2f40eddc49e4accdfc8b9ebe5e86ca4de4303e9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--qisovmb.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--qisovmb.json new file mode 100644 index 0000000000000000000000000000000000000000..764a9f25921ed2825ef6c38ec49bf83a8e91212c --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--qisovmb.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-standard--qisovmb", + "taskKey": "roboarc/hedgehog_in_cage_05", + "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7", + "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, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4028, + "live_rows": 4028, + "sim_steps": 4028, + "physics_steps": 40280, + "steps": 562, + "elapsed_s": 5604.3, + "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-hedgehog-in-cage-05-i01-standard--qisovmb/replay.mp4", + "duration_s": 100.8, + "fps": 15.0, + "frames": 1512, + "sha256": "f2760ebf6472e9cd11ae25e5991e31029bf8175364917c14ce253acd84c95a4c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 79.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 浅木色刺球位于棕色笼体内，绿色目标方框为空；此前提与成功参考录像的初态一致。" + }, + { + "t": 79.9, + "log_step": 66, + "text_zh": "观察：视频 78.5–79.6 s 夹爪夹住上方尖刺并带动刺球倾转；视频 79.73–80.0 s 刺球从笼口弹离，右上外部视角可见完整刺球与笼体分离。取出达到时间约为视频 79.9 s，误差约 0.2 s；随后刺球落向笼外桌面。" + }, + { + "t": 100.73, + "log_step": null, + "text_zh": "观察：视频 99.8 s、100.73 s 的右上视角显示笼体空置、刺球留在远处桌面，未重新入笼。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪夹住刺球向上的尖刺，短暂提起后倾转拉出；视频约 79.8 s 失去夹持，刺球弹离。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80, + "log_step": 66, + "text_zh": "观察：视频 80.0 s 刺球脱离夹爪后落向绿色目标框右前方的桌面，未停留在框内；视频 81–83 s 右上视角显示刺球已停在远离目标框的位置。" + }, + { + "t": 100.73, + "log_step": 76, + "text_zh": "观察：视频 84.5–100.73 s 机器人伸臂尝试回收远处刺球，但夹爪与刺球之间仍有间隔，刺球没有被带走；末帧绿色目标框为空。log step 76 的回收脚本输出也记录刺球位置始终不变。" + }, + { + "t": null, + "log_step": 82, + "text_zh": "观察：log step 82 的 agent 最终报告明确称放入阶段仅写进记录脚本、未在线执行；评分器字段 graded_by_live=1、live_success=0。此节点依据视频中目标区始终未容纳刺球判为未达到，不依据记录脚本中的未执行动作计分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人以闭合的二指夹爪伸向滚远的刺球，尝试将其推回以便放入目标区；视频 84.5–100.73 s 可见始终未触及刺球，未形成有效推扫或重新抓握。此项记录实际尝试方式，不表示推到过刺球。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_in_goal", + "t": 79.9, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频约 79.8–80.0 s，机器人倾转拉出刺球时失去夹持，刺球弹离并落到目标框外；视频 84.5–100.73 s 回收未成功。推断：出笼状态已经达到且一直保持，未修复的是将刺球送入目标区；故断点归入刺球入目标区，并以脱手时刻作为导航锚点。" + }, + "unmet": { + "hedgehog_out_of_cage": true, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 79.8, + "log_step": 66, + "evidence_zh": "观察：视频 78.5–79.6 s 机器人夹爪带动刺球倾转，视频 79.73–80.0 s 刺球突然脱离夹爪、独立翻转并落向桌面。log step 66 中同一段动作的夹爪开口由 c1 的 11.8 mm 变为 c2 的 0.8 mm，随后闭空；这不是计划在目标区松手。" + }, + { + "cat": "运动", + "item": "够不着", + "t": 90, + "log_step": 76, + "evidence_zh": "观察：视频 90–100.73 s 机器人向桌面远端伸臂，指端与刺球仍隔开且刺球不动；log step 71 的目标上方逆解失败，log step 74 沿刺球方向对多种高度和姿态求解，在径向距离 1.0–1.05 m 的候选点均未成功，log step 76 以最接近的关节解尝试回收后刺球位置仍不变。推断：脱手后刺球滚远，当前抓取或推回所需的接触位置超出了这些姿态下固定基座机械臂的可达范围。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 79.8, + "log_step": 66, + "evidence_zh": "观察：log step 66 的机器人控制脚本在倾转、下降并外拉的所有 ee_pose 动作行保持夹爪命令 GRIP=0.75，服务返回各段无逆解拒绝；视频 79.73–80.0 s 却显示刺球脱离夹爪并弹落。推断：该抓取与运动执行组合未维持刺球的受控搬运，造成刺球滚远及后续放入失败；现有证据不足以进一步判定为接触几何、负载超限或跟踪问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志或辅助抓取解除原因、接触对与载荷记录，不能确定脱手是否由尖刺碰笼杆、抓取承载或其他控制细节触发；因此根因仅标到控制。三个原生速度/确认时长指标均未由评分器报告，记为 null。视频足以判断完整出笼和目标区未放入；毫米级几何、接触深度不由画面推定。" + }, + "summary_zh": "本次在线评分尝试在视频约 79.9 s 完成刺球出笼，终态为 1/2 个节点；刺球未进入绿色目标区。机器人在倾转拉出时失去夹持，刺球弹落并滚至远处，后续伸臂回收未能建立接触；根因可归于控制，但缺少辅助抓取解除与接触载荷记录，无法可靠细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "出笼节点时间（视频约79.7–80.0 s刺球离笼）、入目标区未达、断点归入 hedgehog_in_goal、够不着（log step 72/74/76 的IK失败、球距基座约1.0 m）均有视频和日志支持；控制根因证据偏弱但已如实标明不确定，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:45:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--qisovmb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--qisovmb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "808ecde9fd99e475e758406454ffb6e01ee2ec794ef1dce25b32f693382fc06e", + "video_sha256": "f2760ebf6472e9cd11ae25e5991e31029bf8175364917c14ce253acd84c95a4c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--u86xbip.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--u86xbip.json new file mode 100644 index 0000000000000000000000000000000000000000..b8343d36b6326e6c1ab9f5d67fe1e0b1d88bc581 --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--u86xbip.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-standard--u86xbip", + "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, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 1310, + "live_rows": 1310, + "sim_steps": 1310, + "physics_steps": 13096, + "steps": 328, + "elapsed_s": 3212.8, + "replay_wall_s": 116.9, + "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": 0.485, + "peak_processes": 9, + "peak_disk_gb": 0.335, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-standard--u86xbip/replay.mp4", + "duration_s": 32.8, + "fps": 15.0, + "frames": 492, + "sha256": "9e8571cd93b7aa3dd95536590634c06bb035ef1247a07b0ec5e5129cfbc9749e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 24.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的外部视角中，浅木色刺球位于棕色笼体上部内部，尚未脱笼。" + }, + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 19.0–22.8 s 机械臂夹着刺球顶部尖刺缓慢上提并调整倾角，球体先露出但下方尖刺仍接近或伸入笼口；视频 23.6–24.4 s 下方尖刺逐渐完全越过上环，约视频 24.0 s 可见整个刺球与笼口分离，时间不确定约 0.4 s。视频 26.0–32.73 s 刺球被搬到笼外目标区，没有重新进入笼内。" + }, + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 25.0 s 的外部视角可见刺球球体、横向尖刺和下方尖刺都在笼口上方；二指夹爪夹住上方尖刺，刺球随夹爪移动，原笼内已无刺球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 12.8–25.0 s，单臂二指夹爪夹住刺球朝上的尖刺，保持夹持并倾转、上提整个刺球穿出笼口。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 32.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.53, + "log_step": null, + "text_zh": "观察：视频 26.0–30.53 s，机械臂持续夹住刺球顶部尖刺，横移到绿色虚线目标框上方并下降；视频 30.53–32.73 s，外部与腕部视角可见刺球停在框内且不再明显移动，夹爪没有松开，笼体与安装底座留在原处。" + }, + { + "t": 32.6, + "log_step": null, + "text_zh": "推断：视频约 30.53 s 刺球停稳，至视频约 32.6 s 已持续约 2 s，故把包含确认窗的节点达到时间标在视频约 32.6 s，误差约 0.3 s。inputs/run.json 的评分器字段 success=1、live_success=1、replay_success=1、live_matches_replay=1，支持终态完整验收；画面不能独立量出全部网格顶点的毫米内缩、高度及精确速度，未以 agent 的完成自述代替这些检查。" + }, + { + "t": 32.73, + "log_step": null, + "text_zh": "观察：视频 32.73 s 最后一帧，刺球仍由二指夹爪悬持在绿色虚线目标框内，与棕色笼体完全分开，未见掉落或移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26.0–32.73 s，单臂二指夹爪持续夹住刺球顶部尖刺，搬至目标区、下降并悬持停稳；没有计划释放动作，任务允许持物验收。" + } + ] + } + }, + "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": "机械臂夹住刺球顶部尖刺，倾转并上提，于视频约 24.0 s 完整脱笼，随后搬至绿色目标区并保持夹持，视频约 32.6 s 满足约两秒停稳窗口，两个节点终态均完成。评分器记录在线及回放均成功且一致，无失败断点；缺少状态日志，出笼边界与确认起点为视觉近似，毫米几何和精确速度以本次评分器成功判定支持，三个原生指标均未报告数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两个节点的达到时间（视频约 24.0 s 出笼、约 32.6 s 入目标区）与帧一致，评分器 success=1 支持终态；contact_actual 为单臂二指抓握，符合画面；无失败断点，无错误。", + "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": "2026-10-30T23:40:06Z", + "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-hedgehog-in-cage-05-i01-standard--u86xbip/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--u86xbip/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "005568bb4997e72d42077215ebc97c25247b6d7c52e3e120b423d1ed78caa18f", + "video_sha256": "9e8571cd93b7aa3dd95536590634c06bb035ef1247a07b0ec5e5129cfbc9749e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc.json new file mode 100644 index 0000000000000000000000000000000000000000..cf51ea498eefe9d0bf898f05a313b1bb7653f60d --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc", + "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": 1, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 10292, + "live_rows": 10292, + "sim_steps": 10292, + "physics_steps": 102913, + "steps": 2238, + "elapsed_s": 5163.8, + "replay_wall_s": 623.8, + "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-hedgehog-in-cage-05-i01-standard--xma4fbc/replay.mp4", + "duration_s": 257.4, + "fps": 15.0, + "frames": 3861, + "sha256": "c285ae0d0ca60f442a417fed6f16af4db037e336676e2e426ccf4522ed69a52c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 234.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅木色刺球位于棕色笼体内，仅部分尖刺从顶部或杆间露出；绿色目标区为空。" + }, + { + "t": 234.0, + "log_step": 165, + "text_zh": "推断：结合视频 224.0–235.7 s 的右上外部视角，机器人夹爪夹持刺球倾转上提；最后朝下的尖刺逐渐退出顶环，约视频 234 s 判为完整出笼。笼口投影与尖刺尖端邻近、主视角被腕部遮挡，首次脱离时刻约有正负 2 s 的视觉误差；视频 241.0–248.7 s 两个外部视角可明确确认整球与笼体分离，随后搬运过程中没有重新入笼。log step 165 记录的是本次单局在线执行的出笼动作，不用其 agent 时间换算视频时间。" + }, + { + "t": 257.33, + "log_step": null, + "text_zh": "观察：视频 248.7–257.33 s，机器人把夹持的整个刺球从笼口上方移至笼外目标区；视频 257.33 s 末帧笼体内部已无刺球，全部尖刺随球停在笼体左侧，出笼状态保持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 190.0–248.7 s 的腕部和右上外部画面中，单臂 Robotiq 二指夹爪闭合夹住刺球的一根侧向尖刺，带动整球倾转并从顶环抽出；出笼后刺球继续随夹爪运动。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [ + [ + 257.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 254.93, + "log_step": 169, + "text_zh": "观察：视频 250.8–254.93 s，机器人保持夹持刺球，先横移到绿色虚线目标框上方，再下移；笼体与蓝灰色安装底座留在原处。视频 255.2–257.33 s 刺球与夹爪保持不动，腕部画面可见目标框与球体尖刺的相对位置，最后一秒没有松手、掉落或移出。" + }, + { + "t": 257.3, + "log_step": 170, + "text_zh": "观察：log step 170 中，机器人服务在继续推进静止观察后返回 done=True、reason=success；inputs/run.json 的评分器字段 success=1、live_success=1、replay_success=1、live_matches_replay=1，且 success_pending_review=0。最终成功支持全部尖刺包含、高度、余件系统侧、速度及连续两秒的联合验收。" + }, + { + "t": 257.3, + "log_step": 171, + "text_zh": "推断：log step 6 给出控制频率 40 Hz；log step 171 的本次单局服务终态为 control_steps=10292、resumes=0、reason=success，因此终态对应视频约 10292/40=257.30 s，与视频末帧 257.33 s 及视频 255.2–257.33 s 的持续停稳相符。入目标区节点含两秒确认窗，故以视频约 257.3 s 记达成；毫米边界与严格速度阈值依据成功验收推断，画面不能单独测定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 248.7–257.33 s，单臂二指夹爪持续夹住刺球尖刺，将整球搬至绿色目标框内的允许高度并悬空持稳；末帧仍夹持，任务允许持物验收。" + } + ] + } + }, + "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": "机器人夹住刺球侧向尖刺并倾转上提，约视频 234 s 完整出笼，随后移至绿色目标区悬空持稳；视频约 257.3 s 完成两秒确认，两个节点最终均成立。机器人服务在 log step 170 返回成功，评分器确认在线和回放均成功且一致，无失败断点。没有逐帧状态日志，笼口附近遮挡使首次完整出笼时刻约有正负 2 s 的误差；目标区毫米边界和严格速度条件由本次成功验收支持，三个原生指标均未报告数值。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个节点均达成、无失败断点；视频帧显示约 230–240 s 刺球已在笼口上方被夹爪夹持离开笼体，末帧夹持于目标框内，出笼时间 234 s（±2 s）与目标区约 257.3 s（由 10292/40 control_steps 与视频末帧对应）均可接受，接触标签与服务/评分器字段一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:38:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--xma4fbc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c2e04e7f6393d23210bf49a85aa2494a314a915b4ea35d69485f0a2884affc35", + "video_sha256": "c285ae0d0ca60f442a417fed6f16af4db037e336676e2e426ccf4522ed69a52c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte.json new file mode 100644 index 0000000000000000000000000000000000000000..70511b6ef846ca67f7d0465dbf33e13b15470998 --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte", + "taskKey": "roboarc/hedgehog_in_cage_05", + "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 5, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 20156, + "live_rows": 20156, + "sim_steps": 20156, + "physics_steps": 201560, + "steps": 3133, + "elapsed_s": 10874.8, + "replay_wall_s": 1225.3, + "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": 0.32, + "peak_processes": 9, + "peak_disk_gb": 1.065, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte/replay.mp4", + "duration_s": 504.0, + "fps": 15.0, + "frames": 7560, + "sha256": "ee108522a2dc16577ff963adc610875e9c3ea9aa979b0d7452dc80978354c880" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两个外部视角显示浅木色刺球位于棕色笼体内，绿色目标区空置。" + }, + { + "t": 7.2, + "log_step": 64, + "text_zh": "观察：视频约 5.8–9.4 s，机器人两指在刺球上伸尖刺两侧闭合并上提，但球体及其余尖刺仍被笼体围住，随后夹爪张开退出；log step 60–64 的服务安全读数曾报告 held_finger_contact_mm.max 为 0.446–0.847 mm，log step 64 报告最大外接触压力 138.6 N。上述读数是在线机器人服务对本次单一 episode 的监测值。" + }, + { + "t": 62.7, + "log_step": 214, + "text_zh": "观察：视频约 60.0–65.8 s，机器人再次由顶部下探，夹爪在笼口内侧受阻后抬起，刺球没有离笼；log step 214 的服务反馈下探目标高度为 0.246 m，实际 TCP 高度为 0.25465 m，最大外接触压力为 572.1 N。推断：服务 control_steps 2509 / 40 Hz = 视频约 62.73 s；该映射已用 log step 219 的 2538 / 40 = 视频 63.45 s 与视频约 63.3–63.7 s 的抬起停靠核对。" + }, + { + "t": 503.93, + "log_step": 925, + "text_zh": "观察：整段视频按约 4 s 间隔粗查，并细查早期提拉、受阻片段及视频 503.0–503.93 s 的末秒；机器人反复从顶部或侧面探入，未见球体连同全部尖刺完整脱笼。视频 503.93 s，机器人已抬起夹爪，刺球仍在笼底，符合 log step 928 的 agent 最终自述“仍在笼内”。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 6.0–8.0 s，单臂二指夹爪围夹刺球朝上的细长浅色尖刺，并作短距离提拉；球体仍在笼内。log step 60–64 的服务曾记录持物手指接触。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 60.0–63.0 s 的顶部接近及后续侧面探入中，夹爪抵压棕色笼口和笼杆，受阻后退回；log step 214、217 的服务分别报告最大外接触压力 572.1 N、536.1 N。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.93, + "log_step": null, + "text_zh": "观察：视频 0.0 s 至 503.93 s 的已检画面中，刺球始终处于笼体围合空间内，机器人没有携球移向笼外绿色虚线目标区。视频 503.93 s 两个外部视角仍显示刺球在笼底、目标区空置，故未形成整球入目标区并静止的状态。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 success=0、live_success=0、replay_success=0、live_matches_replay=1、resumes=0；与本次视频所见的未完成放置一致。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "t": 7.2, + "log_step": 64, + "where": "操作中", + "evidence_zh": "观察：视频约 6.4–9.4 s 的首次围夹提拉未使整个刺球离开笼体，机器人随后张开夹爪退出；log step 64 的服务报告提拉期间最大外接触压力 138.6 N。其后机器人反复从笼口及侧面接近，视频约 62.7 s 又出现笼口阻挡，直至视频 503.93 s 刺球仍在笼内；“刺球出笼”始终没有完成。" + }, + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 62.7, + "log_step": 214, + "evidence_zh": "观察：视频约 60.0–63.0 s，机器人的夹爪贴入笼口和固定杆件之间后停止下探，随后抬离，刺球没有被取出。log step 214 的在线服务在 control_steps=2509（40 Hz，对应视频约 62.73 s）报告目标 TCP 高度 0.246 m、实际 0.25465 m 和外接触压力峰值 572.1 N；log step 217 再次下探仍停在 0.25311 m，峰值 536.1 N。推断：固定笼架接触阻断了该抓取接近，属于同一出笼步骤持续未修复的受阻。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 62.7, + "log_step": 214, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：本次机器人顶部和侧面抓取的夹爪姿态、张开空间与笼口及笼杆不匹配，夹爪多次先抵到固定结构，未形成能够完成取出的接触布局。视频约 60.0–65.8 s 显示下探受阻再撤回；log step 214、217 的 IK 返回 Success，但 TCP 停在指令高度上方并出现 536.1–572.1 N 外接触压力，支持接触几何受阻。可行替代仅由参考成功录像验证：inputs/oracle/replay.mp4 的视频约 9–21 s 展示夹住上伸尖刺后调整刺球姿态并完整出笼；该参考录像只用于替代可行性比较。" + } + ], + "gap_zh": "没有逐帧物体姿态或接触对状态日志；笼杆与夹爪遮挡部分接触，无法精确确定早期辅助抓持的建立、解除时刻及具体哪根尖刺或杆件承受阻力。接触几何根因由视频中的反复受阻与在线服务的指令、位置和力反馈联合推断，不能进一步确定具体的感知估计或控制参数错误。" + }, + "summary_zh": "机器人多次从顶部和侧面围夹、下探并提拉，但刺球及全部尖刺从未完整脱笼，也未进入目标区，最终完成 0/2 个节点。断点为“刺球出笼”：夹爪反复被笼口和笼杆阻挡，抓取接触布局未能支持取出；视频 503.93 s 刺球仍在笼底。缺少逐帧接触对及物体姿态，具体受阻部位与早期辅助抓持时刻只能部分推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "未发现需改动的错误：两节点均未达成，与评分 success=0 及视频 0/6/150/503 s 帧一致（刺球始终在笼内，目标区空置）；断点与受阻现象有服务读数和画面支持。", + "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": "2026-10-30T23:36:26Z", + "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-hedgehog-in-cage-05-i01-standard--xmvnzte/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--xmvnzte/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0891303f8ca61eacec49a5bc06a435e0071eba68153d57c75469f7b5d2f6a000", + "video_sha256": "ee108522a2dc16577ff963adc610875e9c3ea9aa979b0d7452dc80978354c880", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--yrkete9.json b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--yrkete9.json new file mode 100644 index 0000000000000000000000000000000000000000..f88660fc287177a197122c77970409a2f92cd7f6 --- /dev/null +++ b/phase2/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--yrkete9.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-standard--yrkete9", + "taskKey": "roboarc/hedgehog_in_cage_05", + "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7", + "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": 12, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 23452, + "live_rows": 23452, + "sim_steps": 23452, + "physics_steps": 234520, + "steps": 5415, + "elapsed_s": 10825.2, + "replay_wall_s": 1623.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-hedgehog-in-cage-05-i01-standard--yrkete9/replay.mp4", + "duration_s": 586.4, + "fps": 15.0, + "frames": 8796, + "sha256": "9d0544b1b9b8543f6a3e9ca711ac052879660a35334b75c9959b7da3aa57f15b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两个外部视角显示浅木色刺球在棕色笼体内，绿色目标区为空。" + }, + { + "t": 111.4, + "log_step": 170, + "text_zh": "观察：视频 108.0–111.2 s 夹爪在笼口夹着刺球朝上的尖刺，刺球主体及其他尖刺仍在笼内；视频约 111.4–111.8 s，机器人抬升夹爪时刺球向下翻落至笼底，没有完整脱出。log step 169 的近距离图像拟合报告微抬后球心高度从 0.2314 m 到 0.2390 m，服务的 held_finger_contact_mm.max 为 0.314 mm；log step 170 的继续抬升后该值为 0，不能采用 agent 在该步开头自述的“weld engaged”作为持续持物的证据。" + }, + { + "t": 586.3, + "log_step": null, + "text_zh": "观察：全片粗采样及视频 390–413 s、450–475 s、575–586.3 s 的加密画面显示，机器人后来从笼体侧面反复接近、闭合夹爪和推拨，刺球始终留在笼底；视频 586.3 s 的最后画面中球体与多根尖刺仍在笼杆围合空间，夹爪未将其带走。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 108–111.4 s，单臂二指夹爪对夹刺球朝上的尖刺并尝试抬升，随后刺球脱离；后续视频约 390–475 s，改为从笼杆间接近刺球，以指端推拨并反复闭合尝试抓取。顺序发生的推拨包含在本说明中。" + } + ] + }, + "hedgehog_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 586.3, + "log_step": null, + "text_zh": "观察：视频 0.0 s 和视频 586.3 s 的绿色虚线目标区均为空；全片粗采样及末段加密画面没有出现机器人把刺球搬入目标区的过程，末帧刺球仍在笼底，显然不满足全刺球入区并静止两秒的条件。" + } + ] + } + }, + "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": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "t": 111.4, + "log_step": 170, + "where": "操作中", + "evidence_zh": "观察：视频约 111.4 s，机器人从笼口抬升夹爪，刺球脱离夹持、翻落到笼底；此前没有全部尖刺脱笼的画面。后续虽继续进行顶部和侧面抓取，视频 586.3 s 刺球仍在笼内，取出步骤一直未修复。" + }, + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 111.4, + "log_step": 170, + "evidence_zh": "观察：视频 108–111.2 s 二指夹爪围夹刺球的上向尖刺，视频约 111.4–111.8 s 机器人向上撤离而刺球向下翻落至笼底。log step 169 的微抬图像拟合报告刺球上移约 7.6 mm，服务记录 held_finger_contact_mm.max=0.314 mm；继续抬升的 log step 170 记录该值为 0。刺球曾短暂被夹持，但没有随夹爪完成取出。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 111.4, + "log_step": 170, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：取出所需的抓持与抬升控制没有维持住刺球。视频约 111.4 s 夹爪上撤而刺球落下；log step 168 的脚本以连续闭合和微抬试验建立抓持，log step 169 记录短暂带动，log step 170 随即继续上提约 30 mm，但没有保持住该接触。之后视频 390–413 s、450–475 s 的侧向闭合和退让也没有带走刺球，log step 310、312 的脚本检查均输出 NOT WELDED。现有证据支持抓持执行问题，不能可靠细分为接触几何、驱动命令变化或反馈控制中的哪一项。" + } + ], + "gap_zh": "没有逐帧状态日志或辅助抓取锁定/解锁事件，无法确定视频约 111.4 s 脱离夹持的具体触发机制；接触监测只有调用间汇总，不能由此确认是夹持载荷、开合命令还是笼口接触造成脱离。视觉足以判定两个节点均未完成；毫米级目标边界、速度和确认时长没有原生终值报告，native_metrics 按未报告填 null。" + }, + "summary_zh": "机器人反复从顶部和侧面尝试夹取刺球，但两个节点均未达成，最终为 0/2。视频约 111.4 s 的抬升中刺球脱离夹持并落到笼底，直到视频 586.3 s 仍未取出，绿色目标区为空；断点为刺球出笼，现象为没保持住，根因保留在控制层。缺少逐帧夹持状态和解锁事件，无法进一步确定脱离机制。", + "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 108–116 s 与 586 s 的画面支持标注：刺球在笼口被夹后翻落笼底，终帧仍在笼内，目标区为空；两节点 false、断点、现象与根因停在控制层均有证据，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": "2026-10-30T23:43:46Z", + "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-hedgehog-in-cage-05-i01-standard--yrkete9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--yrkete9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f32802bfad1f8009be92faac41af351bb8393e53f643937bda0e24b79f001704", + "video_sha256": "9d0544b1b9b8543f6a3e9ca711ac052879660a35334b75c9959b7da3aa57f15b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--7ivdxyo.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--7ivdxyo.json new file mode 100644 index 0000000000000000000000000000000000000000..d83743ac23c7dcba7f27da7c5a297cb35ed725d2 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--7ivdxyo.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--7ivdxyo", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 1243, + "submitted_actions": 1243, + "sim_steps": 1243, + "physics_steps": 12430, + "sim_time_s": 31.074999999999303, + "final_reward": 0.0, + "replay_wall_s": 245.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 0, + "agent_sessions": 1, + "agent_resets": 9, + "agent_sim_steps": 0, + "agent_records": 71, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.512, + "peak_memory_gb": 1.67, + "peak_processes": 10, + "peak_disk_gb": 0.874, + "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-horseshoe-ring-02-i01-privileged--7ivdxyo/replay.mp4", + "duration_s": 31.133, + "fps": 15.0, + "frames": 467, + "sha256": "da2cc363b424689d0ef3064b31e27d0696b96c4adf313674cac00eaf17a801ac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 4, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.75, + "log_step": null, + "text_zh": "观察：视频 20.5–21.75 s，机器人左夹爪夹住金色圆环并抬升、倾转，环内的左侧银色马蹄铁随之竖起，右夹爪仍握着右侧马蹄铁；圆环没有独立移开。" + }, + { + "t": 31.067, + "log_step": null, + "text_zh": "观察：视频 24.6 s、29.6 s、30.067–31.067 s，腕部近景仍见银色马蹄铁处在金环内部，斜俯视也始终见两者重叠相套；本次没有出现参考成功视频约 10 s 的圆环独立移走状态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人右侧二指夹爪先抓住右侧马蹄铁作锚定，左侧二指夹爪随后抓住金色圆环，抬升并倾转尝试解套；两手分别夹住各自部件。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.067, + "log_step": null, + "text_zh": "观察：视频 0–31.067 s 的斜俯视中，金环一直在两只马蹄铁附近操作，前方绿色目标框始终为空；视频 31.067 s 金环仍在谜题处，没有向目标区完成搬运。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁平放在初始谜题位置；任务 DAG 明定此初态的两只马蹄铁均在系统侧。" + }, + { + "t": 31.067, + "log_step": null, + "text_zh": "推断：视频 0–31.067 s，右侧马蹄铁由右夹爪稳住，左侧马蹄铁在视频 20.5–24.25 s 随金环倾起后又放低；相对初始场景，两者靠近目标方向的边缘均未越过初始最靠前轮廓，因此按初始轮廓前方另有 5 mm 余量的固定分隔面，至少1只留侧持续成立。此为多视角几何推断，未用“绿框外”代替分隔面判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右侧二指夹爪直接抓住右侧银色马蹄铁，并在另一只手解环时将它稳在初始谜题侧；左侧马蹄铁随金环被动倾起，没有给它虚构直接抓握。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁平放在初始谜题位置；任务 DAG 明定此初态的两只马蹄铁均在系统侧。" + }, + { + "t": 31.067, + "log_step": null, + "text_zh": "推断：视频 0–31.067 s，右侧马蹄铁由右夹爪稳住，左侧马蹄铁在视频 20.5–24.25 s 随金环倾起后又放低；相对初始场景，两者靠近目标方向的边缘均未越过初始最靠前轮廓，因此按初始轮廓前方另有 5 mm 余量的固定分隔面，至少2只留侧持续成立。此为多视角几何推断，未用“绿框外”代替分隔面判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右侧二指夹爪直接抓住右侧银色马蹄铁，并在另一只手解环时将它稳在初始谜题侧；左侧马蹄铁随金环被动倾起，没有给它虚构直接抓握。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两条短链位于两只马蹄铁之间；任务 DAG 明定初态两条链均在系统侧。" + }, + { + "t": 31.067, + "log_step": null, + "text_zh": "推断：视频 0–31.067 s 的斜俯视与腕部视角中，两条短链随银色马蹄铁被动抬起、转动，仍在两只马蹄铁之间；视频 20.5–24.25 s 及30.067–31.067 s 所见链段均比初始最靠近目标的部件轮廓更靠后，因此至少1条链留在固定分隔面的系统侧。没有观察到夹爪直接操作链条。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两条短链位于两只马蹄铁之间；任务 DAG 明定初态两条链均在系统侧。" + }, + { + "t": 31.067, + "log_step": null, + "text_zh": "推断：视频 0–31.067 s 的斜俯视与腕部视角中，两条短链随银色马蹄铁被动抬起、转动，仍在两只马蹄铁之间；视频 20.5–24.25 s 及30.067–31.067 s 所见链段均比初始最靠近目标的部件轮廓更靠后，因此至少2条链留在固定分隔面的系统侧。没有观察到夹爪直接操作链条。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 20.75, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 20.5–21.75 s，机器人左夹爪抬动金环时，把仍套在环内的左马蹄铁一同带起；随后继续调姿，到视频 31.067 s 仍未解套。右手早先已建立马蹄铁抓握，左手早先的空夹也已被后续持环动作修复，持续未修复的是圆环脱离这一步。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": true, + "horseshoes_on_system_side_2": true, + "chains_on_system_side_1": true, + "chains_on_system_side_2": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 20.75, + "log_step": null, + "evidence_zh": "观察：视频 20.5–21.75 s，左夹爪对金环的抬升、倾转使左侧银色马蹄铁从平躺变为倾起，链条也随动，而右侧马蹄铁仍由右手锚定；视频 23.6 s 与31.067 s 仍可见金环包围着左马蹄铁，所需的相对解套没有发生。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志", + "log_step": 245, + "evidence_zh": "观察：log step 154 的下降重抓和 log step 157 的抬升均未调用 record_start，调用 record_stop 后累计动作数分别仍为638和820；后续录制段却从这些未记录动作改变后的现场状态生成。log step 165 保存1243行后，log step 245 在现场已执行3427步时仍保存同一个(1243,14)缓冲区；评分器 submitted_actions=1243、agent_replays=0、deterministic=1、strict_goal_reached=0。推断：交付串遗漏了实际执行的运动，并且没有重放验收；现场后续调试没有进入评分视频，不能用现场最后的候选状态支持完成。" + } + ], + "gap_zh": "无状态日志；固定分隔面不可见，四个留侧节点按初始几何及全程多视角位移推断，不能复核毫米级网格余量。log step 154、157 存在未录制运动，且 log step 165 之后的现场操作未进入最终缓冲区，所以不将现场包围盒或最后自述作为本次节点值；已观察到交付漏段，但无法进一步分清解套不成中几何规划与底层跟踪各自的贡献。评分器未报告目标线速度、角速度，原生指标留null。" + }, + "summary_zh": "四个马蹄铁、链条留侧节点从开局保持，最终为4/6；金环始终未完全脱离谜题，也未进入目标区。断点在圆环解套：视频 20.5–21.75 s 持环抬升带起左马蹄铁，视频 31.067 s 仍相套；日志证实录制漏段且最终保存较早的1243行动作缓冲区。无状态日志，留侧的毫米级余量只能作视觉推断，现场后续试验不计入本次进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（ring_separated/ring_in_goal 未达成，四个留侧节点保持，4/6）、断点 ring_separated 与根因（交付操作出错，log 步骤 154/157 无 record_start、245 保存旧 1243 行缓冲）均与视频和日志一致，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:30:27Z", + "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-horseshoe-ring-02-i01-privileged--7ivdxyo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--7ivdxyo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c44c2b1f28c2af7d6e5bb27717c77c45abc33c7b2830b99efc31c405a3d929a6", + "video_sha256": "da2cc363b424689d0ef3064b31e27d0696b96c4adf313674cac00eaf17a801ac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--aryphxe.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--aryphxe.json new file mode 100644 index 0000000000000000000000000000000000000000..351edb739a21abe3e7e82b5228685a3aa676c0ec --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--aryphxe.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--aryphxe", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 533, + "submitted_actions": 533, + "sim_steps": 533, + "physics_steps": 5322, + "sim_time_s": 13.305000000000122, + "final_reward": 1.0, + "replay_wall_s": 98.6, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 533, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 42, + "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": 0.512, + "peak_memory_gb": 1.405, + "peak_processes": 11, + "peak_disk_gb": 0.077, + "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-horseshoe-ring-02-i01-privileged--aryphxe/replay.mp4", + "duration_s": 13.4, + "fps": 15.0, + "frames": 201, + "sha256": "1947689a7f38d3cd8163f6a7e22964126bd7225ce44cf7dba65f5ce152acb43e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 9.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 金色圆环与左侧银色马蹄铁重叠套连，尚未分离。" + }, + { + "t": 9.3, + "log_step": null, + "text_zh": "推断：视频 8.8–9.6 s 机器人左爪持金环、右爪持银色马蹄铁完成相对转动与上下错开；视频 9.8–10.2 s 金环随左爪独立向前移走，银色马蹄铁和链条留在后方，环孔中不再有谜题部件。首次脱离约记视频 9.3 s，受投影重叠影响约有 0.5 s 不确定性。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "观察：视频 13.33 s 金环与银色谜题明显分开；inputs/run.json 的 reward.strict_goal_reached=1、all_success=1，支持分离终态成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 3.2–9.6 s，机器人左侧二指夹爪夹住金色圆环外缘，右侧二指夹爪夹住左边银色马蹄铁靠近眼链的一段；两爪各持一件，协调抬升和转动使金环退出。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 13.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0–12.27 s 左爪携金环移向前方绿色虚线框并调整横向位置；银色谜题未随金环搬入。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "推断：视频 12.53–13.33 s 金环整体位于绿框内，左爪仍握住并近乎静止；reward.success=1、strict_goal_reached=1、strict_goal_row=533、replay_hold_steps=0，确认提交段内通过严格验收，包含速度阈值和共同连续 0.5 s 窗口。将完成确认锚定于视频末段约 13.3 s；无逐帧原生速度或确认计数，不能把外观入框时刻当作精确验收时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.8–13.33 s，机器人左侧二指夹爪持续夹住金环并将其移入绿框，末帧没有松手；右爪持银色马蹄铁留在后方。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁都位于后方初始谜题位置；DAG 明确两项留侧条件开局成立。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "推断：视频 2.0–9.6 s 一只银色马蹄铁被右爪夹住并抬升、转动，另一只主要留在原处；视频 10.0–13.33 s 两只仍留在后方，未见越向目标区的搬运。结合初态、连续外观与 reward.all_success=1，将至少1只完整留侧标为持续成立；固定分隔面不可见，毫米级余量不能逐帧直接核实。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "观察：视频 13.33 s 右爪仍持一只银色马蹄铁，另一只通过短链与其相连并留在后方；reward.success=1 支持两只完整留侧的终态。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：计数节点不固定实例身份；为说明实际接触，将主要留在桌面的一只作为第1只、右爪操纵的一只作为第2只，两项均从视频 0.0 s 成立。第1只没有独立抓取或留侧搬运动作。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁都位于后方初始谜题位置；DAG 明确两项留侧条件开局成立。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "推断：视频 2.0–9.6 s 一只银色马蹄铁被右爪夹住并抬升、转动，另一只主要留在原处；视频 10.0–13.33 s 两只仍留在后方，未见越向目标区的搬运。结合初态、连续外观与 reward.all_success=1，将至少2只完整留侧标为持续成立；固定分隔面不可见，毫米级余量不能逐帧直接核实。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "观察：视频 13.33 s 右爪仍持一只银色马蹄铁，另一只通过短链与其相连并留在后方；reward.success=1 支持两只完整留侧的终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–13.33 s，机器人右侧二指夹爪夹住并抬升、转动左边银色马蹄铁，使其在解环和搬环期间留在系统侧；另一只银色马蹄铁没有被夹爪直接夹取。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两条短链位于两只银色马蹄铁之间，处于初始谜题一侧；DAG 明确两项链条留侧条件开局成立。" + }, + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 4.0–9.8 s 短链随右爪所持马蹄铁被动抬起、转动，仍连着另一只马蹄铁；未见机器人夹爪直接夹取短链。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "推断：视频 10.0–13.33 s 两条链仍连接后方两只马蹄铁，与前方金环分开；结合初态、全程未见链条向前越侧及 reward.success=1，至少1条完整留侧从视频 0.0 s 持续成立。分隔面及链条局部被遮挡，毫米级全网格边界由严格成功字段支持。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两条短链位于两只银色马蹄铁之间，处于初始谜题一侧；DAG 明确两项链条留侧条件开局成立。" + }, + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 4.0–9.8 s 短链随右爪所持马蹄铁被动抬起、转动，仍连着另一只马蹄铁；未见机器人夹爪直接夹取短链。" + }, + { + "t": 13.333, + "log_step": null, + "text_zh": "推断：视频 10.0–13.33 s 两条链仍连接后方两只马蹄铁，与前方金环分开；结合初态、全程未见链条向前越侧及 reward.success=1，至少2条完整留侧从视频 0.0 s 持续成立。分隔面及链条局部被遮挡，毫米级全网格边界由严格成功字段支持。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "机器人双爪分别夹持金环和一只马蹄铁，通过相对转动及上下错开使金环约在视频 9.3 s 脱离，再由左爪送入绿框并稳持；四个留侧目标从开局保持，严格评分成功，终态完成6/6节点。log step 164 记录从重置开始录制、保存并重放交付轨迹，log step 165 已结束验证，log step 167 的过滤提示发生在此后，不改变成功结果。没有状态日志，分离时刻约有0.5 s不确定性，分隔面毫米余量、速度和共同确认窗口依赖严格成功字段，评分器未报告两项速度数值；oracle元数据的runId与本次相同，未作独立参考。", + "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，6/6节点终态成立，分离约9.3 s、入框约13.3 s与帧相符；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:27:00Z", + "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-horseshoe-ring-02-i01-privileged--aryphxe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--aryphxe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "11e34c67f63fbe81ba5d4c041016e614f04647ae07eb9801e91b0f605bdd5524", + "video_sha256": "1947689a7f38d3cd8163f6a7e22964126bd7225ce44cf7dba65f5ce152acb43e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--dsq4lml.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--dsq4lml.json new file mode 100644 index 0000000000000000000000000000000000000000..201eab372871d9142b6a1b51c03f00a922d276aa --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--dsq4lml.json @@ -0,0 +1,354 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--dsq4lml", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 746, + "submitted_actions": 746, + "sim_steps": 746, + "physics_steps": 7460, + "sim_time_s": 18.65000000000001, + "final_reward": 0.0, + "replay_wall_s": 151.7, + "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": 1, + "agent_resets": 29, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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-horseshoe-ring-02-i01-privileged--dsq4lml/replay.mp4", + "duration_s": 18.733, + "fps": 15.0, + "frames": 281, + "sha256": "6c7f0e55cd549fd8650473081b67e9dde6b4575c2b33999f088ff2bb32d7e768" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 0, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 2.5–4.5 s，机器人左侧二指夹爪闭合夹住金环左侧环段；右臂停在原位，金环仍与银色谜题重叠。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 4.5–8.2 s 左夹爪向右滑移并抬环，腕部近景仍见银色部件穿过金环区域；视频 8.3–9.5 s 左臂向前搬运时，两只马蹄铁和连接短链随金环一起前移。" + }, + { + "t": 18.67, + "log_step": null, + "text_zh": "观察：视频 16.2–18.67 s 左夹爪张开、撤回，金环仍套在前方银色马蹄铁外侧；没有出现成功参考视频约 10.0–13.3 s 中金环独立移走、银色谜题留在原侧的分离形态。" + }, + { + "t": 8.5, + "log_step": 99, + "text_zh": "推断：抬升和横移没有解除套连，搬运时谜题整体随动；圆环脱离节点从未成立，后续松手未修复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住金色圆环一侧环段，滑移、抬升并向前拉动；右夹爪未参与，银色谜题随环联动。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 8.3–10.0 s 左夹爪把金环连同银色谜题搬到前方绿框附近，视频 10.0–16.0 s 逐渐降低并停留；银色部件也已离开初始系统侧位置。" + }, + { + "t": 18.67, + "log_step": 99, + "text_zh": "推断：视频 18.67 s 金环虽落在绿框所在区域，但仍套住马蹄铁，且两只马蹄铁与两条链未留在系统侧，因而不满足本节点要求的共同连续验收条件；不能把环中心进入绿框计为达成。log step 99 的已保存轨迹报告 success=False，评分器 strict_goal_reached=0，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧二指夹爪持金环向绿框搬运、下降，随后张开并撤离；搬运时金环仍牵连银色谜题。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 8.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁平放在初始谜题位置。视频 0.0–8.2 s 可见它们仍处于原侧，左臂操作金环，右臂未夹持马蹄铁。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "推断：视频 8.3–8.8 s 左夹爪搬运未解脱的金环，马蹄铁随整个谜题明显向绿框方向移动，至少1个马蹄铁全部留在系统侧的条件在此段失去，近似以视频 8.5 s 为界（约 ±0.5 s）；分隔面不可见，非按“是否进入绿框”判定。" + }, + { + "t": 18.67, + "log_step": 99, + "text_zh": "推断：视频 9.0–18.67 s 马蹄铁留在搬运后的前方位置，末尾没有送回系统侧。log step 99 明确保存了 746 行轨迹，与评分器 submitted_actions=746 及视频动作一致；该次最终各部件 y 最小值为 horseshoe_left=-0.2332 m、horseshoe_right=-0.3261 m，均低于 DAG 给定分隔面 y=-0.02391582422 m，支持最终系统侧完整马蹄铁数为 0，本计数节点为假。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 8.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁平放在初始谜题位置。视频 0.0–8.2 s 可见它们仍处于原侧，左臂操作金环，右臂未夹持马蹄铁。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "推断：视频 8.3–8.8 s 左夹爪搬运未解脱的金环，马蹄铁随整个谜题明显向绿框方向移动，至少2个马蹄铁全部留在系统侧的条件在此段失去，近似以视频 8.5 s 为界（约 ±0.5 s）；分隔面不可见，非按“是否进入绿框”判定。" + }, + { + "t": 18.67, + "log_step": 99, + "text_zh": "推断：视频 9.0–18.67 s 马蹄铁留在搬运后的前方位置，末尾没有送回系统侧。log step 99 明确保存了 746 行轨迹，与评分器 submitted_actions=746 及视频动作一致；该次最终各部件 y 最小值为 horseshoe_left=-0.2332 m、horseshoe_right=-0.3261 m，均低于 DAG 给定分隔面 y=-0.02391582422 m，支持最终系统侧完整马蹄铁数为 0，本计数节点为假。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 8.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两条短链连接两只马蹄铁，均在初始谜题位置。视频 0.0–8.2 s 近景可见短链随谜题轻微运动，未见夹爪直接抓链。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "推断：视频 8.3–8.8 s 左夹爪搬运未解脱的金环，短链随整个谜题明显向绿框方向移动，至少1个短链全部留在系统侧的条件在此段失去，近似以视频 8.5 s 为界（约 ±0.5 s）；分隔面不可见，非按“是否进入绿框”判定。" + }, + { + "t": 18.67, + "log_step": 99, + "text_zh": "推断：视频 9.0–18.67 s 短链留在搬运后的前方位置，末尾没有送回系统侧。log step 99 明确保存了 746 行轨迹，与评分器 submitted_actions=746 及视频动作一致；该次最终各部件 y 最小值为 chain_upper_1=-0.2421 m、chain_lower_1=-0.2911 m，均低于 DAG 给定分隔面 y=-0.02391582422 m，支持最终系统侧完整短链数为 0，本计数节点为假。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 8.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两条短链连接两只马蹄铁，均在初始谜题位置。视频 0.0–8.2 s 近景可见短链随谜题轻微运动，未见夹爪直接抓链。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "推断：视频 8.3–8.8 s 左夹爪搬运未解脱的金环，短链随整个谜题明显向绿框方向移动，至少2个短链全部留在系统侧的条件在此段失去，近似以视频 8.5 s 为界（约 ±0.5 s）；分隔面不可见，非按“是否进入绿框”判定。" + }, + { + "t": 18.67, + "log_step": 99, + "text_zh": "推断：视频 9.0–18.67 s 短链留在搬运后的前方位置，末尾没有送回系统侧。log step 99 明确保存了 746 行轨迹，与评分器 submitted_actions=746 及视频动作一致；该次最终各部件 y 最小值为 chain_upper_1=-0.2421 m、chain_lower_1=-0.2911 m，均低于 DAG 给定分隔面 y=-0.02391582422 m，支持最终系统侧完整短链数为 0，本计数节点为假。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 8.5, + "log_step": 99, + "where": "操作中", + "evidence_zh": "观察：视频 4.5–8.2 s 左臂夹住金环滑移、抬升后，视频 8.3–9.5 s 搬运金环却带着两只马蹄铁及连接短链整体前移；视频 18.67 s 松手后的金环仍套在银色马蹄铁外侧。推断：先前尝试的圆环脱离步骤未完成且从未修复，随后搬入绿框也没有补成分离。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": false, + "horseshoes_on_system_side_2": false, + "chains_on_system_side_1": false, + "chains_on_system_side_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 8.5, + "log_step": 99, + "evidence_zh": "观察：视频 8.3–9.5 s 机器人左夹爪抓着金环向目标区运动时，原本应留在系统侧的两只银色马蹄铁和两条短链被一起带走；视频 18.67 s 它们仍与金环相连并留在前方，所需的相对解脱运动没有实现。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 8.5, + "log_step": 98, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 98 的最终生成脚本把斜移、向右滑移和按环高度抬升描述为脱链路线，并以相对于固定 ARCH_TOP=0.9446 m 的高度阈值断言“geometrically free”，继而直接搬运；log step 99 是实际保存的 746 行运行，报告抬环后继续搬运，随后四个留侧部件全部越过分隔面。视频 8.3–9.5 s 确认整体随环移动。推断：脚本用固定高度净空替代套连已解除的验证，选定的解环路线未实际完成脱离便进入搬运阶段，属于谜题相对运动及阶段衔接的规划错误。" + } + ], + "gap_zh": "无状态日志；固定分隔面在视频中不可见，留侧节点失去时刻按视频 8.3–8.8 s 的整体前移估计为视频 8.5 s，误差约 0.5 s，最终越界判断由本次保存轨迹的 log step 99 包围盒读数与画面共同支持。无法从画面独立测出毫米级包含余量、线角速度或具体被套住的链眼接触对；两项原生速度指标未在评分器字段中报告。" + }, + "summary_zh": "本次轨迹开局满足两个马蹄铁和两条链的四个留侧节点，左夹爪抓住并移动金环，但始终未解除套连。视频约 8.5 s 搬运金环时带动整个谜题前移，四个留侧状态均失去，最终为 0/6；脚本将高度净空当作已解脱的依据，解环规划未奏效。无状态日志且分隔面不可见，越界时刻仅为近似，最终越界由同次已保存轨迹的读数和视频共同确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（ring_separated，操作中）和现象（带动本体）与视频和评分器读数一致；根因推理/规划有日志支持，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": "2026-10-30T23:29:16Z", + "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-horseshoe-ring-02-i01-privileged--dsq4lml/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--dsq4lml/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "277277c41b451b9d4f4c46f42bb108908c148089d68d95d3b72e9ecb2fcbbbe1", + "video_sha256": "6c7f0e55cd549fd8650473081b67e9dde6b4575c2b33999f088ff2bb32d7e768", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hb3uq74.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hb3uq74.json new file mode 100644 index 0000000000000000000000000000000000000000..d2312c6c67017b696c074e1c400571e8acac248e --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hb3uq74.json @@ -0,0 +1,364 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--hb3uq74", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 774, + "submitted_actions": 774, + "sim_steps": 774, + "physics_steps": 7740, + "sim_time_s": 19.34999999999997, + "final_reward": 0.0, + "replay_wall_s": 171.9, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 39, + "agent_resets": 40, + "agent_sim_steps": 19912, + "agent_records": 1, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.512, + "peak_memory_gb": 1.318, + "peak_processes": 14, + "peak_disk_gb": 1.193, + "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-horseshoe-ring-02-i01-privileged--hb3uq74/replay.mp4", + "duration_s": 19.4, + "fps": 15.0, + "frames": 291, + "sha256": "fc28d98a0b39e8ee7ca037e936f8c36512fc79db20bc4d0e5d7d81d36e05d36e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 0, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 6.5 s 左夹爪已合拢在金环左缘；视频 7.0–13.5 s 上提时银色马蹄铁、链条随金环一起抬升，腕部近景中银色部件仍穿过环孔。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "观察：视频 14.0–19.3 s 左臂搬运并持住金环时，两只马蹄铁和两条链始终随行，末帧环孔仍套着银色组件；未出现成功参考视频 9.0–10.0 s 那样金环独立移走、银色组件留在原地的状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住金色圆环左缘并持续提持；右臂全程停在原处，没有夹持马蹄铁或链条。银色组件经仍套连的金环被动随动。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频 14.0–17.5 s 左臂把金环连同银色谜题拖向绿框，视频 17.5–19.3 s 仍夹持整套组件，腕部视角中金环并未脱离银色部件。" + }, + { + "t": 19.3, + "log_step": 234, + "text_zh": "推断：视频 19.3 s 虽见金环停在绿框上方，但马蹄铁、链条也已被带到目标侧，未满足本节点要求的共同终态及连续确认；不能将持环停住视为完成。交付文件回放亦报告 success=false、episode_end=null（log step 234），评分字段 strict_goal_reached=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住金色圆环左缘并持续提持；右臂全程停在原处，没有夹持马蹄铁或链条。银色组件经仍套连的金环被动随动。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 14.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 43, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁均在谜题初始位置；冻结实例读数中两者最小 y 约为 -0.0189 m（log step 43），位于 DAG 固定分隔面 y=-0.02391582422 m 的系统侧。" + }, + { + "t": 14.0, + "log_step": 232, + "text_zh": "推断：视频 13.5–14.5 s 左臂开始向目标方向搬运，两只马蹄铁随环前移；结合初态仅约 5 mm 的留侧余量，以及上提后两者中心 y 仍约 0.049 m（log step 232），估计视频约 14.0 s 两者均已有部分越过固定分隔面，失效时间约有 0.5 s 不确定性。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "观察：视频 17.0–19.3 s 两只马蹄铁都悬在金环后上方，整套谜题远离初始位置并随环到达绿框附近，机器人没有把任何一只送回初始侧。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "推断：结合视频 14.0–19.3 s 连续朝目标方向的大幅位移和已知固定分隔面，末态没有完整马蹄铁仍位于系统侧；不是仅凭马蹄铁是否进入绿框判断。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 14.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 43, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁均在谜题初始位置；冻结实例读数中两者最小 y 约为 -0.0189 m（log step 43），位于 DAG 固定分隔面 y=-0.02391582422 m 的系统侧。" + }, + { + "t": 14.0, + "log_step": 232, + "text_zh": "推断：视频 13.5–14.5 s 左臂开始向目标方向搬运，两只马蹄铁随环前移；结合初态仅约 5 mm 的留侧余量，以及上提后两者中心 y 仍约 0.049 m（log step 232），估计视频约 14.0 s 两者均已有部分越过固定分隔面，失效时间约有 0.5 s 不确定性。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "观察：视频 17.0–19.3 s 两只马蹄铁都悬在金环后上方，整套谜题远离初始位置并随环到达绿框附近，机器人没有把任何一只送回初始侧。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "推断：结合视频 14.0–19.3 s 连续朝目标方向的大幅位移和已知固定分隔面，末态没有完整马蹄铁仍位于系统侧；不是仅凭马蹄铁是否进入绿框判断。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 15.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 43, + "text_zh": "观察：视频 0.0 s 两条银色短链连接两只马蹄铁并位于初始侧；冻结实例的链条最小 y 分别约为 0.01779 m、0.05680 m（log step 43），均大于 DAG 分隔面 y=-0.02391582422 m。" + }, + { + "t": 15.0, + "log_step": 232, + "text_zh": "推断：视频 13.5–16.0 s 两条短链随金环和马蹄铁持续向目标方向平移；结合冻结初态靠后链条对分隔面有约 81 mm余量，以及上提后链条中心 y 基本未变的读数（log step 232），估计视频约 15.0 s 本计数条件失去，时间约有 0.5 s 不确定性。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "观察：视频 17.0–19.3 s 腕部近景中两条短链仍连在马蹄铁之间，随整套组件停在金环旁，机器人没有将链条移回。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "推断：结合视频 14.0–19.3 s 整套组件持续前移和固定分隔面的位置，两条链末态都已有部分越界，不再有完整链条留在系统侧。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 14.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 43, + "text_zh": "观察：视频 0.0 s 两条银色短链连接两只马蹄铁并位于初始侧；冻结实例的链条最小 y 分别约为 0.01779 m、0.05680 m（log step 43），均大于 DAG 分隔面 y=-0.02391582422 m。" + }, + { + "t": 14.5, + "log_step": 232, + "text_zh": "推断：视频 13.5–16.0 s 两条短链随金环和马蹄铁持续向目标方向平移；结合冻结初态靠前链条对分隔面有约 42 mm余量，以及上提后链条中心 y 基本未变的读数（log step 232），估计视频约 14.5 s 本计数条件失去，时间约有 0.5 s 不确定性。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "观察：视频 17.0–19.3 s 腕部近景中两条短链仍连在马蹄铁之间，随整套组件停在金环旁，机器人没有将链条移回。" + }, + { + "t": 19.3, + "log_step": null, + "text_zh": "推断：结合视频 14.0–19.3 s 整套组件持续前移和固定分隔面的位置，两条链末态都已有部分越界，不再有完整链条留在系统侧。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 10.0, + "log_step": 232, + "where": "操作中", + "evidence_zh": "观察：视频约 10.0–13.5 s 左夹爪提起金环时，两只马蹄铁和短链也被带起，腕部近景中银色组件仍穿在金环内；视频 14.0–19.3 s 继续搬运整套组件，直到结束也没有解除套连。log step 232 的交付脚本对应这次单臂上提、搬运和停持。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": false, + "horseshoes_on_system_side_2": false, + "chains_on_system_side_1": false, + "chains_on_system_side_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 10.0, + "log_step": 232, + "evidence_zh": "观察：视频 10.0–13.5 s 金环上升的同时，原本应留在系统侧的银色马蹄铁与链条一起离开桌面，视频 14.0–19.3 s 又被金环拖向目标区；所需的环与谜题之间的相对脱离未发生。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：log step 232 的交付脚本在夹住金环后保持夹爪朝向，连续竖直上提，再直接向目标中心平移；它只确认 object_in_hand，未确认圆环与谜题分离，也没有安排解除套连的相对调姿动作。视频 10.0–19.3 s 显示该动作顺序实际提走整套谜题，说明交付方案把上提当作解脱后直接进入搬运，不能实现所需的分离。" + } + ], + "gap_zh": "没有状态日志或逐帧全网格位置数据，固定分隔面不可见；四个留侧节点的失效时间由冻结初态、交付脚本的上提后位置与连续搬运画面综合估读，约有 0.5 s 不确定性，不能审计毫米级边界。评分记录未报告目标末态线速度、角速度，两项原生指标均留空。成功参考仅用于辨认独立脱环的可见形态；日志中后续双臂实验没有写入交付轨迹，不用于本次进度或接触。" + }, + "summary_zh": "本次轨迹由左夹爪抓住金环并上提，再将仍套连的马蹄铁、链条一起搬向绿框；圆环脱离和入区验收均未完成，开局成立的四个留侧条件也在搬运中失去，最终为 0/6。断点是圆环脱离谜题：固定朝向上提后直接搬运的方案带动整套谜题，没有形成解脱所需的相对运动。无状态日志，留侧失效时刻为视觉结合冻结初态的估计，毫米级边界和目标速度无法独立核验。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0/6/10/13/14/16/19 s 帧：左夹爪抓环上提后，银色马蹄铁与链条随环一起被带起并搬向绿框，与标注的断点、现象、接触一致；留侧失效时间为已声明的估计，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:41:45Z", + "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-horseshoe-ring-02-i01-privileged--hb3uq74/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--hb3uq74/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1f7c82f912530c7d87735ce39c18f9b9649b4e68d6cb6ba0abcee681b941c99a", + "video_sha256": "fc28d98a0b39e8ee7ca037e936f8c36512fc79db20bc4d0e5d7d81d36e05d36e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a5957da3f4bc0c8ebb3c833ab091fece7bfaef --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh.json @@ -0,0 +1,360 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 3612, + "submitted_actions": 3612, + "sim_steps": 3612, + "physics_steps": 36120, + "sim_time_s": 90.30000000000341, + "final_reward": 0.0, + "replay_wall_s": 784.3, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 4, + "agent_resets": 50, + "agent_sim_steps": 2536, + "agent_records": 19, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.512, + "peak_memory_gb": 1.921, + "peak_processes": 12, + "peak_disk_gb": 0.488, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh/replay.mp4", + "duration_s": 90.4, + "fps": 15.0, + "frames": 1356, + "sha256": "586a781bfc35e66e7f29bac51b13e860c062da520a57f3ef67ac8cb19adb6355" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 4, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 5–14 s，机器人左夹爪合拢夹住金环前缘，右夹爪夹住右侧银色马蹄铁；左臂抬转时，金环与银色马蹄铁、短链仍在同一处交叠。" + }, + { + "t": 65, + "log_step": null, + "text_zh": "观察：视频 60–71.5 s，左夹爪多次升降、张开再合拢，银色马蹄铁和短链随金环附近的动作偏转，未见金环越过所有银件而独立移走。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "观察：视频 83.5–90.3 s，左夹爪已空手移至绿框处，金环仍在原谜题侧与左侧银色马蹄铁重叠，短链仍延伸至环内侧；成功参考视频 9–10 s 则清楚显示金环单独离开全部银件。本次未达到脱离判据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹金环前缘并反复重抓，右二指夹爪夹一只银色马蹄铁，配合提拉和调姿；后段左夹爪失去金环，未能保持抓持到独立脱离。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 83.5, + "log_step": null, + "text_zh": "观察：视频 79–83.5 s，左臂由谜题处向绿框运动，但金环留在桌上的银色马蹄铁旁，没有随夹爪到达绿框。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "观察：视频 89.35–90.3 s，绿框中只有空的左夹爪及其阴影，金环仍在框后方的谜题处；圆环整体入区条件始终未成立。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "视频 83.5–90.3 s，机器人左夹爪空手进入目标区，金环留在谜题处；该段移向目标区的动作没有保持与金环的接触。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁平放在初始谜题侧，满足至少1只留侧的开局条件。" + }, + { + "t": 82.5, + "log_step": null, + "text_zh": "观察：视频 3–78 s，右夹爪握住一只银色马蹄铁，另一只随金环及短链小幅移动；视频 79–83.5 s 两臂靠拢并发生接触，随后右臂返回原持物位置，银色部件没有随空的左夹爪进入目标区。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "推断：结合视频 0 s 的初始位置、视频 3、60.5、68、79–84、90.3 s 的多视角相对位置，两只马蹄铁仍处于初始谜题一带，末帧未见向目标方向保留的整体位移，按至少1只留侧记录为持续成立；不可见分隔面的毫米级余量无法独立复测，见 gap_zh。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪直接夹住并抬起一只银色马蹄铁，在左臂解环期间保持它的位置；另一只马蹄铁通过短链被动跟动，按数量判断，不固定第几只的实体身份。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁平放在初始谜题侧，满足至少2只留侧的开局条件。" + }, + { + "t": 82.5, + "log_step": null, + "text_zh": "观察：视频 3–78 s，右夹爪握住一只银色马蹄铁，另一只随金环及短链小幅移动；视频 79–83.5 s 两臂靠拢并发生接触，随后右臂返回原持物位置，银色部件没有随空的左夹爪进入目标区。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "推断：结合视频 0 s 的初始位置、视频 3、60.5、68、79–84、90.3 s 的多视角相对位置，两只马蹄铁仍处于初始谜题一带，末帧未见向目标方向保留的整体位移，按至少2只留侧记录为持续成立；不可见分隔面的毫米级余量无法独立复测，见 gap_zh。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪直接夹住并抬起一只银色马蹄铁，在左臂解环期间保持它的位置；另一只马蹄铁通过短链被动跟动，按数量判断，不固定第几只的实体身份。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两条银色短链连接两只马蹄铁，位于初始谜题侧，至少1条链留侧从开局成立。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "推断：视频 6–78 s 的腕部近景显示两条短链随马蹄铁被动偏转，视频 79–84 s 及90.3 s 显示它们仍连接在原谜题区域的两只马蹄铁之间，没有随左夹爪移向绿框；结合初始位置判断至少1条链持续留侧。分隔面不显示，无法从录像复测各网格顶点的精确余量。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两条银色短链连接两只马蹄铁，位于初始谜题侧，至少2条链留侧从开局成立。" + }, + { + "t": 90.3, + "log_step": null, + "text_zh": "推断：视频 6–78 s 的腕部近景显示两条短链随马蹄铁被动偏转，视频 79–84 s 及90.3 s 显示它们仍连接在原谜题区域的两只马蹄铁之间，没有随左夹爪移向绿框；结合初始位置判断至少2条链持续留侧。分隔面不显示，无法从录像复测各网格顶点的精确余量。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 60.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 56–71.5 s，机器人左夹爪反复提拉和重抓金环，右夹爪持另一只马蹄铁，金环附近的银色马蹄铁与短链跟动而未脱开；视频 83.5–90.3 s 金环仍留在谜题处，左夹爪已空手到达目标区。圆环脱离这一步始终未修复，视频 60.5 s 作为反复提拉失效的导航锚点。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": true, + "horseshoes_on_system_side_2": true, + "chains_on_system_side_1": true, + "chains_on_system_side_2": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 60.5, + "log_step": null, + "evidence_zh": "观察：视频 58.5–65.5 s，机器人左臂提拉金环时，环内银色马蹄铁及其连接短链一起偏转、抬动；右夹爪仍持另一只马蹄铁。金环没有相对这些部件完成独立退出。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 83.5, + "log_step": null, + "evidence_zh": "观察：视频 6–14 s，左夹爪曾夹住金环边缘并带动它；视频 64–71.5 s 多次重抓后，视频 79–83.5 s 左夹爪向绿框移动时金环留在银色马蹄铁旁，视频 90.3 s 仍未随爪移动。推断：解环过程中建立过的抓持未能维持到提走金环，区别于从未夹到。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 291 记录 agent 启动最终 v24 录制，log step 295 的同次保存输出为 held: False、FREE: False、SAVED 3612；log step 302 核对最终文件为3612行，与评分器 n_actions=3612 一致。视频 56–71.5 s 可见反复重抓，视频 83.5–90.3 s 可见夹爪空走而金环遗留。推断：该控制脚本没能持续建立使金环随末端运动的抓持与相对运动；证据不足以细分为接触几何、轨迹跟踪或具体参数错误。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志。四个留侧节点依据初态及连续多视角中的相对位置推断，特别是视频 79–83.5 s 双臂接触期间，不能独立复测不可见分隔面的毫米级余量或短暂越界；录像未显示可确认的留侧状态丢失。没有最终轨迹逐步抓持、接触力和位姿误差读数，无法定位每次辅助抓持失效的精确时刻及其触发阈值；因此根因仅到控制，不采用 agent 在其他测试中的力阈值归因。两项原生速度指标未在评分字段中报告，填 null。" + }, + "summary_zh": "本次评分轨迹保留两只马蹄铁及两条短链在谜题侧的四个初始目标状态，最终进度4/6；机器人双臂反复调姿、重抓金环，仍未完成脱离或入目标区。解环提拉带动相连银色部件，抓持又未保持到移走金环，末段左夹爪空手进入绿框，评分器报告 success=0、strict_goal_reached=0。无状态日志，留侧边界的毫米级余量及抓持失效的精确机制无法独立核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 10/30/60/75/85/90 s：金环始终与银色马蹄铁及短链叠连，未脱离；90 s 左夹爪空手，金环留在原处，与标注一致。进度 4/6、断点 ring_separated、没保持住/带动本体及控制根因均有证据支撑，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": "2026-10-30T23:17:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--hwvj3bh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4a579532918049ed8a2226ff4440bf114f073287ee805defd00123f1f3b1bad7", + "video_sha256": "586a781bfc35e66e7f29bac51b13e860c062da520a57f3ef67ac8cb19adb6355", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--wv6x5dn.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--wv6x5dn.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f75bb61ab620b4ae48718f9615352619d9fe4e --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--wv6x5dn.json @@ -0,0 +1,354 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--wv6x5dn", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 556, + "submitted_actions": 556, + "sim_steps": 556, + "physics_steps": 5554, + "sim_time_s": 13.88500000000013, + "final_reward": 1.0, + "replay_wall_s": 108.0, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 556, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 25, + "agent_resets": 24, + "agent_sim_steps": 7800, + "agent_records": 11, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.954, + "peak_processes": 9, + "peak_disk_gb": 0.06, + "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-horseshoe-ring-02-i01-privileged--wv6x5dn/replay.mp4", + "duration_s": 14.0, + "fps": 15.0, + "frames": 210, + "sha256": "60550c090656726c19ce03d4249d0ef037754874cc0d6135aac288bf5d7decd3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 10.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 金色圆环围着左侧银色马蹄铁，尚未与谜题分离；两条短链连接两只马蹄铁。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 6.0–10.6 s 左夹爪闭合夹住金环边缘，转动后向画面左侧退出；视频 10.0–10.533 s 腕视角仍可见银色弯部掠过环孔，视频 10.6 s 金环孔内已无银色部件，随后视频 11.0–11.4 s 金环独立向桌前方移动，马蹄铁和链条留在原谜题区域。脱离时刻约为视频 10.6 s，误差约 0.3 s。" + }, + { + "t": 9.333, + "log_step": 213, + "text_zh": "观察：视频 3.0–4.0 s 右夹爪在右侧马蹄铁弯部内侧闭合，视频 9.333 s 弯部贴着闭合指尖；没有看到马蹄铁实体被两指夹在中间。log step 213 的服务输出也记右手 in_hand=None、左手 in_hand=target_ring。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "推断：左夹爪抓环退出时，右夹爪闭合指尖抵挡马蹄铁内缘，形成双臂配合；右侧接触按抵压记录，不将脚本的 anchoring 或空闭爪当作抓握。依据为视频 9.333–10.6 s 银色弯部与右指尖的相对位置及谜题被牵拉后停止。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6.0–11.0 s 左二指夹爪夹住金色圆环的边缘，带环转向并退出；右夹爪同时停在右侧马蹄铁内缘配合限制其移动。抓握指左爪对金环的接触。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "推断：视频 9.333–10.6 s 右夹爪闭合指尖抵住右侧银色马蹄铁弯部内缘，承受左爪牵动谜题的作用；未见右爪两指夹住马蹄铁实体，故按抵压接触。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 13.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 11.0–12.8 s 左夹爪带已独立的金环绕到桌前方绿色虚线目标区并下降；视频 13.0、13.2、13.4、13.6、13.8 和 13.933 s 金环随闭合左爪停在同一位置，未松手，腕视角持续可见金环。" + }, + { + "t": 13.9, + "log_step": 217, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、strict_goal_reached=1、strict_goal_row=556，提交和执行均为 556 行，success_in_hold_only=0，review_events=0。这些是本次交付回放的结果；log step 208 是最终录制脚本，log step 217 对保存轨迹请求两次回放。" + }, + { + "t": 13.9, + "log_step": null, + "text_zh": "推断：结合视频 13.0–13.933 s 的持环终态及评分器的严格成功记录，圆环全网格包含、速度门槛及 0.5 s 共同确认在交付内成立。无状态日志，无法从图像精测毫米余量或首次低速时刻，故以视频约 13.9 s 的已确认终态保守标记入区达成，非将移动中首次越过绿框边界算作完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 11.0–13.933 s 左二指夹爪持续夹住金色圆环边缘，将其搬到绿色目标体积内并稳持至末帧；右爪没有接触金环。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁均在桌后部谜题区域，金环套在其中一只上；至少1只留侧的初始状态成立。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–13.933 s 的全程抽帧及视频 9.2–11.4 s 密集帧中，两只马蹄铁随解环略微平移、转动，仍连着上下两条链；金环退出后，两只马蹄铁均留在桌后部，未随金环搬向桌前目标区。右夹爪闭合指尖始终在其中一只马蹄铁弯部内侧。" + }, + { + "t": 13.9, + "log_step": null, + "text_zh": "推断：从视频初态、连续运动范围和最终严格成功（inputs/run.json：success=1、strict_goal_reached=1）判断，至少1只马蹄铁的全几何留在系统侧从开局保持至结束。分隔面本身不可见，毫米级留侧余量依据评分器，未以“绿框外”单独替代分隔面判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频 9.333–10.6 s 右夹爪闭合指尖抵着一只银色马蹄铁弯部内缘，限制相连谜题被金环带走；另一只马蹄铁由桌面承托、随链被动移动。两个计数节点共同描述这组留侧状态，不表示两只马蹄铁分别被抓握。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只银色马蹄铁均在桌后部谜题区域，金环套在其中一只上；至少2只留侧的初始状态成立。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–13.933 s 的全程抽帧及视频 9.2–11.4 s 密集帧中，两只马蹄铁随解环略微平移、转动，仍连着上下两条链；金环退出后，两只马蹄铁均留在桌后部，未随金环搬向桌前目标区。右夹爪闭合指尖始终在其中一只马蹄铁弯部内侧。" + }, + { + "t": 13.9, + "log_step": null, + "text_zh": "推断：从视频初态、连续运动范围和最终严格成功（inputs/run.json：success=1、strict_goal_reached=1）判断，至少2只马蹄铁的全几何留在系统侧从开局保持至结束。分隔面本身不可见，毫米级留侧余量依据评分器，未以“绿框外”单独替代分隔面判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频 9.333–10.6 s 右夹爪闭合指尖抵着一只银色马蹄铁弯部内缘，限制相连谜题被金环带走；另一只马蹄铁由桌面承托、随链被动移动。两个计数节点共同描述这组留侧状态，不表示两只马蹄铁分别被抓握。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 可见两条银色短链在两只马蹄铁之间，均在初始谜题区域；至少1条链留侧从开局成立。" + }, + { + "t": 11.4, + "log_step": null, + "text_zh": "观察：视频 9.2–11.4 s 金环退出和独立移走时，上下两条短链随马蹄铁被动伸展、转动，继续连接两只马蹄铁；视频 13.0–13.933 s 两条链仍在桌后部的两只马蹄铁之间，未随金环搬入桌前目标区。未见夹爪直接操作链条。" + }, + { + "t": 13.9, + "log_step": null, + "text_zh": "推断：结合视频全程所见链条的小范围被动移动与最终严格成功（inputs/run.json：success=1、strict_goal_reached=1），至少1条链的全几何留侧状态从开局保持至结束；分隔面不可见，精确边界依据评分器。链条未被机器人直接操作，省略 contact_actual。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 可见两条银色短链在两只马蹄铁之间，均在初始谜题区域；至少2条链留侧从开局成立。" + }, + { + "t": 11.4, + "log_step": null, + "text_zh": "观察：视频 9.2–11.4 s 金环退出和独立移走时，上下两条短链随马蹄铁被动伸展、转动，继续连接两只马蹄铁；视频 13.0–13.933 s 两条链仍在桌后部的两只马蹄铁之间，未随金环搬入桌前目标区。未见夹爪直接操作链条。" + }, + { + "t": 13.9, + "log_step": null, + "text_zh": "推断：结合视频全程所见链条的小范围被动移动与最终严格成功（inputs/run.json：success=1、strict_goal_reached=1），至少2条链的全几何留侧状态从开局保持至结束；分隔面不可见，精确边界依据评分器。链条未被机器人直接操作，省略 contact_actual。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "本次交付从四个留侧状态成立的初态出发，左夹爪抓住金环转向并退出，约在视频 10.6 s 完全分离，随后持环移入绿色目标区；视频约 13.9 s 的严格成功确认对应最终 6/6 节点，未见重新套连。右夹爪以闭合指尖抵挡马蹄铁内缘配合解环，两只马蹄铁和两条链留在系统侧；会话中较早测试的越界读数不属于最终交付。无状态日志，毫米级包含、速度和共同确认窗口由评分器成功字段支持，首次达标时刻仅作保守视觉定锚；原生线速及角速数值未报告，均填 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，6/6 节点终态为真；视频 9.4–11.2 s 帧显示金环约 10.6 s 脱离谜题，13.9 s 持环在目标区，留侧节点从 0 起成立，contact_actual 合理，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:40:12Z", + "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-horseshoe-ring-02-i01-privileged--wv6x5dn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--wv6x5dn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "94ddccde5ab44a4f1f382a6e8f5cbee9dab26a6e4cbb9fccd728438c761e0f06", + "video_sha256": "60550c090656726c19ce03d4249d0ef037754874cc0d6135aac288bf5d7decd3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv.json new file mode 100644 index 0000000000000000000000000000000000000000..6062b38268b195c16222ad9a8df58865963c3680 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv.json @@ -0,0 +1,355 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-privileged--xwvhowv", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 3199, + "submitted_actions": 3199, + "sim_steps": 3199, + "physics_steps": 31989, + "sim_time_s": 79.97250000000105, + "final_reward": 1.0, + "replay_wall_s": 561.3, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 3199, + "strict_replay_required": 0, + "agent_sessions": 1, + "agent_resets": 4, + "agent_sim_steps": 9724, + "agent_records": 23, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv/replay.mp4", + "duration_s": 80.067, + "fps": 15.0, + "frames": 1201, + "sha256": "f511b61674e10b51b6b0eb0f9011570f9ee830ee2373ea07bcfc807f21b7177f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 57.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40, + "log_step": null, + "text_zh": "观察：视频40.0–43.3 s，右夹爪松开金环后，金环仍围在左夹爪所持马蹄铁附近，并未独立移走。" + }, + { + "t": 57.3, + "log_step": null, + "text_zh": "观察：视频56.7–57.7 s，右夹爪持金环，左夹爪张开，银色马蹄铁及短链落回后方桌面；金环独立留在右夹爪中，随后视频76.0–79.0 s被单独运走，谜题留在原处。" + }, + { + "t": 57.3, + "log_step": null, + "text_zh": "推断：结合视频57.0–58.0 s的落桌过程和视频76.0–80.0 s的独立搬运，将完全脱离时间标为视频约57.3 s（误差约0.5 s）；此后未重新套连。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约28–40 s，机器人左二指夹爪夹住银色马蹄铁、右二指夹爪握住金色圆环并协调调整；右爪随后松环、换握，左爪在视频约57 s松开马蹄铁。此前由右爪单独持环提起谜题。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 79.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 78.7, + "log_step": null, + "text_zh": "观察：视频75.7–78.7 s，机器人右夹爪将金环从银色谜题旁搬到绿色虚线框内；视频79.0、79.3、79.7及80.0 s，圆环仍被夹持，整体停在框内，马蹄铁留在后方桌面。" + }, + { + "t": 79.5, + "log_step": null, + "text_zh": "推断：以视频约79.5 s为入区并稳定达标的时间锚点，精度约0.5 s；毫米级全网格包含、速度阈值及共同保持0.5 s不能靠像素精确测量，由评分器success=1、all_success=1、strict_goal_reached=1及strict_goal_row=3199补证，最终成立。" + }, + { + "t": 80.0, + "log_step": 131, + "text_zh": "观察：log step 121–122记录将3199行控制序列封装成生成脚本，生成序列与保存文件完全一致；log step 131的复位重放结果为success=True、sim_steps=3199。该交付长度与本视频相符，末帧也显示同样的持环入区结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频75.7–80.0 s，机器人右二指夹爪夹持金色圆环搬入绿色目标体积，末帧仍持环；左夹爪已退出。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两只银色马蹄铁均在目标框后方的谜题区域；视频8.0–13.0 s随金环提起，视频28.0–40.0 s左夹爪持其中一只调整，视频57.3–80.0 s两只均落在后方桌面。未见整只马蹄铁被运往目标区。" + }, + { + "t": 40.0, + "log_step": 86, + "text_zh": "推断：视频全程的前后位置关系与已核对的交付分支读数一致：log step 86报告两只马蹄铁最低y分别为-0.01775 m和-0.017 m，log step 94所持马蹄铁最低y为-0.00593 m，均在DAG分隔面y=-0.02391582422 m的系统侧；视频未显示后续向目标侧越过该位置，故第1只留侧计数从视频0 s延续到结尾。分隔面不可见，中间连续余量为推断。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "推断：视频80.0 s两只银色马蹄铁均远离目标区；评分器success=1且all_success=1确认最终两只的完整几何均留在系统侧。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约28–40 s，机器人左二指夹爪抓住一只银色马蹄铁，右夹爪握金环协同调整；视频约57 s左爪松开后，两只马蹄铁均落回系统侧桌面。此接触对应至少1只留侧的计数条件，不固定实例身份。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两只银色马蹄铁均在目标框后方的谜题区域；视频8.0–13.0 s随金环提起，视频28.0–40.0 s左夹爪持其中一只调整，视频57.3–80.0 s两只均落在后方桌面。未见整只马蹄铁被运往目标区。" + }, + { + "t": 40.0, + "log_step": 86, + "text_zh": "推断：视频全程的前后位置关系与已核对的交付分支读数一致：log step 86报告两只马蹄铁最低y分别为-0.01775 m和-0.017 m，log step 94所持马蹄铁最低y为-0.00593 m，均在DAG分隔面y=-0.02391582422 m的系统侧；视频未显示后续向目标侧越过该位置，故第2只留侧计数从视频0 s延续到结尾。分隔面不可见，中间连续余量为推断。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "推断：视频80.0 s两只银色马蹄铁均远离目标区；评分器success=1且all_success=1确认最终两只的完整几何均留在系统侧。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约28–40 s，机器人左二指夹爪抓住一只银色马蹄铁，右夹爪握金环协同调整；视频约57 s左爪松开后，两只马蹄铁均落回系统侧桌面。此接触对应至少2只留侧的计数条件，不固定实例身份。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两条短链位于两只银色马蹄铁之间；视频12.0、40.0及56.7 s的腕部近景仍可见连接部件，视频57.3–80.0 s链条随马蹄铁留在后方桌面。" + }, + { + "t": 40.0, + "log_step": 94, + "text_zh": "推断：结合视频中的被动随动和交付分支读数，log step 86两条链最低y为0.01754 m、0.06345 m，log step 94为0.02179 m、0.04684 m；log step 120末态为0.15964 m、0.11635 m，均大于DAG分隔面y=-0.02391582422 m。第1条留侧计数按视频0 s至结尾连续成立；中间毫米级余量无法逐帧测量。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "推断：视频80.0 s剩余谜题整体留在目标框后方；评分器success=1及all_success=1确认最终两条链的完整几何留侧及永久连接条件成立。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：机器人没有单独抓链或搬链的动作；本留侧条件通过链条随马蹄铁的永久眼链连接被动运动、最后留在桌面实现。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两条短链位于两只银色马蹄铁之间；视频12.0、40.0及56.7 s的腕部近景仍可见连接部件，视频57.3–80.0 s链条随马蹄铁留在后方桌面。" + }, + { + "t": 40.0, + "log_step": 94, + "text_zh": "推断：结合视频中的被动随动和交付分支读数，log step 86两条链最低y为0.01754 m、0.06345 m，log step 94为0.02179 m、0.04684 m；log step 120末态为0.15964 m、0.11635 m，均大于DAG分隔面y=-0.02391582422 m。第2条留侧计数按视频0 s至结尾连续成立；中间毫米级余量无法逐帧测量。" + }, + { + "t": 80.0, + "log_step": null, + "text_zh": "推断：视频80.0 s剩余谜题整体留在目标框后方；评分器success=1及all_success=1确认最终两条链的完整几何留侧及永久连接条件成立。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：机器人没有单独抓链或搬链的动作；本留侧条件通过链条随马蹄铁的永久眼链连接被动运动、最后留在桌面实现。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "观察：机器人双臂配合调整马蹄铁并换握金环，视频约57.3 s圆环脱离谜题，视频约79.5 s在绿色目标体积内稳持；两只马蹄铁和两条链的留侧计数从开局保持，最终6/6节点成立，评分器success=1且两次重放均成功。推断：本次交付的先前会话试验和恢复后被舍弃动作不计入进度；没有状态日志，分离及稳定时刻约有0.5 s误差，不可见分隔面的连续毫米级余量由视频与交付分支读数综合推断，最终全几何、速度及0.5 s共同确认由评分结果补证；评分器未报告两项原生速度指标数值，故保留null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间与接触与视频一致：视频56 s金环仍穿在马蹄铁上，58 s已独立脱离；79 s金环被右爪夹持在绿框内，马蹄铁留在后方；成功且无失败标签。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:26:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--xwvhowv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "052bd3cb615a1e0177de0f9b07a94dff75613346ef822e03f8dc9edd5bfa4def", + "video_sha256": "f511b61674e10b51b6b0eb0f9011570f9ee830ee2373ea07bcfc807f21b7177f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--3ta7dyh.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--3ta7dyh.json new file mode 100644 index 0000000000000000000000000000000000000000..717be7b19d5b1c71314973647c27346ff4acd01a --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--3ta7dyh.json @@ -0,0 +1,421 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--3ta7dyh", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 19397, + "live_rows": 19397, + "sim_steps": 19397, + "physics_steps": 193969, + "steps": 4637, + "elapsed_s": 6683.6, + "replay_wall_s": 2421.1, + "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": 0.536, + "peak_processes": 11, + "peak_disk_gb": 1.215, + "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-horseshoe-ring-02-i01-standard--3ta7dyh/replay.mp4", + "duration_s": 485.0, + "fps": 15.0, + "frames": 7275, + "sha256": "c668ae71f7156ee66e135800477b3a8c916ab50c6cbab2ffc51859d94e7f0695" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 373.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 金环与左侧银色马蹄铁重叠套连；视频 80–114 s 左夹爪提环时，银色马蹄铁和连接链也被带起、移向前方。" + }, + { + "t": 202, + "log_step": 361, + "text_zh": "观察：视频 168–184 s 左夹爪改抓银色马蹄铁，金环落在桌上；但视频 202 s 腕部近景仍见银色弯杆穿过金环，随后视频 208–214 s 银色部件又随金环一起被拖向目标区，不能按 agent 最终所称的早期“已分离”直接记完成。" + }, + { + "t": 373.5, + "log_step": 347, + "text_zh": "观察：视频 372.8–374.4 s 右夹爪夹着银色马蹄铁上提并向画面左侧移开，金环留在桌面原位，环孔逐渐清空；视频 380 s 和视频 484.9 s 金环均与两马蹄铁、链条空间分开。分离时刻取视频约 373.5 s，误差约 1 s。" + }, + { + "t": 484.9, + "log_step": 354, + "text_zh": "推断：视频 484.9 s 可见独立金环；评分器 success=1、live_matches_replay=1，支持最终脱离且永久连接仍完好。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪先夹金环反复提拉，之后夹银色马蹄铁调姿，再夹金环搬运；视频 372.8–374.4 s 右二指夹爪夹住银色马蹄铁将其移离金环。两臂依次操作，最后分离时左臂已停在旁边。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 484.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 214, + "log_step": null, + "text_zh": "观察：视频 208–214 s 左夹爪将金环带到绿框处，银色谜题部件同时随行；这时不满足 DAG 要求的全部留侧条件。" + }, + { + "t": 300, + "log_step": 313, + "text_zh": "观察：视频 296–300 s 左夹爪松开并撤走，金环落在绿框内；视频 374.4–484.9 s 金环保持在该位置，右夹爪搬动银色部件时未把金环带走。" + }, + { + "t": 484.8, + "log_step": 354, + "text_zh": "推断：视频 484.0、484.2、484.4、484.6、484.8 和 484.9 s 均见金环整体留在绿框内，右夹爪将银色部件移回系统侧；log step 351 的服务返回 EpisodeOver: success，log step 354 返回 done=true、reason=success、control_steps=19397、resumes=0，评分器 live_success=replay_success=1、success_pending_review=0。按本节点包含四个留侧目标共同保持 0.5 s 的验收条件，在视频末端约 484.8 s 记成立；全网格毫米余量、速度及共同窗口由原生成功判定支持，不能仅由像素量测确认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 198–296 s 左二指夹爪夹住金环管段，搬至绿色目标区并松开；视频末端由右夹爪抓着马蹄铁搬走剩余谜题部件，金环留在桌面。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 83 + ], + [ + 171, + 203 + ], + [ + 480, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁均在初始谜题一侧，至少一只完整留侧；按数量计数，不固定实体身份。" + }, + { + "t": 83, + "log_step": 14, + "text_zh": "推断：分隔面不可见；结合 DAG 的固定 y=-0.02391582422 m 与 log step 14 的静态相机标定，在 scratch 图上比较分隔面于不同高度的投影，并结合斜俯视、低视角及前后运动判断完整部件是否越侧。以下中途边界均为视频估计，约有 1–3 s 误差，未按“未进入绿框”直接判留侧。" + }, + { + "t": 88, + "log_step": null, + "text_zh": "观察：视频 81–88 s 左夹爪向前带动金环，左右两只银色马蹄铁的前缘相继前移；视频 100–108 s 两只都被拖至目标方向，原来的留侧状态丢失。" + }, + { + "t": 174, + "log_step": 260, + "text_zh": "推断：视频 171–178 s 左夹爪提起并向后调整其中一只马蹄铁，该只完整回到系统侧，另一只仍向前伸出；视频 202–208 s 提环搬运又带动它向目标侧，故约视频 203 s 再次丢失。" + }, + { + "t": 480, + "log_step": 351, + "text_zh": "推断：视频 478–484.9 s 右夹爪携两只银色马蹄铁向后移，先恢复至少一只完整留侧，取视频约 480 s；最终成功判定确认至少一只满足全几何留侧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪曾夹银色马蹄铁提起、调姿、放下；视频 372.8 s 后右夹爪夹住一只银色马蹄铁，其余银色部件通过永久链连接随动，最终搬回系统侧。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 81.5 + ], + [ + 484.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只马蹄铁均在初始谜题一侧；两个计数节点开局都成立。" + }, + { + "t": 81.5, + "log_step": 14, + "text_zh": "推断：分隔面不可见；结合 DAG 的固定 y=-0.02391582422 m 与 log step 14 的静态相机标定，在 scratch 图上比较分隔面于不同高度的投影，并结合斜俯视、低视角及前后运动判断完整部件是否越侧。以下中途边界均为视频估计，约有 1–3 s 误差，未按“未进入绿框”直接判留侧。" + }, + { + "t": 84, + "log_step": null, + "text_zh": "推断：视频 80–84 s 首先是随金环被提动的马蹄铁前缘越过固定分隔面，约视频 81.5 s 起已不足两只完整留侧；视频 114–202 s 另一只仍明显向前伸出，视频 208–374 s 两只进一步进入目标方向。" + }, + { + "t": 484.3, + "log_step": 354, + "text_zh": "推断：视频 478–484.9 s 右夹爪将连接着的两只马蹄铁后移，末端悬垂的那只最后通过分隔面；以视频约 484.3 s 作为两只均恢复留侧的估计锚点。log step 354 原生 success 及评分器 live_matches_replay=1 确认最终全几何条件成立；该边界不能由不可见分隔面精确到单帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪曾直接夹持一只马蹄铁；最后右二指夹爪夹着一只马蹄铁，连带另一只和两条链从绿框附近移回系统侧，终帧仍在夹持。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 99 + ], + [ + 109, + 207 + ], + [ + 478.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两条银色短链连接在两只马蹄铁之间，均在初始系统侧，至少一条完整留侧。" + }, + { + "t": 99, + "log_step": 14, + "text_zh": "推断：分隔面不可见；结合 DAG 的固定 y=-0.02391582422 m 与 log step 14 的静态相机标定，在 scratch 图上比较分隔面于不同高度的投影，并结合斜俯视、低视角及前后运动判断完整部件是否越侧。以下中途边界均为视频估计，约有 1–3 s 误差，未按“未进入绿框”直接判留侧。" + }, + { + "t": 100, + "log_step": null, + "text_zh": "推断：视频 98–100 s 左夹爪加大向前移动，连接处的两条短链也随两只马蹄铁越向目标侧，约视频 99 s 后不足一条完整留侧。" + }, + { + "t": 110, + "log_step": 225, + "text_zh": "推断：视频 108.5–110 s 左夹爪带部件后移、抬起，靠后的短链恢复完整留侧；视频 114–202 s 可见它仍在靠后的连接处，视频 204–210 s 再次向前搬运使其约视频 207 s 失去留侧。" + }, + { + "t": 478.5, + "log_step": 354, + "text_zh": "推断：视频 476–480 s 右夹爪后移银色部件，靠夹爪的短链先回到系统侧，取视频约 478.5 s；视频 484.9 s 可见永久链连接仍在，原生 success 确认最终至少一条完整留侧。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：未见机器人夹爪直接夹住短链；左右夹爪依次抓金环或马蹄铁，短链通过永久眼链连接被动随动，最后随右夹爪持有的马蹄铁回到系统侧。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 87 + ], + [ + 175, + 202.5 + ], + [ + 480, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两条短链均连接在初始谜题位置，两条完整留侧。" + }, + { + "t": 87, + "log_step": 14, + "text_zh": "推断：分隔面不可见；结合 DAG 的固定 y=-0.02391582422 m 与 log step 14 的静态相机标定，在 scratch 图上比较分隔面于不同高度的投影，并结合斜俯视、低视角及前后运动判断完整部件是否越侧。以下中途边界均为视频估计，约有 1–3 s 误差，未按“未进入绿框”直接判留侧。" + }, + { + "t": 88, + "log_step": null, + "text_zh": "推断：视频 84–90 s 谜题前移，靠前的短链先越侧，约视频 87 s 起不足两条完整留侧；视频 100–114 s 两条链随前移和后移的谜题摆动，仍有靠前链段未完整回侧。" + }, + { + "t": 176, + "log_step": 265, + "text_zh": "推断：视频 171–178 s 左夹爪将银色马蹄铁向后调姿，连接处两条短链随之回到系统侧，取视频约 175 s；视频 200–204 s 提环后，靠前链段又被带向目标侧，取视频约 202.5 s 为再次失去的锚点。" + }, + { + "t": 480, + "log_step": 354, + "text_zh": "推断：视频 478–484.9 s 右夹爪将银色部件后移，两条短链约视频 480 s 均回到系统侧；最终 success=1、review_events=0 支持两条完整留侧且永久连接保持。中途逐链几何过界时刻缺少原生读数，区间边界为视觉估计。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：两条短链均未见被夹爪直接抓握；它们连接两只马蹄铁，随夹爪持有的马蹄铁一起移动并恢复留侧。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "本次终态完成全部 6 个节点：左夹爪反复提拉和搬运金环时曾将银色谜题部件带向目标侧，右夹爪在视频约 373.5 s 将银色部件移离金环，随后搬回系统侧，视频末端约 484.8 s 达到共同验收。评分器 success=1、live_matches_replay=1、review_events=0，log step 354 的服务状态也确认为成功；终帧仍夹着银色马蹄铁，金环单独静置在绿框内。没有状态日志，中途不可见分隔面的逐件过界时刻与局部套连变化只能结合多视角和相机标定估计，留侧区间边界约有 1–3 s 误差；毫米级全网格余量、速度及共同保持窗口由原生成功支持，两个原生速度指标未报告数值。", + "conf": 6, + "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，6 个节点终态均为真；视频 373.5 s 左右环与银色部件分离、484.8 s 末端共同验收的标注与帧一致，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": "2026-10-30T23:28:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--3ta7dyh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--3ta7dyh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b3fe8d09edfbf0e69457cfbcac2475ef79114d6967af5a5ab8bdbba2ad31388d", + "video_sha256": "c668ae71f7156ee66e135800477b3a8c916ab50c6cbab2ffc51859d94e7f0695", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--4xskrar.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--4xskrar.json new file mode 100644 index 0000000000000000000000000000000000000000..fea5c953472f094880875e3c4a38cfa0b7fc36e5 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--4xskrar.json @@ -0,0 +1,370 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--4xskrar", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 9124, + "live_rows": 9124, + "sim_steps": 9124, + "physics_steps": 91234, + "steps": 1016, + "elapsed_s": 2571.1, + "replay_wall_s": 945.1, + "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-horseshoe-ring-02-i01-standard--4xskrar/replay.mp4", + "duration_s": 228.2, + "fps": 15.0, + "frames": 3423, + "sha256": "7ed2496c1facbf7e284b351f37442ec5c5355a3d6a8493df369af9cc003a4795" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 217.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 金色圆环与左侧银色马蹄铁重叠套连；视频 144–196 s 左夹爪举着一只马蹄铁，另一只经短链悬垂，金环仍套在悬垂马蹄铁上。" + }, + { + "t": 217.5, + "log_step": 149, + "text_zh": "观察：视频 198–216.5 s 右夹爪夹住金环并逐步下移，银色悬垂马蹄铁从环孔穿出；视频 217.5–219 s 金环上缘与银件下端出现间隙，右夹爪把金环独立移向前方，左夹爪及其悬挂的银件没有随环移动。分离时刻约为视频 217.5 s，目测误差约0.5 s。" + }, + { + "t": 228.13, + "log_step": 156, + "text_zh": "观察：视频 227.2–228.13 s 金环仍由右夹爪单独夹持，位于银色谜题前方；银色马蹄铁和链条仍相连。log step 156 的实时服务状态为 done=True、reason=success、resumes=0；评分字段 live_matches_replay=1。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 190–219 s 左二指夹爪夹住一只银色马蹄铁并固定谜题，右二指夹爪闭合夹住金色圆环的线材，旋转并下移金环使它脱离；两爪各夹住自己的部件。此前右夹爪也曾单独夹持马蹄铁抬起谜题。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 227.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 219, + "log_step": 151, + "text_zh": "观察：视频 219–226.5 s 右夹爪携带已经分离的金环向前方绿色虚线区域移动；视频 222 s 金环仍接近目标区后缘，机器人随后继续前移，没有松开金环。" + }, + { + "t": 227.0, + "log_step": 155, + "text_zh": "推断：视频 226.5–227.2 s 金环停止前移，斜俯视可见金环整体位于绿框内，侧视可见它仍在桌面上方；以视频约 227.0 s 标记稳定入区，误差约0.5 s。视频 227.2、227.4、227.6、227.8、228.0、228.13 s 持续保持该形态；log step 155 的机器人服务返回 done=True、reason=success，结合 live_success=replay_success=1，确认完整网格包含、速度阈值与共同0.5 s窗口最终通过。毫米级边界和首次速度达标时刻不能仅凭画面精确测出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 219–228.13 s 右二指夹爪夹持金色圆环运入绿色目标区并悬空稳持，结束时仍未松开；左夹爪同时握住留在后方的马蹄铁。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁及其间两条短链平放于谜题初始位置，未搬动；按任务给定的初态，至少1个马蹄铁的留侧条件开局成立。" + }, + { + "t": 228.13, + "log_step": 155, + "text_zh": "推断：视频 227.2–228.13 s 银色谜题由左夹爪握持，金环在其前方独立进入目标区；log step 155 的实时服务返回 success，评分字段 success=1、live_success=1、replay_success=1、live_matches_replay=1。因此至少1个马蹄铁的终态留侧条件为真；这不是仅凭“没有进入绿框”判定。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：视频 0 s 的初始摆放与任务DAG给定的开局成立条件相符；复查视频 31–36 s、65–72 s 的两次掉落折叠，以及视频 138、145、150、154、170、190、200、210、217.5、222、226–228.13 s 的抬举、解环和终段调整，未见足以确定该计数条件失去的跨界证据。log step 155–156 的服务成功状态及 inputs/run.json 的 reward.success=1、live_success=replay_success=1、live_matches_replay=1 支持终态成立。依据开局成立、过程画面与成功终态，将留侧区间推断为从视频 0 s 持续至结束；没有证据支持断开。输入缺少状态日志和逐部件 remainder_on_side 读数，分隔面不可见，不能逐帧核验毫米级全网格边界；连续保持是综合推断，并非成功评分单独证明全过程，也不以“未进入绿框”代替留侧判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 18–32 s、52–66 s 右二指夹爪夹持一只马蹄铁抬起谜题，视频 138–228.13 s 改由左二指夹爪夹住另一只马蹄铁并稳持；视频终段左爪还向后小幅调整银件位置，另一只马蹄铁经链条被动随动。计数节点不固定马蹄铁实例身份。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁及其间两条短链平放于谜题初始位置，未搬动；按任务给定的初态，至少2个马蹄铁的留侧条件开局成立。" + }, + { + "t": 228.13, + "log_step": 155, + "text_zh": "推断：视频 227.2–228.13 s 银色谜题由左夹爪握持，金环在其前方独立进入目标区；log step 155 的实时服务返回 success，评分字段 success=1、live_success=1、replay_success=1、live_matches_replay=1。因此至少2个马蹄铁的终态留侧条件为真；这不是仅凭“没有进入绿框”判定。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：视频 0 s 的初始摆放与任务DAG给定的开局成立条件相符；复查视频 31–36 s、65–72 s 的两次掉落折叠，以及视频 138、145、150、154、170、190、200、210、217.5、222、226–228.13 s 的抬举、解环和终段调整，未见足以确定该计数条件失去的跨界证据。log step 155–156 的服务成功状态及 inputs/run.json 的 reward.success=1、live_success=replay_success=1、live_matches_replay=1 支持终态成立。依据开局成立、过程画面与成功终态，将留侧区间推断为从视频 0 s 持续至结束；没有证据支持断开。输入缺少状态日志和逐部件 remainder_on_side 读数，分隔面不可见，不能逐帧核验毫米级全网格边界；连续保持是综合推断，并非成功评分单独证明全过程，也不以“未进入绿框”代替留侧判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 18–32 s、52–66 s 右二指夹爪夹持一只马蹄铁抬起谜题，视频 138–228.13 s 改由左二指夹爪夹住另一只马蹄铁并稳持；视频终段左爪还向后小幅调整银件位置，另一只马蹄铁经链条被动随动。计数节点不固定马蹄铁实例身份。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁及其间两条短链平放于谜题初始位置，未搬动；按任务给定的初态，至少1个链条的留侧条件开局成立。" + }, + { + "t": 228.13, + "log_step": 155, + "text_zh": "推断：视频 227.2–228.13 s 银色谜题由左夹爪握持，金环在其前方独立进入目标区；log step 155 的实时服务返回 success，评分字段 success=1、live_success=1、replay_success=1、live_matches_replay=1。因此至少1个链条的终态留侧条件为真；这不是仅凭“没有进入绿框”判定。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：视频 0 s 的初始摆放与任务DAG给定的开局成立条件相符；复查视频 31–36 s、65–72 s 的两次掉落折叠，以及视频 138、145、150、154、170、190、200、210、217.5、222、226–228.13 s 的抬举、解环和终段调整，未见足以确定该计数条件失去的跨界证据。log step 155–156 的服务成功状态及 inputs/run.json 的 reward.success=1、live_success=replay_success=1、live_matches_replay=1 支持终态成立。依据开局成立、过程画面与成功终态，将留侧区间推断为从视频 0 s 持续至结束；没有证据支持断开。输入缺少状态日志和逐部件 remainder_on_side 读数，分隔面不可见，不能逐帧核验毫米级全网格边界；连续保持是综合推断，并非成功评分单独证明全过程，也不以“未进入绿框”代替留侧判据。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频各阶段未见夹爪直接夹持短链；视频 138–228.13 s 两条链通过眼链连接随左夹爪所持马蹄铁被动悬挂、转动并在终段后移，留侧调整由夹持马蹄铁带动完成。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁及其间两条短链平放于谜题初始位置，未搬动；按任务给定的初态，至少2个链条的留侧条件开局成立。" + }, + { + "t": 228.13, + "log_step": 155, + "text_zh": "推断：视频 227.2–228.13 s 银色谜题由左夹爪握持，金环在其前方独立进入目标区；log step 155 的实时服务返回 success，评分字段 success=1、live_success=1、replay_success=1、live_matches_replay=1。因此至少2个链条的终态留侧条件为真；这不是仅凭“没有进入绿框”判定。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：视频 0 s 的初始摆放与任务DAG给定的开局成立条件相符；复查视频 31–36 s、65–72 s 的两次掉落折叠，以及视频 138、145、150、154、170、190、200、210、217.5、222、226–228.13 s 的抬举、解环和终段调整，未见足以确定该计数条件失去的跨界证据。log step 155–156 的服务成功状态及 inputs/run.json 的 reward.success=1、live_success=replay_success=1、live_matches_replay=1 支持终态成立。依据开局成立、过程画面与成功终态，将留侧区间推断为从视频 0 s 持续至结束；没有证据支持断开。输入缺少状态日志和逐部件 remainder_on_side 读数，分隔面不可见，不能逐帧核验毫米级全网格边界；连续保持是综合推断，并非成功评分单独证明全过程，也不以“未进入绿框”代替留侧判据。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频各阶段未见夹爪直接夹持短链；视频 138–228.13 s 两条链通过眼链连接随左夹爪所持马蹄铁被动悬挂、转动并在终段后移，留侧调整由夹持马蹄铁带动完成。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "本次评分成功，进度从4/6至6/6；四个留侧条件开局已成立，机器人经两次掉回桌面的抬举后，以左爪持马蹄铁、右爪持环完成分离，圆环于视频约217.5 s脱离、视频约227.0 s稳定进入目标区，结束时允许保持夹持。log step 155–156 的实时服务确认成功，评分字段同时确认实时与重放成功且无复核事件；结合开局、过程画面与成功终态，四个留侧节点标为[[0,null]]，没有跨界证据支持断开。缺少状态日志和逐部件留侧读数，分隔面不可见，连续留侧仍为推断，置信度保留6；两个速度指标未在评分字段中报告，数值留null。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "圆环分离（约217.5 s）、入区（约227 s）、contact_actual 与成功判定均与视频一致。问题只在四个留侧节点：开局成立且终态为 true，却写 intervals=null，按 S4(a) 应从0开始。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次评分成功；圆环分离约217.5 s、入区约227 s、contact_actual 与四个留侧节点[[0,null]]均与视频及评分字段一致，上一轮意见已采纳，无新增问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] 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"runId": "roboarc-horseshoe-ring-02-i01-standard--6vdsx8k", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 8606, + "live_rows": 8606, + "sim_steps": 8606, + "physics_steps": 86060, + "steps": 1888, + "elapsed_s": 4004.7, + "replay_wall_s": 1020.2, + "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": 0.625, + "peak_processes": 9, + "peak_disk_gb": 0.367, + "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-horseshoe-ring-02-i01-standard--6vdsx8k/replay.mp4", + "duration_s": 215.2, + "fps": 15.0, + "frames": 3228, + "sha256": "b98d221d820626028a044f4d573b147396544cdf4bcb506331062ba6a47e3ffe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 6, + "final": 6, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [ + [ + 151.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金环与左侧银色马蹄铁重叠套连；视频 10.0–150.8 s 的俯视及腕部视角中，金环移动时仍带着银色部件，尚不能独立移走。" + }, + { + "t": 151.0, + "log_step": null, + "text_zh": "观察：视频 150.5–152.0 s，机器人左夹爪保持金环，右夹爪夹住银色马蹄铁向后上方拉；银色下方马蹄铁从金环内退出，随后两个组件之间出现清楚间隔。视频 155.0 s 可见金环内已无银色部件，两条链仍连接两只马蹄铁。" + }, + { + "t": 215.1, + "log_step": null, + "text_zh": "观察：视频 155.0–215.1 s，机器人左右夹爪分别保持金环和银色组件，二者持续分开，末段金环进入前方目标区，未见重新套连。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住金环环缘，右侧二指夹爪多次夹取银色马蹄铁；视频 150.5–152.0 s 两爪各持一件，右爪后拉银色组件，完成解脱。早期左爪曾松开并重新抓取金环。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 214.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 195.0, + "log_step": 605, + "text_zh": "观察：视频 151.0 s 后金环已分离，但左夹爪仍多次搬移、降低和调整金环；视频 195.0–213.0 s 的近景可见环缘相对绿色边界的位置继续变化。log step 605 的机器人服务读数为 done=False、control_steps=7828；这只是当时尚未验收通过，不能把此前看似入框直接当作严格完成。" + }, + { + "t": 214.7, + "log_step": null, + "text_zh": "推断：视频 214.0–215.1 s，金环在绿色目标框内贴近桌面并停止明显移动，银色组件留在后方；结合 run.json 的 live_success=1、replay_success=1、success_pending_review=0，确认全部几何、速度和共同保持条件最终通过。首次严格成立估计取视频 214.7 s，约为末帧前的0.5 s确认窗口起点；画面不能独立读出毫米余量或速度，精确起点约有0.5 s不确定性。" + }, + { + "t": 215.1, + "log_step": 642, + "text_zh": "观察：视频 214.2、214.6、214.9、215.0 s，金环与银色组件保持分离，金环留在目标框中；log step 642 的机器人服务返回 done=True、reason=success。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 151.0 s 后机器人左侧二指夹爪保持金环环缘，搬向绿色框并多次居中、降低；视频 210.0–215.1 s 最后一次调整后金环留在框内。右爪持银色组件停在后方，不搬运金环。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 69.0 + ], + [ + 150.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，两只马蹄铁和两条短链平放在后方初始谜题位置；与同一场景的 oracle 视频 0.0 s 初态一致，DAG 指定四个留侧条件开局成立。" + }, + { + "t": 69.0, + "log_step": null, + "text_zh": "推断：视频 64.0–72.0 s，左爪向前移动金环，未解脱的银色组件随之倾斜前移；到视频 72.0 s，两只马蹄铁均有部分越向目标侧。结合俯视与低位视角判断至少1只完整留侧的条件约在视频 69.0 s 失去；分隔面不可见，跨面时刻为约1–2 s精度的估计。" + }, + { + "t": 90.0, + "log_step": 401, + "text_zh": "观察：视频 87.0–94.0 s，右爪松开后两只银色马蹄铁都随金环落在前方目标附近；视频 90.0 s 俯视可见银色组件与金环堆叠。log step 401 的 agent 点云估计也将两只马蹄铁置于负Y前方；该估计只作画面的辅助证据。" + }, + { + "t": 150.5, + "log_step": null, + "text_zh": "推断：视频 149.0–152.0 s，右爪重新持住上方马蹄铁并后拉，上方马蹄铁先完整返回系统侧；至少1只留侧约在视频 150.5 s 恢复。视频 155.0–215.1 s 保持，最终成功判定支持终值 true；此恢复锚点约有1 s不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右侧二指夹爪多次夹住银色马蹄铁的弯曲部或眼部，视频 150.5–160.0 s 将相连的两只马蹄铁向后上方移回系统侧并继续持住；另一只随链条被动移动。左爪此时握的是金环。此计数节点不固定马蹄铁身份。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 67.0 + ], + [ + 156.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，两只马蹄铁和两条短链平放在后方初始谜题位置；与同一场景的 oracle 视频 0.0 s 初态一致，DAG 指定四个留侧条件开局成立。" + }, + { + "t": 67.0, + "log_step": null, + "text_zh": "推断：视频 65.0–70.0 s，左爪将仍套着马蹄铁的金环朝前方搬移，靠近金环的马蹄铁先越向目标侧；两只均完整留侧的条件约在视频 67.0 s 失去。视频 72.0、90.0、128.0 s 可见至少一只马蹄铁仍在前方；分隔面不可见，首个跨面时刻约有1–2 s不确定性。" + }, + { + "t": 155.0, + "log_step": null, + "text_zh": "观察：视频 151.0 s 金环解脱后，右爪持上方马蹄铁，另一只经两条链向下悬挂；视频 154.0–160.0 s，机器人继续提拉银色组件，不能把金环刚脱离就视为两只马蹄铁已经全部留侧。" + }, + { + "t": 156.5, + "log_step": 591, + "text_zh": "推断：比较视频 155.0 s 与160.0 s 的俯视及低位视角，下方马蹄铁进一步后移，约视频 156.5 s 起两只均回到系统侧，随后右臂继续后收。log step 591 的 agent 点云估计为银色部件Y范围0.1305–0.35 m，辅助支持末段明显后收；最终 live_success=1 也确认两只完整留侧。恢复时刻约有1–2 s不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右侧二指夹爪多次夹住银色马蹄铁的弯曲部或眼部，视频 150.5–160.0 s 将相连的两只马蹄铁向后上方移回系统侧并继续持住；另一只随链条被动移动。左爪此时握的是金环。此计数节点不固定马蹄铁身份。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 68.0 + ], + [ + 77.5, + 83.0 + ], + [ + 151.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，两只马蹄铁和两条短链平放在后方初始谜题位置；与同一场景的 oracle 视频 0.0 s 初态一致，DAG 指定四个留侧条件开局成立。" + }, + { + "t": 68.0, + "log_step": null, + "text_zh": "推断：视频 66.0–72.0 s，左爪前移未分离的金环和马蹄铁，连接链的前端随之越向目标侧；到视频 72.0 s 两条链均跨向前方，完整留侧约在视频 68.0 s 失去。链条细且分隔面不可见，两条链的跨面先后不能可靠分开，采用同一近似锚点，约有1–2 s不确定性。" + }, + { + "t": 77.5, + "log_step": null, + "text_zh": "推断：视频 76.0–80.0 s，左爪松开、重新抓取及抬高金环，银色马蹄铁转到较竖直姿态，两条链的前端随之后移；视频 80.0 s 两条链在两只马蹄铁的上方连接眼之间，完整留侧约在视频 77.5 s 暂时恢复。这里结合俯视与低位视角估计，未把马蹄铁下部仍越面的情况算作链条越面。" + }, + { + "t": 83.0, + "log_step": null, + "text_zh": "推断：视频 82.0–88.0 s，机器人左爪再次把金环向目标方向搬移，仍套连的银色组件和两条链被带向前方；两条链完整留侧约在视频 83.0 s 再次失去。视频 90.0–125.0 s 的多视角可见链条仍伸向前方金环附近。" + }, + { + "t": 151.5, + "log_step": null, + "text_zh": "推断：视频 150.5–155.0 s，金环退出后，两条短链随右爪持住的马蹄铁向后移，约视频 151.5 s 起完整回到系统侧；视频 155.0–215.1 s 两条链继续连接两只马蹄铁并保持在后方，最终成功判定确认终值 true。恢复时刻约有1–2 s不确定性。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频中两条短链连接在两只马蹄铁之间，随夹爪操纵马蹄铁和金环而被动移动；未见夹爪直接夹紧链身。视频 150.5–160.0 s 右爪持马蹄铁后撤，使链条返回系统侧。此处记录链条没有直接夹爪接触，不把永久眼链连接当作夹爪抓握。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 68.0 + ], + [ + 77.5, + 83.0 + ], + [ + 151.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，两只马蹄铁和两条短链平放在后方初始谜题位置；与同一场景的 oracle 视频 0.0 s 初态一致，DAG 指定四个留侧条件开局成立。" + }, + { + "t": 68.0, + "log_step": null, + "text_zh": "推断：视频 66.0–72.0 s，左爪前移未分离的金环和马蹄铁，连接链的前端随之越向目标侧；到视频 72.0 s 两条链均跨向前方，完整留侧约在视频 68.0 s 失去。链条细且分隔面不可见，两条链的跨面先后不能可靠分开，采用同一近似锚点，约有1–2 s不确定性。" + }, + { + "t": 77.5, + "log_step": null, + "text_zh": "推断：视频 76.0–80.0 s，左爪松开、重新抓取及抬高金环，银色马蹄铁转到较竖直姿态，两条链的前端随之后移；视频 80.0 s 两条链在两只马蹄铁的上方连接眼之间，完整留侧约在视频 77.5 s 暂时恢复。这里结合俯视与低位视角估计，未把马蹄铁下部仍越面的情况算作链条越面。" + }, + { + "t": 83.0, + "log_step": null, + "text_zh": "推断：视频 82.0–88.0 s，机器人左爪再次把金环向目标方向搬移，仍套连的银色组件和两条链被带向前方；两条链完整留侧约在视频 83.0 s 再次失去。视频 90.0–125.0 s 的多视角可见链条仍伸向前方金环附近。" + }, + { + "t": 151.5, + "log_step": null, + "text_zh": "推断：视频 150.5–155.0 s，金环退出后，两条短链随右爪持住的马蹄铁向后移，约视频 151.5 s 起完整回到系统侧；视频 155.0–215.1 s 两条链继续连接两只马蹄铁并保持在后方，最终成功判定确认终值 true。恢复时刻约有1–2 s不确定性。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频中两条短链连接在两只马蹄铁之间，随夹爪操纵马蹄铁和金环而被动移动；未见夹爪直接夹紧链身。视频 150.5–160.0 s 右爪持马蹄铁后撤，使链条返回系统侧。此处记录链条没有直接夹爪接触，不把永久眼链连接当作夹爪抓握。" + } + ] + } + }, + "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 + } + ], + "failure": null, + "summary_zh": "本次成功，六个节点最终均成立：机器人双臂调整套连组件，约视频 151.0 s 金环完全脱离，随后将银色组件收回系统侧，末段左夹爪将金环居中降低并通过验收。四个留侧条件从开局成立，中途因银色组件被金环带向前方而失去，链条曾随姿态调整短暂恢复；最终评分记录 success=1、live_matches_replay=1、review_events=0。无状态日志，分隔面不可见，留侧区间的跨面锚点是多视角推断且约有1–2 s不确定性，末段严格速度与全网格包含由成功判定支持，原生速度数值未报告。", + "conf": 6, + "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，六节点终值成立；视频 140 s 仍套连、150.5–152 s 金环退出、156 s 后银色组件在后方、214.7 s 金环在绿框内，均与标注一致，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": "2026-10-30T23:44:12Z", + "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-horseshoe-ring-02-i01-standard--6vdsx8k/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--6vdsx8k/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "40a7469a5add9c945cc350137736a2763ec9d39f86e4470c91c592f2191341e2", + "video_sha256": "b98d221d820626028a044f4d573b147396544cdf4bcb506331062ba6a47e3ffe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--83guzfn.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--83guzfn.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbf2c87887b9953a5f229df83e1a2fd35e1b0b8 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--83guzfn.json @@ -0,0 +1,369 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--83guzfn", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 24911, + "live_rows": 24911, + "sim_steps": 24911, + "physics_steps": 249110, + "steps": 6103, + "elapsed_s": 9989.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.241, + "peak_processes": 8, + "peak_disk_gb": 0.276, + "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-horseshoe-ring-02-i01-standard--83guzfn/replay.mp4", + "duration_s": 622.867, + "fps": 15.0, + "frames": 9343, + "sha256": "4716f3522912c6527bdb71e50b42d917480c96dafef643a5d804274d264460ab" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 3, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 金色圆环覆在左侧银色马蹄铁上，靠口侧环段与两个眼链连接区交叠，尚未独立分离。" + }, + { + "t": 88, + "log_step": null, + "text_zh": "观察：视频 70–110 s 左夹爪反复靠近、闭合和抬离连接区，金环仍留在马蹄铁原处；视频 264 s 双臂操作使环与马蹄铁产生相对倾斜和小幅位移，仍未出现完整退出。" + }, + { + "t": 622.8, + "log_step": 131, + "text_zh": "观察：视频 580、600 及 622.0–622.8 s，俯视金环仍围在左侧马蹄铁上，腕部近景可见银色眼部件仍穿在金环孔内。与 oracle 视频约 10–12 s 金环被单独移向前方的外观相比，本次从未见金环独立移走；log step 131 的 agent 最终报告也承认未解脱。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 264 s 左二指夹爪夹住金环外侧弧段，右夹爪夹持右侧马蹄铁配合改变相对构型；此前有左夹爪单独夹取金环，后续两爪也分别尝试夹马蹄铁。多次闭合未形成持续夹持，不把所有闭合都视为抓住。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 前方绿色虚线目标区为空，金环位于后方谜题处。" + }, + { + "t": 622.8, + "log_step": null, + "text_zh": "观察：检查视频全程粗采样及操作处加密帧，包括视频 264、480、580 和 622.0–622.8 s，金环始终留在马蹄铁附近，没有被搬入前方绿框；最后靠近绿框的是银色马蹄铁，金环不在目标体积内。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁均在初始系统侧，至少一只的条件开局即成立。" + }, + { + "t": 264, + "log_step": 120, + "text_zh": "推断：采用 DAG 固定分隔面 y≥-0.02391582422 m，而非绿色框边界。log step 78 给出高位相机外参；结合 log step 120 的像素点及反投影坐标可还原焦距约 471 像素，已与视频 0 s 的谜题和绿框位置核对。将该平面在桌面及部件近桌面高度处投影到画面，辅助判断留侧；这不是毫米级网格检查。" + }, + { + "t": 622.8, + "log_step": null, + "text_zh": "推断：视频 240–480 s 的加密帧及视频 480–622.8 s 的前后帧中，左侧马蹄铁虽被夹取、倾斜和小幅拖动，仍整体位于固定分隔面的后侧；右侧马蹄铁越界时仍至少保有这一只。视频 622.8 s 俯视中左侧银色马蹄铁外轮廓在分隔面投影后方，故终值为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 264 s 左爪夹金环、右爪夹右马蹄铁协调操作；视频 312.5 s 附近右爪夹持并转回右马蹄铁，视频 476 s 附近再次夹持转动；后段左爪也夹取左马蹄铁支部，右爪多次夹取另一马蹄铁。两只按留侧数量计，不绑定固定实例。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 280.5 + ], + [ + 313, + 476 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只银色马蹄铁均保有初始留侧关系。" + }, + { + "t": 280.5, + "log_step": 120, + "text_zh": "推断：依 log step 78、120 的相机标定作分隔面投影辅助核对，视频 279.5–280.0 s 右马蹄铁仍留侧，视频 280.5–281.6 s 右爪转动并拖动它，使其下方外弧越过固定分隔面；视频 282–312 s 的加密帧均可见该弧仍在界前。首次失去取约视频 280.5 s，误差约 0.5 s。" + }, + { + "t": 313, + "log_step": null, + "text_zh": "推断：视频 312.0 s 右马蹄铁外弧仍越界，视频 312.5–313.1 s 右爪夹持转回，视频 314–315.7 s 放回后两只均在系统侧；检查视频 313–476 s 的连续前后帧采样，未见再次越界直至后述转动。恢复取约视频 313 s，误差约 0.5 s。" + }, + { + "t": 476, + "log_step": null, + "text_zh": "推断：视频 475.2–475.7 s 右爪改变握持姿态，视频 476.3 s 右马蹄铁已转向前方且外弧明显越过分隔面；视频 480–622.8 s 一直保留该越界构型。第二次失去取约视频 476 s，误差约 0.5 s，终值为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 264 s 左爪夹金环、右爪夹右马蹄铁协调操作；视频 312.5 s 附近右爪夹持并转回右马蹄铁，视频 476 s 附近再次夹持转动；后段左爪也夹取左马蹄铁支部，右爪多次夹取另一马蹄铁。两只按留侧数量计，不绑定固定实例。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 上下两条银色短链位于两只马蹄铁口部之间，均在初始系统侧，因此至少1条留侧开局成立。" + }, + { + "t": 622.8, + "log_step": 120, + "text_zh": "推断：结合 log step 78、120 标定辅助定位分隔面，视频 264、282、313、476、580 及 622.0–622.8 s 可见短链随口部被动转动，但其端部及链身仍在该面后侧；向前越界的是右马蹄铁的大外弧。腕部近景辅助分清链与马蹄铁眼部，判断两条链仍留侧，故至少1条的终值为真；全网格边界无状态日志可精查。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 上下两条银色短链位于两只马蹄铁口部之间，均在初始系统侧，因此至少2条留侧开局成立。" + }, + { + "t": 622.8, + "log_step": 120, + "text_zh": "推断：结合 log step 78、120 标定辅助定位分隔面，视频 264、282、313、476、580 及 622.0–622.8 s 可见短链随口部被动转动，但其端部及链身仍在该面后侧；向前越界的是右马蹄铁的大外弧。腕部近景辅助分清链与马蹄铁眼部，判断两条链仍留侧，故至少2条的终值为真；全网格边界无状态日志可精查。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 88, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 70–110 s 左爪已反复在金环口侧闭合、抬起又回落，视频 88 s 爪已抬离而金环仍在原谜题上；后续视频 264 s 的双臂相对操作和视频 580–622.8 s 的重抓仍未解开。断点取始终未修复的圆环脱离步骤，以视频 88 s 的一次失败提取作导航锚点；后来的马蹄铁留侧丢失不是更早的断点。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": true, + "horseshoes_on_system_side_2": false, + "chains_on_system_side_1": true, + "chains_on_system_side_2": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 264, + "log_step": null, + "evidence_zh": "观察：视频 264–276 s 左爪夹取金环、右爪操作银色马蹄铁时，金环仅倾斜和局部移动，口侧环段仍穿在眼链交叠处；视频 622.8 s 腕部近景仍可辨银色眼部件穿过金环。推断：尚存的套连阻挡了所执行的退出运动，未形成独立可移走的圆环。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 在 log step 29、50 明确判断圆环可直接上提解开，并据此反复执行提拉；log step 43 的交叉处深度分析已把口侧环段置于链条下方，log step 44–50 仍以斜拉、直提尝试退出，视频 70–110 s 金环持续留在套连处。后续改为折合马蹄铁及轮流抬起（log step 88、92、102），仍未执行出使眼链部件完整退出环孔的相对路径，视频 622.8 s 套连仍在。归因为退出构型及路径规划未解决，不采信 agent 最后所称“必须同时抬起两只”为已证实的唯一方案。" + } + ], + "gap_zh": "没有状态日志，评分器也未报告逐部件留侧布尔值、完整网格边界或目标速度；留侧由录像、开局关系及日志中标定作几何推断，越界/恢复时刻约有 0.5 s 不确定性，链条局部被夹爪或眼部件遮挡，不能审计毫米级余量。相机焦距约 471 像素由 log step 120 的像素—世界点与 log step 78 外参反算，非额外真值。所有节点时间直接取所查视频帧，未把 agent 工作时间当作视频时间。agent 自述最终“超时”（log step 131）并非已发生的服务终止原因：log step 125 仍为 done=False、reason=None，本次按已保存的在线物理尝试失败标注。 本轮核对：log step 63、99 的实际调用代码确有右臂关节槽位/逆解种子及目标保持方式的修补，log step 61 输出实际TCP与目标不符；这些是会话中的实现偏差证据，并非仅凭agent自述。但补丁后视频 264 s 已见双爪夹持，视频 600 s 的右爪空抓只说明后期局部重抓失败；现有证据未证实一条可行退出路径，也未建立上述已修补偏差独立导致最终套连未解的因果链，故不将控制列为独立根因。" + }, + "summary_zh": "机器人反复夹取金环并移动、折合马蹄铁，但金环始终未脱离眼链套连，也未进入绿框；四个初始留侧目标中，两条链和至少一只马蹄铁保持到结尾，第二只马蹄铁留侧在约视频 280.5 s 丢失、约视频 313 s 恢复，又于约视频 476 s 丢失，最终为 3/6。断点是圆环脱离谜题，双爪已建立夹持后仍未解决套连的退出路径，保留推理/规划根因；后期局部重抓失败不另列断点现象，控制代码偏差与最终失败的独立因果关系未证实。无状态日志，分隔面附近几何及时间依录像和标定推断，不能核验完整网格的毫米级余量。", + "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、时间和断点（ring_separated，套连未解）与视频一致；但第二个现象“没建立接触”(视频 600 s)描述的是后期马蹄铁抓取，并非断点步骤的失败，且“控制”根因主要由 agent 自己的补丁叙述支撑，视频只显示反复闭合，证据不足以单独成立。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（ring_separated，套连未解）和推理/规划根因与视频一致；第1轮意见已处理，未发现新的错误。", + "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": "2026-10-30T23:53:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--83guzfn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--83guzfn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--83guzfn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--83guzfn/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b2eb25a4924aa68b3436c124e040b8dafe11452ddb7e35bd3ee77f3d3af5b972", + "video_sha256": "4716f3522912c6527bdb71e50b42d917480c96dafef643a5d804274d264460ab", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--qcdougm.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--qcdougm.json new file mode 100644 index 0000000000000000000000000000000000000000..a7878ba83d53bb6de7fb64f84163518aeaec6f05 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--qcdougm.json @@ -0,0 +1,404 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--qcdougm", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 1805, + "live_rows": 1805, + "sim_steps": 1805, + "physics_steps": 18050, + "steps": 444, + "elapsed_s": 9383.4, + "replay_wall_s": 217.5, + "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": 0.512, + "peak_processes": 9, + "peak_disk_gb": 0.359, + "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-horseshoe-ring-02-i01-standard--qcdougm/replay.mp4", + "duration_s": 45.2, + "fps": 15.0, + "frames": 678, + "sha256": "1ea3a43a9b77c6cb4cbe1e3ec141592f3910e76a652ea610f1ef991e844fe72f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 0, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s，金色圆环套在画面左侧银色马蹄铁上，两只马蹄铁由两条短链连接。" + }, + { + "t": 19, + "log_step": 98, + "text_zh": "观察：视频17–21 s，左夹爪向桌前方移动金环，银色马蹄铁与它一起移动并拉直两条链；金环未越出银色马蹄铁外缘。" + }, + { + "t": 32.5, + "log_step": 240, + "text_zh": "观察：视频32.5 s两爪暂时离开时，金环仍与前方马蹄铁沿外弧重叠；视频35–43 s再次夹持调整，也没有形成独立的金环。" + }, + { + "t": 45.13, + "log_step": null, + "text_zh": "观察：视频44.0–45.13 s，腕部近景仍清楚显示银色马蹄铁穿在金色圆环内；对照成功参考视频10–13.2 s可见的独立圆环，本次从未达到分离状态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约8–10 s，左二指夹爪闭合夹住金色圆环外弧，右二指夹爪夹在左侧马蹄铁的眼部；随后两臂尝试相对移动。视频17–21 s及28–31 s左爪带动圆环和仍套连的马蹄铁，右爪已离开原夹持部位；视频35–43 s两爪再次分别夹住圆环和马蹄铁尝试分离。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20, + "log_step": 98, + "text_zh": "观察：视频18–20 s，左爪将未解开的金环向绿色框搬移，圆环仍在框的后方或跨着后边界；没有整体进入目标体积。" + }, + { + "t": 32.5, + "log_step": 173, + "text_zh": "观察：视频29–32.5 s，金环和马蹄铁被一起拖到绿框后边缘，金环后半段仍在框外。" + }, + { + "t": 45.13, + "log_step": 248, + "text_zh": "观察：视频44.0–45.13 s松爪后，金环仍跨着绿框后边界并套着马蹄铁，未形成全部部件留侧且圆环整体入区的共同终态；评分器live_success=0、review_events=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频17–21 s及28–31 s，左二指夹爪夹持金色圆环并向前方绿框搬移；圆环仍套着马蹄铁，因而把银色部件一起带走。视频40–43 s仍尝试夹持移动圆环。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 19.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s，两只银色马蹄铁均处于开局系统侧；视频0–16 s没有明显向桌前方迁移。" + }, + { + "t": 19.5, + "log_step": null, + "text_zh": "观察：视频18.5–20.0 s，两链被拉直，后方马蹄铁也被向前拖动；视频27–32.5 s继续前移，其朝前的弧段及眼部不再保持初始留侧位置。" + }, + { + "t": 19.5, + "log_step": null, + "text_zh": "推断：依据DAG给定的分隔面y=-0.02391582422 m、log step 48的固定俯视相机外参，以及开局几何和连续画面判断留侧；分隔面在视频中不可见，越界锚点约有0.5–1 s误差，未把绿框后边界当作分隔面。" + }, + { + "t": 45.13, + "log_step": null, + "text_zh": "推断：视频32.5 s的无遮挡画面及视频44.0–45.13 s松爪近景显示，前方马蹄铁在绿框边缘，后方马蹄铁朝前的眼部仍越过分隔面，因此没有任何一只马蹄铁的完整几何留在系统侧；视频35–43 s的后移尝试未恢复此条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频8–10 s及35–43 s，右二指夹爪夹住参与解环的马蹄铁眼部，尝试固定或后移银色部件；另一只马蹄铁经两条链被动移动。左爪操作的是金色圆环，未另计为对马蹄铁的独立抓握。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 17.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s，两只银色马蹄铁均处于开局系统侧；视频0–16 s没有明显向桌前方迁移。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频17.0–18.0 s，左夹爪拖着金环和左侧马蹄铁向前移动，银色外弧明显离开初始位置。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "推断：依据DAG给定的分隔面y=-0.02391582422 m、log step 48的固定俯视相机外参，以及开局几何和连续画面判断留侧；分隔面在视频中不可见，越界锚点约有0.5–1 s误差，未把绿框后边界当作分隔面。" + }, + { + "t": 45.13, + "log_step": null, + "text_zh": "推断：视频19–45.13 s，前方马蹄铁一直与金环重叠并位于分隔面前方；后续未恢复两只马蹄铁全部留侧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频8–10 s及35–43 s，右二指夹爪夹住参与解环的马蹄铁眼部，尝试固定或后移银色部件；另一只马蹄铁经两条链被动移动。左爪操作的是金色圆环，未另计为对马蹄铁的独立抓握。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 19.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s，两条短链均在两只马蹄铁之间，位于开局系统侧。" + }, + { + "t": 19, + "log_step": null, + "text_zh": "观察：视频18.5–20.0 s，画面上方短链的前端也随左侧马蹄铁向前移动；两条链均斜跨在前后马蹄铁之间。" + }, + { + "t": 19, + "log_step": null, + "text_zh": "推断：依据DAG给定的分隔面y=-0.02391582422 m、log step 48的固定俯视相机外参，以及开局几何和连续画面判断留侧；分隔面在视频中不可见，越界锚点约有0.5–1 s误差，未把绿框后边界当作分隔面。" + }, + { + "t": 45.13, + "log_step": null, + "text_zh": "推断：视频32.5 s及视频44.0–45.13 s，连接前方马蹄铁两只眼部的链端均在分隔面前方，没有一条链的全部几何恢复留侧；未把夹爪遮住的后端当作整链已回侧。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：全片未见夹爪直接夹持短链；视频17–21 s、28–31 s链条随马蹄铁被拉直并向前移动，视频35–43 s机器人通过夹持马蹄铁尝试将连着的部件移回系统侧。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 18.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s，两条短链均在两只马蹄铁之间，位于开局系统侧。" + }, + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频18–19 s，左侧马蹄铁眼部被前拉，两条链由松弛变成斜向拉直，画面下方短链的前端先随眼部向前跨出初始留侧区域。" + }, + { + "t": 18.5, + "log_step": null, + "text_zh": "推断：依据DAG给定的分隔面y=-0.02391582422 m、log step 48的固定俯视相机外参，以及开局几何和连续画面判断留侧；分隔面在视频中不可见，越界锚点约有0.5–1 s误差，未把绿框后边界当作分隔面。" + }, + { + "t": 45.13, + "log_step": null, + "text_zh": "推断：视频20–45.13 s，两链均仍连接在前方马蹄铁上，链的前端留在分隔面前方，未恢复两条完整短链留侧。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：全片未见夹爪直接夹持短链；视频17–21 s、28–31 s链条随马蹄铁被拉直并向前移动，视频35–43 s机器人通过夹持马蹄铁尝试将连着的部件移回系统侧。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 17.5, + "log_step": 98, + "where": "操作中", + "evidence_zh": "观察：视频17–21 s，左夹爪在执行解环后向前搬移的动作时，把仍套连的马蹄铁和链一起拖动；右夹爪未把马蹄铁保持在原处，未产生独立圆环。视频28–31 s和35–43 s的重试均未修复，视频45.13 s仍未分离。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": false, + "horseshoes_on_system_side_2": false, + "chains_on_system_side_1": false, + "chains_on_system_side_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 17.5, + "log_step": 98, + "evidence_zh": "观察：视频17–21 s左夹爪移动金色圆环时，银色马蹄铁随环一起向桌前方平移和转动，两链被拉直并牵动另一只马蹄铁；视频28–31 s重复出现整体被拖动，所需的环与谜题之间的分离没有实现。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 19, + "log_step": 182, + "source_zh": "日志", + "evidence_zh": "推断：机器人没有实现解环所需的稳定相对操纵。log step 94、98提交的动作要求右爪抬住马蹄铁并让左爪改变圆环相对位姿，但视频11–16 s银色部件未按该要求被抬离，视频17–21 s反而随左爪拖动；log step 182转录机器人本体传感读数，右爪在obs2的开口为5.4 mm、夹爪驱动力为-4.05，obs3变为1.4 mm且驱动力近零，与画面中右爪脱离原夹持部位一致。后续log step 246、265还记录obs7右腕角实测相对指令偏差14.3°，视频36–43 s两爪仍未解开圆环；能确认接触保持和运动执行失败，但不能唯一归到握点几何或某个控制参数。" + } + ], + "gap_zh": "无模拟器状态日志，也没有原生逐物体留侧、完整网格及目标速度记录；留侧失去时刻由连续画面和固定相机几何估计，约有0.5–1 s误差，不能声称毫米级验收已复算。俯视相机投影辅助使用log step 48的外参，并以开局绿框投影估计焦距，未获得完整原生内参；末段后方马蹄铁部分被右爪遮挡，结合松爪前后与腕视角推断其眼部仍越界。log step 280显示模型服务过滤中断，之前视频已记录多轮未修复的物理失败；中断限制了后续修复，不把它标成机器人失败现象或根因。控制子类不足以唯一判断，两项原生速度指标未在评分器字段报告。" + }, + "summary_zh": "开局两只马蹄铁和两条链留侧，进度为4/6；机器人多次双臂夹持解环，但金环始终套着马蹄铁，向前搬移还将马蹄铁与链拖出系统侧，末态为0/6。断点在圆环脱离谜题：视频约17.5 s起可见圆环带动银色部件整体移动，后续重试未修复，接触保持和运动执行存在控制问题。无状态日志，分隔面越界时刻与部分遮挡的末态由多视角推断；会话最后另有log step 280的模型服务过滤中断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频0/9/14/18/20/25/30/33/38/44 s：金环始终套着马蹄铁，未分离，也未整体入绿框，四个留侧节点在约17–20 s被拖离，与标注一致；断点、现象和根因在可见证据下未发现可证伪处。", + "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": "2026-10-30T23:38:59Z", + "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-horseshoe-ring-02-i01-standard--qcdougm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--qcdougm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fbcc3dfddec5158d30e74257c297a7561bdd624473691ebf4016ef4c6741fd66", + "video_sha256": "1ea3a43a9b77c6cb4cbe1e3ec141592f3910e76a652ea610f1ef991e844fe72f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--tsv9ywm.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--tsv9ywm.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a8a09cc0e195cd5dcbbde93ba59e0420adf420 --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--tsv9ywm.json @@ -0,0 +1,397 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--tsv9ywm", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "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": 9770, + "live_rows": 9770, + "sim_steps": 9770, + "physics_steps": 97700, + "steps": 1703, + "elapsed_s": 10907.5, + "replay_wall_s": 1103.3, + "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": 0.255, + "peak_processes": 9, + "peak_disk_gb": 1.225, + "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-horseshoe-ring-02-i01-standard--tsv9ywm/replay.mp4", + "duration_s": 244.333, + "fps": 15.0, + "frames": 3665, + "sha256": "b17e666a1415c6aad4e5b5a088f727619974ce8a1403782d2ba00197922e8794" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 0, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 119.5, + "log_step": null, + "text_zh": "观察：视频113–119 s左夹爪合在金环外侧弧段，视频119.5–123 s抬环时，两只银色马蹄铁相继离开原平放姿态并随环竖起，链条仍横穿环孔；并未像成功参考视频9.5–10 s那样把金环独立移走。" + }, + { + "t": 170, + "log_step": 318, + "text_zh": "观察：视频约162–200 s右夹爪夹住一只马蹄铁，左夹爪持续持环；两臂旋转和拉开时，银色眼部及链条仍穿在金环内。agent在log step 318也改称圆环仍套在组件上。" + }, + { + "t": 244.2, + "log_step": 477, + "text_zh": "观察：视频242.5–244.2 s右夹爪已张开，左夹爪仍夹持金环；腕部近景中两只马蹄铁与短链仍挂连于环内，未出现完整脱离。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频约113–133 s左侧二指夹爪夹住金色圆环并抬起、前移；视频约162–241 s右侧二指夹爪又夹住一只银色马蹄铁，左手持环，双手协调抬升、转动和相向拉动；另一只马蹄铁及短链随套连被动移动。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 133, + "log_step": 263, + "text_zh": "观察：视频约128–136 s左夹爪把金环移到绿框上方，同时把银色马蹄铁和短链一并拖到该区域；金环仍被谜题部件穿过。log step 263的“未扰动马蹄铁和链条”是agent当时的判断，与这些帧不符。" + }, + { + "t": 244.2, + "log_step": 477, + "text_zh": "观察：视频244.2 s金环与银色组件仍套连，组件位于绿框后缘上方及前侧，四个留侧条件没有共同成立；评分器success=0、success_pending_review=0。" + }, + { + "t": 244.2, + "log_step": null, + "text_zh": "推断：即使金环曾在视觉上进入目标体积，也未与四个留侧状态共同满足DAG所要求的0.5 s终态，因此本节点没有成立区间；未用零分单独推断入区失败。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪持金环向绿色目标区搬运并持续调整；后半段右夹爪同时夹一只马蹄铁，尝试让银色组件退回系统侧而让左手金环留在目标区。视频约241 s右夹爪张开，左夹爪继续持环。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 126.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s两只银色马蹄铁平放在初始谜题位置，均在目标框后方，初始留侧关系成立。" + }, + { + "t": 126.5, + "log_step": 319, + "text_zh": "推断：结合log step 319服务返回的固定相机标定、DAG分隔面y=-0.02391582422 m及视频123–128 s斜俯视/低视角，前移的组件在视频约126.5 s使完整留侧马蹄铁少于1只。此时间为视觉估计，约有±1 s误差；判断考虑了部件抬高后的投影，并非只看是否进入绿框。" + }, + { + "t": 244.2, + "log_step": null, + "text_zh": "观察：视频130–240 s机器人持续在目标区附近操作套连的银色组件；视频242.5–244.2 s两只马蹄铁仍聚在金环旁，原平放位置空着。" + }, + { + "t": 244.2, + "log_step": 319, + "text_zh": "推断：末帧银色马蹄铁的下部已在分隔面桌面投影前侧，上部虽因抬高而投影靠后，仍在其对应高度的分隔面投影前侧；两只均非完整留在系统侧，后半段未观察到恢复。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪抓金环时通过套连带动两只马蹄铁；后半段右夹爪直接夹住其中一只马蹄铁，左手同时持金环，两臂协调尝试把银色组件拉回系统侧，另一只马蹄铁被永久连接牵动。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 125.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s两只银色马蹄铁平放在初始谜题位置，均在目标框后方，初始留侧关系成立。" + }, + { + "t": 125.5, + "log_step": 319, + "text_zh": "推断：结合log step 319服务返回的固定相机标定、DAG分隔面y=-0.02391582422 m及视频123–128 s斜俯视/低视角，前移的组件在视频约125.5 s使完整留侧马蹄铁少于2只。此时间为视觉估计，约有±1 s误差；判断考虑了部件抬高后的投影，并非只看是否进入绿框。" + }, + { + "t": 244.2, + "log_step": null, + "text_zh": "观察：视频130–240 s机器人持续在目标区附近操作套连的银色组件；视频242.5–244.2 s两只马蹄铁仍聚在金环旁，原平放位置空着。" + }, + { + "t": 244.2, + "log_step": 319, + "text_zh": "推断：末帧银色马蹄铁的下部已在分隔面桌面投影前侧，上部虽因抬高而投影靠后，仍在其对应高度的分隔面投影前侧；两只均非完整留在系统侧，后半段未观察到恢复。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪抓金环时通过套连带动两只马蹄铁；后半段右夹爪直接夹住其中一只马蹄铁，左手同时持金环，两臂协调尝试把银色组件拉回系统侧，另一只马蹄铁被永久连接牵动。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + 126.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s两条短链连接两只平放马蹄铁，均在初始谜题位置，留侧关系成立。" + }, + { + "t": 126.5, + "log_step": 319, + "text_zh": "推断：视频123–128 s两条短链随竖起的马蹄铁向目标区平移；依据log step 319固定相机标定与DAG分隔面投影，视频约126.5 s完整留侧短链少于1条。上下链先后跨面的时间约有±1 s误差；没有把绿色目标框边界当成分隔面。" + }, + { + "t": 244.2, + "log_step": null, + "text_zh": "观察：视频约170–240 s及视频242.5–244.2 s腕部近景仍能看到两条短链连接银色眼部并穿过金环附近；链条没有留在原谜题位置。" + }, + { + "t": 244.2, + "log_step": 319, + "text_zh": "推断：结合末帧斜俯视、低视角及固定相机分隔面投影，两条短链均随马蹄铁处于分隔面的目标侧，不满足整条留侧；未见后来恢复。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "未见夹爪直接夹住短链；左夹爪持金环、右夹爪持马蹄铁时，短链由永久眼链连接被动牵动，随两臂的组件回拉尝试移动。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + 125.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s两条短链连接两只平放马蹄铁，均在初始谜题位置，留侧关系成立。" + }, + { + "t": 125.5, + "log_step": 319, + "text_zh": "推断：视频123–128 s两条短链随竖起的马蹄铁向目标区平移；依据log step 319固定相机标定与DAG分隔面投影，视频约125.5 s完整留侧短链少于2条。上下链先后跨面的时间约有±1 s误差；没有把绿色目标框边界当成分隔面。" + }, + { + "t": 244.2, + "log_step": null, + "text_zh": "观察：视频约170–240 s及视频242.5–244.2 s腕部近景仍能看到两条短链连接银色眼部并穿过金环附近；链条没有留在原谜题位置。" + }, + { + "t": 244.2, + "log_step": 319, + "text_zh": "推断：结合末帧斜俯视、低视角及固定相机分隔面投影，两条短链均随马蹄铁处于分隔面的目标侧，不满足整条留侧；未见后来恢复。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "未见夹爪直接夹住短链；左夹爪持金环、右夹爪持马蹄铁时，短链由永久眼链连接被动牵动，随两臂的组件回拉尝试移动。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 119.5, + "log_step": 246, + "where": "操作中", + "evidence_zh": "观察：视频119.5–123 s机器人左夹爪抬起金环时，同时带起两只马蹄铁和连接短链，金环没有解除套连；视频约125–133 s继续前移，银色组件也被拖向目标区。之后视频约162–241 s虽增加右手夹持马蹄铁并反复调姿，至视频244.2 s仍未拆开，故断点是始终未修复的圆环脱离步骤。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": false, + "horseshoes_on_system_side_2": false, + "chains_on_system_side_1": false, + "chains_on_system_side_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 119.5, + "log_step": 246, + "evidence_zh": "观察：视频119.5–123 s左夹爪提金环时，银色马蹄铁由平放变为竖起，两条短链随之抬升；视频125–133 s搬环时整套银色组件一起向目标区移动，所需的环与谜题相对分离没有发生。视频244.2 s仍套连。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：agent把金环升高当成已经解除互锁，并在尚未完成分离时切换为搬运。log step 246根据圆环拟合高度约46 mm声称“已脱离、马蹄铁仍在桌面”，log step 259继续称“已离开谜题”并规划直接平移到目标；但视频119.5–133 s显示马蹄铁仍挂在环上、随环一起移动。log step 284才承认马蹄铁已移到目标上方且圆环未分离，后续局部抬升、平移和旋转也未完成脱环。这支持阶段切换与解套动作序列的判断错误。" + } + ], + "gap_zh": "无模拟器状态日志，也没有逐部件原生留侧布尔值。已用视频多视角和log step 319的固定相机标定投影核对分隔面，四个留侧节点的跨面时间仍是约±1 s的视觉估计，无法独立复核全碰撞网格的毫米级边界、金环速度及共享确认计数。评分器未报告DAG的两项速度原生指标，故均填null。没有把agent关于分离或包含的拟合判断当作节点完成证据。" + }, + "summary_zh": "开局两只马蹄铁和两条短链留侧，进度为4/6；机器人最终抓住金环，但在视频约119.5 s抬环时带起仍套连的银色组件，并在视频约125–127 s把四个留侧状态一并破坏，末帧为0/6。agent过早把抬高判作脱离并切换为搬运，后续双臂调姿至视频244.2 s仍未解环，圆环入区的共同终态也未成立。无状态日志，留侧跨面时间及精确几何、速度验收存在上述证据缺口。", + "conf": 6, + "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0/110/119/123/126/130/160/244 s帧：初始两只马蹄铁与短链平放在后方，约119–126 s金环抬起后银色组件竖起并被带向目标区，之后直至末帧仍套连，与文件的节点值、断点（ring_separated）、现象（带动本体）一致。根因推理/规划有log step 246/259/284的引文支撑，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": "2026-10-30T23:48:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--tsv9ywm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--tsv9ywm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c35365535346376ad7f44b234ec2b4ace6a46f3b78c2137b56c06d3501daf79b", + "video_sha256": "b17e666a1415c6aad4e5b5a088f727619974ce8a1403782d2ba00197922e8794", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--wwsczl7.json b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--wwsczl7.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9ffbd9c93ce2baa93d68ff039a79630129051c --- /dev/null +++ b/phase2/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--wwsczl7.json @@ -0,0 +1,362 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--wwsczl7", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 1, + "review_max_depth_mm": 2.098, + "forcing_events": 1, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 21646, + "live_rows": 21646, + "sim_steps": 21646, + "physics_steps": 216460, + "steps": 4926, + "elapsed_s": 10817.7, + "replay_wall_s": 3212.6, + "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-horseshoe-ring-02-i01-standard--wwsczl7/replay.mp4", + "duration_s": 541.2, + "fps": 15.0, + "frames": 8118, + "sha256": "36478f7602bc7898e9739589e7883e7f7b81f27b4342a67841432fc0206e0c08" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": 4, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25, + "log_step": 30, + "text_zh": "观察：视频 21–29 s，左夹爪夹住金色圆环并抬起，原先桌上的银色马蹄铁和短链一起离桌，仍挂在圆环上；这不是独立取出圆环。" + }, + { + "t": 192, + "log_step": 148, + "text_zh": "观察：视频 184–193 s，机器人双手各持一只马蹄铁转动、靠拢，金环仍挂在眼链连接附近；腕部画面仍可见银色部件穿过金环。" + }, + { + "t": 530, + "log_step": 425, + "text_zh": "观察：视频 525–530 s，机器人将两只马蹄铁从近桌面的姿态抬起，金环随其上升，没有留在桌面；视频 539.2–541.13 s 末段仍可见金环挂在银色眼链连接处。" + }, + { + "t": 541.13, + "log_step": 431, + "text_zh": "推断：全片按视频 5 s 间隔检查，并加密检查视频 15–37 s、150–221 s、525–541.13 s；未见金环完整越过银色部件并独立移走。agent 在 log step 431 也自述圆环仍被卡住；该自述仅作佐证。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 95–134 s，一侧夹爪夹住马蹄铁、另一侧夹爪夹住金环并调整相对位姿；视频 145–221 s 及末段，两夹爪分别夹住两只马蹄铁折合、翻转，让金环被动悬挂。视频 21–29 s 也有左夹爪单独抓环抬起的阶段。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 340–363 s，右夹爪持住马蹄铁组件，左夹爪在重新夹取金环时多次拨动、推移环缘；这些接触未持续形成抓环，随后才重新握住圆环。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，金环套在桌面后方的银色谜题上，前方绿色虚线目标框为空。" + }, + { + "t": 541.13, + "log_step": null, + "text_zh": "观察：视频 0–540 s 的全片抽帧及视频 525–541.13 s 的加密帧，金环一直在谜题组件处，没有被搬到前方绿框内；末帧绿框仍为空。因此本节点未达到，也未开始独立的入区搬运。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁和两条短链平放在初始谜题位置；本 DAG 的开局条件明确包含两只马蹄铁留在系统侧，故第1个马蹄铁留侧状态从开局成立。" + }, + { + "t": 184.6, + "log_step": 146, + "text_zh": "推断：视频 150–221 s 的逐秒多视角检查显示机器人多次将眼链端朝前翻转，不能将抬高后的画面位置直接当作系统侧位置。结合 log step 12 的固定相机标定与 log step 146、153 中 agent 计算的眼端位置，可怀疑视频约 159–165 s、180–185 s、202 s 附近发生越界；但眼端估计不是全部网格测量，不能据此完整判定两个计数节点的失去和恢复时刻，故时间区间留 null，而非声称全程成立。" + }, + { + "t": 541.13, + "log_step": 432, + "text_zh": "推断：视频 539.2–541.13 s 的俯视、前视和腕部末帧显示两只马蹄铁均在机器人双手之间，链条仍连接在其眼部；结合固定相机方向、初始系统侧位置及 log step 429、432 的机械臂 TCP 实测位置，末态组件已回到系统侧，未延伸到前方分隔面。因此末态至少1只马蹄铁留侧为真；这是空间关系的视觉推断，未获得逐网格原生布尔值。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 145–221 s、450–541.13 s，左右二指夹爪分别夹住两只银色马蹄铁，协调抬升、折合及转动；中间也有右夹爪持一只马蹄铁、另一只由其托住的阶段。计数节点按实际同侧数量判断，不固定左右实例。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁和两条短链平放在初始谜题位置；本 DAG 的开局条件明确包含两只马蹄铁留在系统侧，故第2个马蹄铁留侧状态从开局成立。" + }, + { + "t": 184.6, + "log_step": 146, + "text_zh": "推断：视频 150–221 s 的逐秒多视角检查显示机器人多次将眼链端朝前翻转，不能将抬高后的画面位置直接当作系统侧位置。结合 log step 12 的固定相机标定与 log step 146、153 中 agent 计算的眼端位置，可怀疑视频约 159–165 s、180–185 s、202 s 附近发生越界；但眼端估计不是全部网格测量，不能据此完整判定两个计数节点的失去和恢复时刻，故时间区间留 null，而非声称全程成立。" + }, + { + "t": 541.13, + "log_step": 432, + "text_zh": "推断：视频 539.2–541.13 s 的俯视、前视和腕部末帧显示两只马蹄铁均在机器人双手之间，链条仍连接在其眼部；结合固定相机方向、初始系统侧位置及 log step 429、432 的机械臂 TCP 实测位置，末态组件已回到系统侧，未延伸到前方分隔面。因此末态至少2只马蹄铁留侧为真；这是空间关系的视觉推断，未获得逐网格原生布尔值。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 145–221 s、450–541.13 s，左右二指夹爪分别夹住两只银色马蹄铁，协调抬升、折合及转动；中间也有右夹爪持一只马蹄铁、另一只由其托住的阶段。计数节点按实际同侧数量判断，不固定左右实例。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁和两条短链平放在初始谜题位置；本 DAG 的开局条件明确包含两条链条留在系统侧，故第1个链条留侧状态从开局成立。" + }, + { + "t": 184.6, + "log_step": 146, + "text_zh": "推断：视频 150–221 s 的逐秒多视角检查显示机器人多次将眼链端朝前翻转，不能将抬高后的画面位置直接当作系统侧位置。结合 log step 12 的固定相机标定与 log step 146、153 中 agent 计算的眼端位置，可怀疑视频约 159–165 s、180–185 s、202 s 附近发生越界；但眼端估计不是全部网格测量，不能据此完整判定两个计数节点的失去和恢复时刻，故时间区间留 null，而非声称全程成立。" + }, + { + "t": 541.13, + "log_step": 432, + "text_zh": "推断：视频 539.2–541.13 s 的俯视、前视和腕部末帧显示两只马蹄铁均在机器人双手之间，链条仍连接在其眼部；结合固定相机方向、初始系统侧位置及 log step 429、432 的机械臂 TCP 实测位置，末态组件已回到系统侧，未延伸到前方分隔面。因此末态至少1条链条留侧为真；这是空间关系的视觉推断，未获得逐网格原生布尔值。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 145–221 s、450–541.13 s，夹爪直接夹持的是马蹄铁，短链经眼部永久连接被动跟随；未见夹爪直接夹住短链。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只银色马蹄铁和两条短链平放在初始谜题位置；本 DAG 的开局条件明确包含两条链条留在系统侧，故第2个链条留侧状态从开局成立。" + }, + { + "t": 184.6, + "log_step": 146, + "text_zh": "推断：视频 150–221 s 的逐秒多视角检查显示机器人多次将眼链端朝前翻转，不能将抬高后的画面位置直接当作系统侧位置。结合 log step 12 的固定相机标定与 log step 146、153 中 agent 计算的眼端位置，可怀疑视频约 159–165 s、180–185 s、202 s 附近发生越界；但眼端估计不是全部网格测量，不能据此完整判定两个计数节点的失去和恢复时刻，故时间区间留 null，而非声称全程成立。" + }, + { + "t": 541.13, + "log_step": 432, + "text_zh": "推断：视频 539.2–541.13 s 的俯视、前视和腕部末帧显示两只马蹄铁均在机器人双手之间，链条仍连接在其眼部；结合固定相机方向、初始系统侧位置及 log step 429、432 的机械臂 TCP 实测位置，末态组件已回到系统侧，未延伸到前方分隔面。因此末态至少2条链条留侧为真；这是空间关系的视觉推断，未获得逐网格原生布尔值。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 145–221 s、450–541.13 s，夹爪直接夹持的是马蹄铁，短链经眼部永久连接被动跟随；未见夹爪直接夹住短链。" + } + ] + } + }, + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 192.1, + "log_step": 148, + "where": "操作中", + "evidence_zh": "观察：视频 186–192 s，机器人双手各持一只马蹄铁进行叠合转动，金环未退出；log step 148 的机器人服务安全监测记录链条之间持续深接触并产生复核事件，reward.review_events=1。推断：这发生在解环操作中，历史复核不能由随后退回动作清除，且解环本身直至视频 541.13 s 仍未完成。视频与服务控制步一致：control_steps=7686，控制周期 0.025 s，对应视频 192.15 s，已用视频 192–193 s 的转动结束姿态核对；末次 21646 个控制步对应视频约 541.15 s。" + }, + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": true, + "horseshoes_on_system_side_2": true, + "chains_on_system_side_1": true, + "chains_on_system_side_2": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 530, + "log_step": 425, + "evidence_zh": "观察：视频 525–530 s，机器人抬起两只马蹄铁时，金环仍挂在眼链端并被一起带起；视频 539.2–541.13 s 的腕部近景仍显示金环和银色眼链部件相互穿套，未发生独立移走。推断：解环的相对退出运动受到眼链部件阻挡；不是未抓到金环，也不是计划放下后的不稳。" + }, + { + "cat": "接触", + "item": "接触力异常", + "t": 192.1, + "log_step": 148, + "evidence_zh": "观察：视频 186–192 s 为机器人双手叠合、转动马蹄铁；同一单局的机器人服务安全监测（log step 148）报告该操作段 max_press_force_n=1142.6，右腕驱动达到上限比例 1.0，持有的右马蹄铁压向上链；任务接触穿透超过 2 mm 的最长持续时间为 0.2875 s，上下链之间产生 sustained 复核事件，事件深度 2.097 mm、力 48.9 N。推断：服务事件控制步 7685 × 0.025 s 对应视频 192.125 s，和已检查的视频转动段一致；这里标的是实测异常受压，不把单独 forcing 计数当作另一个约束判负。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 136 定义的 tip_path 只检查逆解成功及关节增量，未检查永久眼链连接的通过路径；log step 146 执行叠合转动，log step 147 称要让两只鞋的眼端靠近并保持链条松弛。视频 186–192 s 和 log step 148 的服务读数显示该转动实际使持物压链、上下链互压；agent 在 log step 150 自述链条交叉，并执行逆序退回，log step 154 改为保持上下眼端配对。推断：所选折合旋转路径未正确处理永久链条的几何约束，运动学预检查通过仍将部件带进相互阻挡的构型，这是解环路径的规划错误。" + } + ], + "gap_zh": "没有状态日志，也没有逐部件全网格的留侧检查或目标速度原生测量。视频 0 s 可确认四个留侧状态的初始成立，视频 539.2–541.13 s 可结合多视角和 TCP 位置推断四项末态成立；但视频 150–221 s 多次高处翻转中的不可见分隔面、眼链局部遮挡，以及 agent 眼端模型的误差，妨碍可靠恢复全部失去和恢复区间，故四项 intervals=null，不把未知期间误记为持续成立或持续失去。log step 148 的力和穿透值是单局服务监测事实；其余多次腕部逆解拒绝确有记录，但不足以证明整个解环接触方案已可行，因此不额外归因到轨迹或逆解。原生两个速度指标未在 reward 中报告。" + }, + "summary_zh": "机器人反复抓环、折合和翻转马蹄铁，圆环始终未完整脱离，也未搬入绿色目标区；四个留侧条件的末态由多视角推断为真，已知末态为4/6。断点为圆环脱离谜题，视频约192.1 s的叠合路径导致持物压链与深接触复核，后续仍被眼链阻挡，支持解环路径规划错误。无状态日志及全网格位置，四个留侧状态的中途时间线无法可靠恢复，区间保留未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点 ring_separated、未入区、四个留侧节点末态为真（推断）与视频一致：视频 0 s 金环套在谜题上、绿框为空，视频 535 s 和 540.5 s 腕部画面仍见金环与银色眼链相互穿套，绿框始终为空。未发现需要改动的节点值、接触或断点。", + "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": "2026-10-30T23:31:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--wwsczl7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--wwsczl7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b57601071d26f818d8dfff76bed8ecd96f28d52105a0c08f67186d03796a01f9", + "video_sha256": "36478f7602bc7898e9739589e7883e7f7b81f27b4342a67841432fc0206e0c08", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--6aajxgm.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--6aajxgm.json new file mode 100644 index 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"physics_steps": 1270, + "sim_time_s": 6.350000000000023, + "final_reward": 0.0, + "replay_wall_s": 210.3, + "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": 7, + "agent_resets": 42, + "agent_sim_steps": 730, + "agent_records": 0, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.53, + "peak_memory_gb": 2.067, + "peak_processes": 12, + "peak_disk_gb": 1.01, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-privileged--6aajxgm/replay.mp4", + "duration_s": 6.4, + "fps": 15.0, + "frames": 96, + "sha256": "f261d0583e3861c0b316435c950e26d1c78573852389ede5c05ba68bdfb756eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，橙色绳在短柱周围有紧密的多圈重叠，固定端连在左下方灰色订扣，长自由段向右侧伸出。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频1.6–4.8 s，机器人右夹爪下降到订扣与柱之间的绳段附近并数次升降调整，左夹爪未参与；未见绳段随右夹爪被带起或移过短柱，原有绳圈保留。" + }, + { + "t": 6.33, + "log_step": null, + "text_zh": "观察：视频5.4–6.33 s含末帧，柱旁仍有相互重叠的橙色绳圈，没有展开为可分离追踪的曲线。成功参考视频约42–48 s可见绳段已在桌面展开；本次没有出现该形状。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频1.6–4.8 s的作用端为机器人右夹爪，目标为固定端与柱之间的绳段；爪体及手部视角遮挡局部触点，无法确认是否发生单侧擦碰或短暂夹触，未见对向夹紧后带动绳段，故不认定实际抓握。左夹爪保持在旁。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，长自由段从柱旁向右伸出形成大弧，尚未铺到DAG所述订扣左下方的目标区。" + }, + { + "t": 6.33, + "log_step": null, + "text_zh": "观察：视频0.0–6.33 s，机器人只在固定端附近尝试夹取，没有搬移右侧自由段或向左下方铺绳；视频5.4–6.33 s中右侧大弧和自由端位置基本保持初态。" + }, + { + "t": 6.33, + "log_step": null, + "text_zh": "推断：初始越区的长自由段直到视频6.33 s仍未被移回，整绳入区条件始终不成立，不能因末段静止而计为铺放完成；判断依据是可见绳形和位置，非仅依据评分为零。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.008, + "direction": "higher_better" + }, + { + "name": "outside_fraction", + "value": null, + "unit": "ratio", + "threshold": 0, + "direction": "lower_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 2.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约1.6 s开始右夹爪向固定端附近的绳段下降，视频约2.6 s已在该处尝试夹取，但后续升降没有带起绳段，直到视频6.33 s仍保留柱旁重叠绳圈。推断：最先未修复的是解结步骤的有效夹取，尚未进入移绳入区阶段。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.6, + "log_step": null, + "evidence_zh": "观察：视频1.6–4.8 s，右夹爪靠近绳段并升降，绳子仍在原处，没有被夹住后随爪抬起的片段；视频6.33 s绳圈未展开。推断：解结所需的有效抓握未建立；此处指未形成可牵引绳段的夹持，不排除爪体曾擦碰绳子。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.6, + "log_step": 230, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 226的生成脚本从当前绳中心线选择抓点并安排下降、闭爪和object_in_hand检查，检查失败便退出解绕循环；log step 230输出“cycle 0 grasp False i 60”，随后保存174行动作。log step 234核对同一提交文件的回放，动作数同为174且未成功；视频1.6–4.8 s也只见右夹爪在绳段附近调整，没有带起绳子。推断：本次卡在把抓取动作变成有效绳段夹持的控制环节；证据不足以进一步区分接触几何、末端跟踪或记录动作细节。" + } + ], + "gap_zh": "观察：inputs/没有逐帧状态日志，视频局部触点被右夹爪遮挡；无法认证实际接触对、夹爪毫米级高度及是否短暂擦碰，也不能将控制根因细分。log step 230是生成会话的诊断，不能直接当作逐帧回放状态，其222个控制步也不直接映射到174行动作的评分视频；log step 202的局部解绕属于较早重置测试，不计本次进度。评分器未报告DAG所列三项原生指标的数值，均填null；视频也不能认证毫米级间隙和静止阈值，但可见的重叠绳圈与未移回的越区自由段已足以判定两个节点为假。" + }, + "summary_zh": "评分轨迹只包含右夹爪在固定端附近的夹取与升降尝试，柱旁重叠绳圈和右侧越区长自由段一直保留，两个目标节点均未达到（0/2）。断点为解开理顺绳的操作阶段，所需有效抓握未建立，日志与视频支持归于控制环节，尚不足以细分原因。没有逐帧状态日志且局部触点被遮挡，因此实际接触方式记未知，较早会话测试中的局部解绕不计入本次。", + "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、断点（rope_untangled，操作中）与右夹爪尝试夹取却未带起绳段的描述与视频和log一致；未发现需改内容的错误。控制根因证据有限但已如实声明不能细分。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:33:45Z", + "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-knot-untying-09-i01-privileged--6aajxgm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-privileged--6aajxgm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f523048a969853d67dd735644179efd10d96a431e2c4b6bdc4304d70e3c8844a", + "video_sha256": "f261d0583e3861c0b316435c950e26d1c78573852389ede5c05ba68bdfb756eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--ezxymrr.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--ezxymrr.json new file mode 100644 index 0000000000000000000000000000000000000000..a12d43cb369b1a90c01d24937e17521eca06366f --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--ezxymrr.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-privileged--ezxymrr", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "all_success": 1, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 2036, + "submitted_actions": 2066, + "sim_steps": 2036, + "physics_steps": 10178, + "sim_time_s": 50.88999999999818, + "final_reward": 1.0, + "replay_wall_s": 2260.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 2036, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 6, + "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, + "peak_memory_gb": 1.211, + "peak_processes": 13, + "peak_disk_gb": 0.086, + "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-knot-untying-09-i01-privileged--ezxymrr/replay.mp4", + "duration_s": 51.0, + "fps": 15.0, + "frames": 765, + "sha256": "8d9d0680ea3e54264dadfa991cc0375348dcc5ed219b1248772b5b02aa35dae5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [ + [ + 31.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙绳固定端仍在灰色订扣下，短柱旁存在多圈交叉和重叠，长自由段伸向桌面右侧；解结条件初始不成立。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 3.2–6.4 s，机器人左夹爪闭合夹住柱旁绳段，右夹爪夹住右侧另一段并向柱旁送绳，绳形随两爪移动；视频 6.8–8.0 s，右爪张开撤离，左爪继续夹绳牵引。" + }, + { + "t": 31.8, + "log_step": null, + "text_zh": "推断：视频 29.0–31.2 s，固定端附近仍有交叉绳段；视频 31.4–32.8 s，左夹爪把自由端向左牵开后，橙绳可从订扣经柱旁弯曲段连续追踪到左侧自由端，各段分开，原交叉消失。首次理顺取视频约 31.8 s，误差约 0.5 s；局部在夹爪下短暂遮挡，时间结合前后帧判断。" + }, + { + "t": 50.93, + "log_step": null, + "text_zh": "观察：视频 32.8、38.0、43.0–50.93 s，机器人左爪继续换抓、调整弯曲段，未见交叉重新出现；末帧绳呈分开的连续弯曲线。评分器 reward.strict_goal_reached=1、all_success=1、deterministic=1，支持最终解结条件成立；精确的非局部中心线间距由评分器认证，未从像素测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 3.2–6.4 s，左夹爪夹紧柱旁绳段、右夹爪夹紧另一段配合送绳，两爪各自夹持绳子；右爪退出后，左夹爪多次单独换抓、牵引及绕柱展开绳段，见视频 18.0–32.8 s。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [ + [ + 50.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 2, + "text_zh": "观察：视频 0.0 s，绳的大段自由端伸向桌面右侧，后续明显向左侧铺展。log step 2 读取的任务文字说明目标区不直接画在场景中；录像中没有绿色边界，不能仅凭桌面空白处确定区域内缘。" + }, + { + "t": 43.0, + "log_step": null, + "text_zh": "观察：视频 20.0–32.8 s，机器人左夹爪把自由段逐步移向桌面左下方；视频 34.0–45.0 s，左爪换抓中段，把柱旁剩余弯曲段向下牵开并放回桌面。视频 46.0–50.4 s，左爪再调整右侧弯曲段，右爪张开停在绳外。" + }, + { + "t": 50.9, + "log_step": null, + "text_zh": "推断：视频 50.47–50.93 s，左夹爪张开并抬离，绳留在桌面且保持展开形状；最终局部仍有投影遮挡。评分器 reward.success=1、strict_goal_reached=1、strict_goal_row=2036、all_success=1、replays=2、replay_hold_steps=0、replay_tolerance_needed=0，确认提交动作内已通过严格联合验收，因此本节点最终为真。以已检查的末段视频约 50.9 s 作为完成锚点；入区、贴桌、解除辅助抓取、毫米级间隙、静止及共同保持窗口的精确起点不能逐帧独立认证。" + }, + { + "t": null, + "log_step": 319, + "text_zh": "观察：log step 319，agent 的脚本将选定动作段合成 2036 行并追加 30 行保持动作，输出保存成功、总形状为 (2066,14)；评分器实际执行 n_actions=2036、submitted_actions=2066，并报告两次回放成功。log step 320 的模型过滤提示发生在保存之后，不改变该交付轨迹已获成功的判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20.0–50.4 s，机器人左夹爪反复闭合夹住不同绳段，将自由端和中段向左下方牵引铺放；绳段随左爪移位，随后张爪落回桌面。视频 50.47–50.93 s，左爪张开并抬离绳体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人先以双爪夹持不同绳段配合送绳、牵引，后由左爪逐段展开并铺放，视频约 31.8 s 起绳线交叉消除，末段张爪抬离后完成两个目标节点。评分器报告两次回放均成功，提交动作内已通过严格联合验收，无额外保持或容差放宽。没有状态日志，目标边界未画在录像内，毫米级间距、离手间隙、静止及联合保持的精确起点无法独立量测，入区节点的视频约 50.9 s 完成锚点依据末帧与成功评分共同判断，三个原生指标未报告具体数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个目标节点时间与接触标注与帧一致：约31.8 s 前后交叉由有到无，末帧绳展开于桌面；评分器字段支持最终为真。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": 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--git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--miabn53.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--miabn53.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8a6c9bf65c663260fbd5669aea24f3ac575faa --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--miabn53.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-privileged--miabn53", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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": 579, + "submitted_actions": 579, + "sim_steps": 659, + "physics_steps": 3295, + "sim_time_s": 16.475000000000133, + "final_reward": 0.0, + "replay_wall_s": 463.5, + "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": 2, + "agent_resets": 3, + "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-knot-untying-09-i01-privileged--miabn53/replay.mp4", + "duration_s": 16.533, + "fps": 15.0, + "frames": 248, + "sha256": "df309220ad806c7fba415d7c0827a837692d829d956ae664ef731cf5a4571d34" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙绳在灰色短柱周围盘成数层相叠的绳圈，固定端仍在灰色订扣下，初态不满足解结理顺。" + }, + { + "t": 8.8, + "log_step": 170, + "text_zh": "观察：视频 6.8–9.0 s，左夹爪夹住固定端侧绳段并留在柱旁，右夹爪夹住出绳段向画面右下牵拉；出绳段变直，柱旁的套圈和重叠仍在。log step 170 的提交动作脚本正是保持左侧夹持、右侧分十次径向牵拉。" + }, + { + "t": 16.46, + "log_step": null, + "text_zh": "观察：视频 10.0–16.46 s，两爪张开并退离后，短柱周围仍有紧邻、交叠的绳圈；已逐帧检查视频 15.5–16.46 s，未见交叠消除。成功参考视频 50.9 s 则呈分离的连续弯曲绳段；此对照仅用于识别形状。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 3.0 s 起左夹爪合拢夹住固定端侧绳段，视频约 6.5–9.0 s 两夹爪分别夹持绳的不同部位，左爪保持、右爪向外牵拉；绳随右爪移动，随后两爪先后张开退离。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 3, + "text_zh": "推断：log step 3 的实例参数给出目标矩形相对坐标的 y 上界为 0.01 m，post_eye 短柱轴的 y 为 0.04 m；视频 0.0 s 的绳圈绕着该柱，因此柱背侧绳段位于目标区之外，整绳初态未入区。" + }, + { + "t": 16.46, + "log_step": 172, + "text_zh": "观察：视频 7.0–9.0 s，机器人将出绳段向柱的右下方拉长；视频约 9.5–12.0 s 两爪原地松绳后停放，没有另行将柱旁绳圈及其余越界绳段铺入左下目标区的调整动作。log step 172 的脚本执行松手、退臂和保持。" + }, + { + "t": 16.46, + "log_step": 3, + "text_zh": "推断：视频 15.5–16.46 s，绳仍环绕 post_eye 短柱，结合 log step 3 中短柱与目标区上边界的相对位置，仍有中心线在目标区外；且柱旁交叠未消除，未达到本节点要求的与解结共同保持的验收状态。区域判断采用实例相对位置与可见绕柱关系，未从像素估算毫米距离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 8.8, + "log_step": 170, + "where": "操作中", + "evidence_zh": "观察：视频 7.0–9.0 s，机器人已双爪夹绳并向外牵拉，但短柱旁绳圈持续交叠；视频约 9.5 s 起松手退出，直到视频 16.46 s 也未修复。log step 166–175 表明这段动作在重置后录制并保存为 579 行提交轨迹；此前会话中的绕圈、高举等试验不在本次评分录像内。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 8.8, + "log_step": 170, + "evidence_zh": "观察：视频 7.0–9.0 s，右夹爪拉走出绳段，柱旁绳圈仍贴绕固定短柱，所需的脱绕展开没有发生；视频 16.46 s 可见绳圈仍围着该柱并相叠。阻碍位于绳与固定柱的绕接处，不是夹爪未接触绳或中途掉绳。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志、视频", + "evidence_zh": "推断：log step 168、170 的实际提交方案只固定订扣侧绳段，再把出绳段沿同一径向连续外拉，之后 log step 172 直接松手停放；没有后续改变柱旁套圈关系的操作序列。视频 7.0–9.0 s 显示抓持与径向牵拉确已执行，却只拉直外侧绳段，柱旁重叠保留至视频 16.46 s，说明选定的解结动作序列未有效处理缠绕；此归因不依赖 agent 对摩擦、自锁或任务不可解的解释。" + } + ], + "gap_zh": "没有状态日志或逐帧原生目标指标，无法独立量化非局部绳段间距、越界比例、绳高、速度、漂移及机器人间隙；评分器 reward 未报告 DAG 的三个原生指标，故 native_metrics 的 value 均为 null。区域依据来自 log step 3 的实例参数和视频可见绕柱关系，独立目标区域叠图未包含在当前输入文件中。视频足以判定交叠及整绳未入区，但不能证明 agent 自述的摩擦、自锁或受力机理。" + }, + "summary_zh": "评分轨迹中，机器人用双夹爪分别夹住固定端侧和出绳段，向外牵拉后松手停放；两个目标节点均未达到，最终为 0/2。断点在解开理顺绳：出绳段被拉直，短柱旁绳圈仍被绕接限制并保持交叠，所选径向牵拉序列没有完成解绕。缺少状态日志及逐帧原生指标，毫米级终态条件不能独立核实；此前会话试验不计入本次进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个目标节点均未达成（0/2）与视频一致：16 s 帧仍见绳绕短柱成圈，目标区判断依据实例参数。断点、接触（双臂协作+抓握）、现象与根因在所查证据下均有支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + 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"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": 1054, + "submitted_actions": 1054, + "sim_steps": 1134, + "physics_steps": 5670, + "sim_time_s": 28.349999999999458, + "final_reward": 0.0, + "replay_wall_s": 2746.8, + "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": 1, + "success_in_hold_only": 0, + "agent_sessions": 28, + "agent_resets": 19, + "agent_sim_steps": 7404, + "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-knot-untying-09-i01-privileged--qghquwm/replay.mp4", + "duration_s": 28.4, + "fps": 15.0, + "frames": 426, + "sha256": "fffe59712b4e2ef700247c1857b20069da9fbb23996e53e1b10728e16e5f4675" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，灰色订扣固定绳的一端，橙色绳在短柱周围盘绕，多段中心线交叉、重叠，初态不满足解开理顺绳。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "观察：视频 4.75–12.5 s，右夹爪夹住自由端附近绳段并绕短柱运动；检查该段每约0.25秒的画面，柱旁始终留有密集绳圈和交叉。视频 12.5 s 机器人开始把尾段移向桌面下方，柱旁绳圈没有被展开。" + }, + { + "t": 27.8, + "log_step": null, + "text_zh": "观察：视频 19.0–24.5 s，左夹爪牵引尾段向左铺放，柱旁绳圈仍保留；视频 26.5–28.33 s 两夹爪撤开后，短柱周围仍可见交叉及并行重叠绳段。参照成功录像视频 50.8 s 可见的分离展开曲线，本次没有达到该形状。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 4.5–15.0 s，右二指夹爪夹住尾段，提起并绕柱牵引，随后张爪放下；视频约 18.5–24.5 s，左二指夹爪另行夹住尾段向左牵引展开。两爪依次作用，没有同时持绳协作的画面。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，长尾段向桌面右下方延伸，另有大段绳圈留在短柱周围，整绳没有铺在 DAG 描述的左下方目标矩形内。" + }, + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 12.5–15.0 s，右夹爪把尾段放到桌面下方并松开；视频 18.5–24.5 s，左夹爪夹住尾段向左移动后放下，只有尾段被摊开，订扣右上方的短柱周围仍留有绳圈。" + }, + { + "t": 27.8, + "log_step": 8, + "text_zh": "推断：视频 27.8 s 及视频 27.3–28.33 s 的末段画面仍显示绳圈包围短柱，未移入左下方目标区。log step 8 的冻结实例参数中，目标矩形上边界任务局部坐标 y=0.01 m，短柱 post_eye 中心 y=0.04 m；结合画面中仍绕柱的绳段，可判断整条中心线入区条件不成立，无需以零得分反推。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 12.5–15.0 s，右夹爪夹着尾段下移、放到桌面后张开撤离；视频约 18.5–24.5 s，左夹爪重新夹住尾段，沿桌面向左及上方铺放后松开。两臂是依次抓取铺绳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 12.5, + "log_step": 161, + "where": "操作中", + "evidence_zh": "观察：视频约 12.5 s，右夹爪结束绕柱动作并开始移走尾段时，短柱周围仍有交叉绳圈；后续左夹爪铺放尾段直至视频 28.33 s 仍未消除。log step 161 的录制脚本在固定三圈绕柱后直接进入尾段移交和铺放，log step 162–163 将该脚本用于生成交付；评分器记录 submitted_actions=1054，与 log step 193 读取的已保存轨迹长度一致。最早未修复的步骤是解开理顺绳。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "其他", + "item": "绳体残留交叉与重叠", + "t": 12.5, + "log_step": null, + "evidence_zh": "观察：视频 12.5–15.0 s，机器人将自由尾段拉离短柱时，柱旁仍有数段绳相互交叉并盘成绳圈；视频 26.5–28.33 s 两夹爪已撤开，这些交叉和重叠依然存在，未形成整条可分离追踪的平面曲线。", + "note_zh": "候选现象：绳体残留交叉与重叠。现有现象条目没有直接描述柔性绳的拓扑整理失败；画面未显示夹持丢失，也不足以判定阻挡接触或异常接触力，故不强套这些条目。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 161 的交付脚本仅让右夹爪抓住自由尾段，在固定高度绕 post_eye 三圈，随后无条件进入松手、左夹爪重抓和沿目标区边缘铺放；其解结阶段没有针对残留绳圈的换抓或穿脱动作。视频 5.0–12.5 s 显示绕柱运动执行后绳圈仍未展开，视频 19.0–24.5 s 的尾段铺放也没有修复，说明所选解结顺序和策略不足以消除实际的交叉；这一归因来自脚本动作结构与实际结果，未把停止或预算耗尽当作原因。" + } + ], + "gap_zh": "没有逐帧状态日志，无法独立认证非局部绳间距、离桌高度、机器人毫米级间隙、速度和漂移；本次节点为假有可见的残留交叉和未入区绳段支持。录像不显示目标虚线叠层，入区判断结合 DAG 的区域描述及 log step 8 的实例布局。log step 176 以后另行测试的桌面绕柱、抬圈越柱等动作不属于评分录像；log step 258 最后仅称测试正在运行，没有完成声明，不能把这些会话测试或自述作为本次进度。" + }, + "summary_zh": "评分轨迹中右夹爪抓住尾段绕柱，随后放下并由左夹爪接续铺绳，但两个节点均未达到，最终为0/2。视频约 12.5 s 绕柱结束时短柱周围仍有交叉绳圈，直到视频 28.33 s 仍未修复且有绳段留在目标区外；结合交付脚本，推断固定圈数绕柱后直接铺放的解结策略不足。无状态日志，毫米级终态条件无法独立复核。", + "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 0/5/9/12.5/15/19/24.5/28 s：两节点均未达到，柱旁绳圈始终保留，最终 0/2 与评分器一致；断点、现象和根因与画面及日志相符，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": "2026-10-30T23:34:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": 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"replay_wall_s": 7430.1, + "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": 5, + "agent_resets": 0, + "agent_sim_steps": 855, + "agent_records": 247, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.848, + "peak_memory_gb": 1.936, + "peak_processes": 8, + "peak_disk_gb": 0.92, + "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-knot-untying-09-i01-privileged--tbft8ms/replay.mp4", + "duration_s": 106.6, + "fps": 15.0, + "frames": 1599, + "sha256": "788017696dffa5881d9a753b9856edb4c170dc0befffbb212810bd9870484ac8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 绳在短柱及灰色订扣附近盘绕，多条橙色绳段交叉；视频全程的粗采样及视频 30.0–35.0 s、70.0–78.7 s、91.0–96.0 s 的加密画面均仍有交叉或重叠，未见整绳展开成无交叉曲线。" + }, + { + "t": 95.3, + "log_step": 639, + "text_zh": "观察：视频 94.3–95.3 s 左夹爪夹起局部绳段向左、向下牵引，随后绳段脱离夹爪回落，结团仍在；agent 在 log step 639 自述该次抬升在绳圈越过柱前因张力而脱手。" + }, + { + "t": 106.5, + "log_step": null, + "text_zh": "观察：视频 105.6–106.5 s 两爪已离开绳子，固定端附近仍有多处交叉、紧靠的回环和上下叠放；成功参考视频 50.9 s 的整绳则铺成分离的弯曲路径。参考仅用于辨认目标外观，本次解结结果没有达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左右二指夹爪先后夹住绳段并抬升、牵引和换抓：视频 6.0–13.0 s 右爪夹持自由端搬动，视频 94.3–95.3 s 左爪夹起局部绳段拉动后脱手。视频 42.0–45.3 s 右爪靠近持绳左爪时发生两爪接触，未证实右爪同时夹住绳；视频 72.7–78.7 s 左爪已经张开，右爪才尝试抓取，不记双臂同时抓握。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 长自由端伸向桌面右下侧，结团在短柱附近；对照成功参考视频 50.9 s 位于桌面左下侧的铺放形状，本次初态未完成入区铺放。" + }, + { + "t": 103.7, + "log_step": 709, + "text_zh": "观察：视频 101.7–103.7 s 左爪抬起结附近绳段，拉向桌面左下侧，下降后张爪撤离；绳的自由段位置有所改变，但订扣附近仍是多层绳圈。log step 709 的脚本依次要求左爪牵引、下降、张爪和撤离，与该段画面一致。" + }, + { + "t": 106.5, + "log_step": 737, + "text_zh": "推断：视频 105.6–106.5 s 俯视与斜视均可见绳段在固定端附近上下堆叠，没有铺成贴桌的单层路径；结合任务给出的绳径8毫米，叠放处不满足整绳最高11毫米的铺平要求，因此完整铺放验收未达到。log step 737 中 agent 也自述仍有交叉且部分绳体偏高；这里没有把其“已入区”的自述当作边界认证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左右夹爪先后夹住局部绳段调整铺放位置；视频 101.7–103.7 s 左爪单独夹起绳段，向桌面左下方牵引、下降后张爪撤离。实际完成局部搬移，没有达到整绳铺平验收；未证实两爪同时夹绳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 95.3, + "log_step": 639, + "where": "操作中", + "evidence_zh": "观察：视频 94.3–95.3 s 机器人左爪夹起交叉区域的一段绳并向左下牵引，绳段在夹爪张开前脱离并回落，交叉绳圈未展开；后续继续重抓，到视频 106.5 s 仍有多处交叉。解开理顺绳是一直尝试但始终未修复的步骤，视频约95.3 s 的脱手是其中可定位的失败片段。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 95.3, + "log_step": 639, + "evidence_zh": "观察：视频 94.3–94.7 s 左爪提升时有绳段随爪升起并拉出离桌绳弧；视频 95.0–95.3 s 绳弧脱离仍闭合的左爪回落，左爪继续运动而绳圈留在订扣附近。log step 623 的这段牵引命令没有张爪操作，张爪在之后的 log step 639 才下达；agent 在该步自述绳段在越柱前脱手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 95.3, + "log_step": 633, + "evidence_zh": "推断：视频 94.3–95.3 s 已建立夹持却未能在抬升和牵引时保持，导致绳圈回落、交叉未清除，支持夹持与运动执行层面的控制问题。最终录制会话的 log step 622 报告左手持绳；log step 628、633 的末端运动反馈分别有约25毫米、42毫米位置误差，随后 log step 639 自述脱手；这些记录与上述画面相符。没有足够证据将原因细分为抓取承载设计或轨迹跟踪。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "没有逐帧状态日志或原生绳中心线、抓持力和终态认证数据；视频不能独立测出目标边界的毫米级包含、1毫米间隙、速度及漂移，三个native_metrics的实测值也未由评分器报告。铺放节点按可见上下堆叠及绳径推断不满足贴桌高度，未将边界或静止认证为成功；控制根因的具体子类仍无法区分。" + }, + "summary_zh": "机器人用左右夹爪先后多次换抓、抬升和牵引，将自由段向桌面左下方搬移，但解开理顺绳与完整入区铺放均未达到，终态为0/2。解结操作中夹持曾丢失，视频约95.3 s 左爪牵引时绳段脱离，后续重抓仍未消除交叉，视频106.5 s 绳仍堆叠在固定端附近；根因归控制，无法细分。缺少原生几何与力数据，毫米级边界、间隙和静止条件不能独立复核；forcing记录未伴随仿真崩溃，不作为失败原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "终态 0/2、两节点均未达到与帧一致（视频 0 s、106 s 仍有多处交叉与堆叠）；断点 rope_untangled 在视频约 95 s 左爪牵引后绳段脱手，帧可见；现象与根因有帧和日志支撑，时钟均标明视频时间。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": "2026-10-30T23:34:49Z", + "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-knot-untying-09-i01-privileged--tbft8ms/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-privileged--tbft8ms/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6b3d7ab7f1f65a0a6e0c0fd52235db2b0683d7f232a5533109d9398d179d34dd", + "video_sha256": "788017696dffa5881d9a753b9856edb4c170dc0befffbb212810bd9870484ac8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--te8oxjg.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--te8oxjg.json new file mode 100644 index 0000000000000000000000000000000000000000..14bf35e90c0bf314338d9926fcf8d35541a140f9 --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--te8oxjg.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-privileged--te8oxjg", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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, + "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": 2100, + "submitted_actions": 2100, + "sim_steps": 2180, + "physics_steps": 10900, + "sim_time_s": 54.499999999997975, + "final_reward": 0.0, + "replay_wall_s": 4503.0, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 80, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-privileged--te8oxjg/replay.mp4", + "duration_s": 54.6, + "fps": 15.0, + "frames": 819, + "sha256": "0434b814af4f57c87d89f79c42c5207f31b2b4cca35370669f4ea6bc3476102f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 橙绳在短柱周围形成多重绳环及交叉；灰色订扣端固定，长自由段伸向画面右下方。" + }, + { + "t": 12.0, + "log_step": 61, + "text_zh": "观察：视频 6.0–27.0 s 机器人右夹爪夹住局部绳段并反复向右牵引、松开换抓，绳段随夹爪移动；左夹爪闭合指尖停在柱旁绳环上方压住局部。自由尾段缩短，但柱旁和拉出的绳环仍可见交叉。" + }, + { + "t": 54.53, + "log_step": null, + "text_zh": "观察：视频 42.0–52.5 s 机器人继续夹取、牵拉；视频 53.5–54.53 s 的末尾各帧仍显示短柱旁的绳环和右侧相交绳段，未出现整绳无交叉的形状。成功参照视频 33.0–50.93 s 可见绳已铺展为分离曲线，仅用于辨识达成外观。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6.0–27.0 s 及视频 43.0–52.5 s，右二指夹爪夹住橙绳局部并牵拉、反复换抓，绳段跟随移动；同时左夹爪在柱旁配合固定绳环。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 3.0–47.0 s 左夹爪以闭合指尖向下压住柱旁外侧绳段，配合右夹爪牵拉。视频约 32.5–40.0 s，右夹爪在换抓过程中还顶压后方固定柱，绳环仍留在桌面。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 绳的长自由段伸向右下，绳结位于短柱周围，机器人尚未开始向左下目标区域铺绳。" + }, + { + "t": 54.53, + "log_step": 95, + "text_zh": "观察：视频 48.0–52.5 s 机器人右夹爪仍向右牵拉绳段；视频 53.5–54.53 s 绳仍围在短柱周围，右侧绳段停在闭合夹爪中，没有整绳铺入左下区域后双爪离绳的终态。log step 95 保存该 2100 步轨迹时服务返回 success=False；未凭零分推断本节点。" + }, + { + "t": 51.0, + "log_step": 99, + "text_zh": "推断：视频 0.0–54.53 s 机器人始终围绕柱旁绳结换抓和牵拉，没有执行整体入区铺放；log step 99 中 agent 也自述所规划的入区曲线从未执行。因此本节点未尝试，不填写其 contact_actual。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 32.5, + "log_step": 95, + "where": "操作中", + "evidence_zh": "观察：视频约 29.0–32.0 s 右机械臂换抓时大幅翻转腕部，随后在视频约 32.5–40.0 s 右夹爪停在后方固定柱处，绳环基本留在原处。机器人此后恢复局部牵拉，但至视频 54.53 s 仍未解开交叉；首次未完成且始终未修复的语义步骤是解开理顺绳。log step 95 保存的轨迹状态记录四次右夹爪压后柱事件。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 32.5, + "log_step": 95, + "evidence_zh": "观察：视频约 32.5–40.0 s 右夹爪在后方固定柱处受阻，未下到桌面绳段，换抓期间绳形基本不变。log step 95 的服务 forcing 记录明确命名右夹爪/手指压在 post_back，四次最大接触力分别为 63.2、80.8、123.0、73.8 牛；评分器也报告 forcing_events=4。推断：该日志属于保存的 2100 控制步分支；2100 步对应仿真 52.5 s，故每步 0.025 s，首个事件控制步 1302 对应视频约 32.55 s，已与视频约 32.5 s 夹爪顶柱画面核对。压柱妨碍了本步所需的换抓，不另把同一接触计为接触力异常。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志", + "evidence_zh": "推断：执行中的逆解分支不连续造成右臂大幅摆动并撞柱，妨碍持续换抓解结。log step 74 的交付分支脚本以局部末端位移反复调用 move_ee；log step 86 的服务警告指出小位姿变化却选到相距当前关节 0.71、3.15、6.28 rad 的另一逆解分支，并明确提示机械臂将摆动；视频约 29.0–32.0 s 确有右腕大幅翻转，视频约 32.5–40.0 s 接着出现夹爪顶柱及停滞，log step 95 保存时的接触记录与之相符。" + } + ], + "gap_zh": "没有逐帧状态日志，无法精确复核非局部中心线最小间距、入区比例、释放间隙、速度及漂移；评分器未报告三个原生指标的数值，故均填 null。视频中的可见交叉和末尾仍持绳足以判定两个节点未达成。逆解跳变及压柱有独立证据，但尚不能确定持续残留的绳结是否另受解结顺序或抓点布局影响，未追加这些根因。" + }, + "summary_zh": "机器人以左夹爪压住柱旁绳环、右夹爪反复夹取牵拉，虽改变了绳形，但至视频 54.53 s 仍有明显交叉，两个节点均未达到，入区铺放未启动。断点为解开理顺绳的操作中：视频约 32.5 s 起右夹爪顶住后柱，结合执行日志中的逆解分支跳变警告，推断轨迹或逆解问题妨碍换抓；随后局部牵拉也未完成解结。无逐帧状态日志，毫米级终态指标不可独立复核。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点未达成、断点（解开理顺绳，约视频32.5 s右夹爪顶后柱）、被挡/碰撞现象（服务forcing记录4次、步1302≈视频32.55 s）和轨迹或逆解根因均有帧与日志支持；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:57:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + 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b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--aboo8qy.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--aboo8qy", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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": 17788, + "live_rows": 17788, + "sim_steps": 17788, + "physics_steps": 88940, + "steps": 868, + "elapsed_s": 10596.3, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.245, + "peak_processes": 10, + "peak_disk_gb": 0.382, + "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-knot-untying-09-i01-standard--aboo8qy/replay.mp4", + "duration_s": 444.8, + "fps": 15.0, + "frames": 6672, + "sha256": "29d0ac7c5ef327eb5e4026a102c5933f6ae0f8f386a30bf2c9d878a49907a2b8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的 cam_high 显示橙绳在短柱周围盘绕，内外绳段有交叉、重叠；初态不满足解结判据。" + }, + { + "t": 23.75, + "log_step": 126, + "text_zh": "观察：视频 18.35–23.75 s，右夹爪闭合夹住柱右下方的绳段并向右下牵引，局部绳形改变，但柱旁绳环仍有交叉，没有被展开。" + }, + { + "t": 56.9, + "log_step": 172, + "text_zh": "观察：视频 50.0–65.5 s，左夹爪从柱上方的外环附近抬升并移到柱另一侧，外环仍留在桌上，未随夹爪越过柱顶；log step 173 所称“still holding”没有对应的提绳画面。" + }, + { + "t": 444.7, + "log_step": null, + "text_zh": "观察：全片约每 5 s 的抽帧及视频 443.8 s、444.7 s 的末秒画面仍显示柱旁多层绳环及交叉。对照 oracle 视频 50.8 s 中绳子在柱下方展开为分离曲线的外观，本次未见无交叉理顺状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 18.35–23.75 s，右夹爪两指夹住柱右下方绳段后牵引，局部绳段随动；左夹爪当时悬空，未见双臂同时夹持绳子。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，长尾从柱旁向画面右侧再向下弯曲，大段绳体位于 DAG 所述左下方目标区之外。" + }, + { + "t": 92.5, + "log_step": 205, + "text_zh": "观察：视频 82.5–97.5 s，左夹爪在柱旁下探后向左下方移动，绳环仅局部变形，未整体离开柱旁；右侧长尾仍在原处。log step 204 的脚本将这一段动作指定为提绳越柱并铺入目标区，但画面未显示相应的搬运结果。" + }, + { + "t": 437.5, + "log_step": 297, + "text_zh": "观察：视频 420.0–444.7 s 的密集抽帧显示右夹爪在长尾附近闭合、移动和张开，绳尾仍留在右侧桌面。log step 297 输出的“HOLD”来自脚本以肩部力矩等读数作判断，未见绳尾跟随完成左移，不能据此认定抓取或铺放成功。" + }, + { + "t": 444.7, + "log_step": 299, + "text_zh": "观察：视频 443.8 s、444.7 s 两爪撤离时，右侧长弧和柱旁绳环仍清楚可见；对照 oracle 视频 50.8 s 的左下方铺绳外观，本次整绳未入区。评分器 reward.live_success=0、success=0；本节点判假基于可见越区绳段，不单由零分反推。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 82.5–97.5 s 的左夹爪入区尝试及视频 420.0–441.5 s 的右夹爪移尾尝试均已查看；关键指垫与绳段的接触点部分遮挡，未能确认用于入区动作的双面夹持或实际扫绳接触。观察到空爪移动不足以填抓握；不把此前为解结作的右爪牵引复制为本节点接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 29.5, + "log_step": 154, + "where": "操作中", + "evidence_zh": "观察：视频约 29.5 s，机器人左夹爪开始尝试夹取柱上方外环；视频 50.0–65.5 s 的抬升和越柱动作中，外环仍在桌面，没有被带过柱顶。后续虽继续换点抓绳并尝试移尾，至视频 444.7 s 交叉绳环仍在；解结是最先开展且始终未完成的步骤。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 56.9, + "log_step": 172, + "evidence_zh": "观察：视频 50.0–56.9 s 左夹爪从外环上方抬起，爪下没有被提起的橙色绳段，原外环留在桌上；视频 57.0–65.5 s 左爪继续越柱时仍未携带该环。这里缺少的是提外环所需的有效夹持，不否认视频 18.35–23.75 s 右爪曾夹住另一段绳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：抓取时序及有效夹持验证不足使机器人执行空爪搬运动作。log step 153 的脚本在未读取实际到位或夹持结果的情况下按固定行数闭爪；log step 154 末端仍在 z=0.0564 m，log step 162 自述下降滞后。log step 171–173 又以开度、肩部力矩及末端抬高认定持绳并继续搬运，而视频 50.0–65.5 s 的外环未随左爪抬起。日志和画面共同支持控制执行、验证有问题；不足以唯一归入接触设计或反馈控制子类，也不能把 agent 最终声称的相机偏差当成已证实原因。" + } + ], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，但无逐帧状态日志；关键夹持点局部遮挡，不能排除短暂接触后立即脱开，也无法从力矩读数确认辅助抓取绑定，故入区节点的实际接触记未知。毫米级中心线间距、离手机器人间隙、速度和漂移均无原生指标输出，native_metrics 三项记 null；可见交叉及大段绳体仍在目标区外已足以判两个节点未达。agent 在 log step 300 所述深度投影偏差没有独立真值验证，未据此标感知根因。" + }, + "summary_zh": "机器人曾用右夹爪夹住并牵动局部绳段，随后反复尝试提环越柱及把长尾移入目标区，但柱旁交叉绳环和右侧长尾一直保留，最终两节点均未达（0/2）。断点为解开理顺绳：左夹爪多次未建立提环所需的夹持便继续搬运，日志与画面支持控制执行及夹持验证不足。没有状态日志，短暂夹持细节、入区动作的实际接触及毫米级终态量无法独立认证。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点均未达与视频一致：始末帧柱旁绳环仍有交叉，尾部仍在右侧；右爪夹绳、左爪空提的描述与帧相符；断点与根因有证据且保守。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:32:02Z", + "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-knot-untying-09-i01-standard--aboo8qy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--aboo8qy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f3d7b464cc682bf8d244d930182fd8b3230c854ce7caea89614a94781fde4142", + "video_sha256": "29d0ac7c5ef327eb5e4026a102c5933f6ae0f8f386a30bf2c9d878a49907a2b8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--fbqpg3h.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--fbqpg3h.json new file mode 100644 index 0000000000000000000000000000000000000000..10db599c2a02acb91ef03be073e18b55a162374c --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--fbqpg3h.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--fbqpg3h", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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": 12, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15432, + "live_rows": 15432, + "sim_steps": 15432, + "physics_steps": 77160, + "steps": 3493, + "elapsed_s": 10791.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-standard--fbqpg3h/replay.mp4", + "duration_s": 385.867, + "fps": 15.0, + "frames": 5788, + "sha256": "ede09f7afeab20d3c52b2acc45f7af609b00cb2466007f069856dfce0f0f79fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的橙绳在短柱旁有相互交叉的绳圈，自由段向右下方伸出；初态不满足解结理顺。" + }, + { + "t": 45.0, + "log_step": null, + "text_zh": "观察：视频约 15–45 s，左夹爪夹住绳段抬起、移过柱旁并放下；视频 45 s 绳圈已移到柱前，仍有多处交叉。移开柱子附近的绕绳没有消除绳自身的交叉。" + }, + { + "t": 123.0, + "log_step": 263, + "text_zh": "观察：视频 120.5–126.0 s，右夹爪夹住结右侧绳段向右牵拉，固定端到结的绳段被拉直，结内的小圈缩紧，交叉仍在；视频 127–141 s 再次抓拉后交叉小圈仍保留。" + }, + { + "t": 385.75, + "log_step": null, + "text_zh": "观察：已按约每 3 s 检视视频全程并加密查看牵拉段及末秒；交叉绳圈始终可见。视频 384.85–385.75 s 两爪已张开退离，订扣右侧仍有两个相连、相互跨越的绳圈；整条绳没有形成无交叉的连续展开曲线。对照 oracle 视频 50.8 s 的分离蛇形绳段，可见本次未达到该形状。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 15–24 s 左二指夹爪夹住局部橙绳抬起并移动；视频 120.5–126.0 s 右二指夹爪夹住结右侧绳段牵拉；两臂也多次分别换抓。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 151–154 s 左夹爪夹住固定端侧绳段，右夹爪同时夹住出结侧绳段向外牵拉，两段分别位于各夹爪两指之间；绳段随两爪运动。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绳的大段自由部分伸到桌面右侧，未铺在订扣左下方的目标区。" + }, + { + "t": 354.0, + "log_step": null, + "text_zh": "观察：视频约 327–354 s 双臂先后夹取、向左调整自由段，视频 354 s 松开退离后绳形成带交叉的弯曲布局；视频约 367–383 s 左夹爪再次抓住下方绳段向左搬移并松开。确有铺放尝试，但右侧交叉绳圈仍留在原来的右方。" + }, + { + "t": 385.75, + "log_step": 24, + "text_zh": "推断：log step 24 的目标图绿色虚线像素范围为 u=115–432，log step 630 再次给出近似相同范围；以该范围对照同一固定 cam_high 的视频 385.75 s，右侧交叉绳圈位于画面约 u=470–525，明显在目标区最右边以外。视频末秒虽显示两爪张开退离、绳已落桌，整绳入区这一必要条件仍不满足，因此本节点为 false；未凭 success=0 单独反推。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 330–336 s 左夹爪夹住订扣侧绳段，右夹爪同时夹住右下方自由段并向左调整，两个夹爪分别夹持不同绳段。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 367–373 s 及 376–383 s 左夹爪单独夹住自由端或下方绳段向左牵移，随后张爪放回桌面并退离；右臂停在上方。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 123.0, + "log_step": 263, + "where": "操作中", + "evidence_zh": "观察：视频 120.5–126.0 s，机器人右夹爪向右拉绳时，订扣至结的绳段拉直，交叉小圈随之收紧而未解开；视频 127–141 s 的再次牵拉也保留该交叉。后续单双臂换抓、抬移和向左铺放没有修复解结这一步，视频 385.75 s 松手后的交叉仍清楚可见。断点取这次牵拉收紧的导航位置。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 123.0, + "log_step": 263, + "evidence_zh": "推断：实际牵拉命令见 log step 263（steps[245].id=263），脚本令右夹爪在 (X=0.200,Y=-0.053) 处闭合、略抬起后沿近似直线拉到 X=0.380；log step 280 的后续命令又从 (X=0.250,Y=-0.086) 拉到 (X=0.420,Y=-0.130)。agent 在 log step 281 自述第二次牵拉旨在拉开剩余绳圈，这只说明其意图；log step 283 实际只有 get_obs 和保存图像，不是牵拉命令。视频 120–127 s、130–141 s 可见右夹爪带动绳段、订扣侧绳段拉直而交叉圈缩小保留，视频 151–166 s 双臂送绳与外拉后仍有交叉，视频 385.75 s 交叉也未消除。动作命令与绳形变化支持牵拉及局部搬移策略未解决交叉关系这一规划归因，但未证明它是唯一根因。alt_feasible=未知：同一抓取下换牵拉方向能否解结未经验证；抓取点选择是否不合适，以及可行接触方案下的轨迹或跟踪问题，现有视频和日志不能充分区分，故不另加控制子类。", + "source_zh": "日志 / 视频", + "alt_feasible": "未知" + } + ], + "gap_zh": "没有逐帧状态日志，服务输出也未报告完整中心线、原生 planar_clear、outside_fraction、最大速度或终态间隙认证；三个原生指标均未报告，保留 null。目标图本体不在本次 inputs 文件中，入区判断结合日志中对目标虚线的像素范围读数及同一固定视角的可见大幅右越界；不据此声称毫米级精度。夹爪局部遮挡使每次辅助抓取绑定是否建立或何时失效无法逐次确认，未标注抓取丢失或力值异常；解结规划根因是动作序列与绳形变化的推断。现象层置空：已核查视频 118–141 s 与视频 385.75 s，能确认牵拉后绳圈缩小且交叉保留，但缺少可指认的抓持丢失、阻挡或其他接触/运动故障；不以未解结结果另立“绳圈收紧”现象。alt_feasible=未知，同一抓取下换牵拉方向的解结可行性未经验证，规划、抓取和接触设计及轨迹问题无法充分区分，根因只保留有局限的推断。" + }, + "summary_zh": "机器人已将柱旁绳圈移到柱前，并多次单双臂抓绳、牵拉和向左铺放，最后松爪退离，但交叉始终未消除，右侧绳圈也仍在目标区外，最终两节点均为 false（0/2）。解结操作中向外拉绳后交叉圈缩小保留，结合实际牵拉脚本推断其牵拉与局部搬移策略未解决交叉关系；缺少可定位的接触或运动故障，现象层置空。没有逐帧中心线及终态认证读数，且同一抓取下换牵拉方向能否解结未经验证，规划归因不能与抓点或轨迹问题充分区分，故 conf 从 7 降至 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "两节点终态 false、0/2 与视频一致（385 s 右侧仍有真实交叉结，目标区外）。主要问题是失败现象“其他/绳圈收紧”：它描述的只是未解结这一结果（绳形在拉动下变化），并非机器人动作层面的失败现象，且标签自己承认没有证据归入任何现有条目；根因 推理/规划 仅靠推断，需标注为推断并说明 alt_feasible。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点终态 false（0/2）与视频 385 s 一致：右侧仍有交叉绳圈。断点、现象层置空（有 gap_zh）及推理/规划推断根因均有证据且标为推断，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:47:43Z", + "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-knot-untying-09-i01-standard--fbqpg3h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--fbqpg3h/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--fbqpg3h/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--fbqpg3h/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ff4b52de1c8613a6d1046618fab84364c4f96b7ea6429fc5840cb04dfddfa44a", + "video_sha256": "ede09f7afeab20d3c52b2acc45f7af609b00cb2466007f069856dfce0f0f79fb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--w2ifbm3.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--w2ifbm3.json new file mode 100644 index 0000000000000000000000000000000000000000..146b09d1289af4e2a94fb5691250b651af089f66 --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--w2ifbm3.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--w2ifbm3", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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": 6027, + "live_rows": 6027, + "sim_steps": 6027, + "physics_steps": 30135, + "steps": 1220, + "elapsed_s": 10757.7, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-standard--w2ifbm3/replay.mp4", + "duration_s": 150.733, + "fps": 15.0, + "frames": 2261, + "sha256": "8312ca645614a1f54dea6c66d94025c6f459e67cb37124dec7d3394a1dd005ce" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 橙绳固定于灰色订扣，短柱旁有多圈重叠和交叉，长尾伸向桌面右下；初态未理顺。" + }, + { + "t": 34.4, + "log_step": 135, + "text_zh": "观察：视频 32.5–34.4 s 右夹爪闭合在短柱右侧，两条绳段从夹爪附近向右下形成折回绳弯，柱旁原有绕圈和交叉没有展开；视频 36–41 s 张爪撤离后这些交叉仍在。" + }, + { + "t": 134.8, + "log_step": 383, + "text_zh": "观察：视频 117 s、134.8 s 左夹爪夹在订扣与短柱之间的绳段，右夹爪夹住外侧绳弯；视频 136–143 s 右夹爪向内牵引时绳弯随动，柱旁绳圈仍未消除。" + }, + { + "t": 150.65, + "log_step": 422, + "text_zh": "观察：视频 149.75–150.65 s 两夹爪已张开抬起，短柱周围仍有重叠交叉的绳圈，与成功参考录像视频 50.5 s 的分离展开曲线不同；本次从未出现整绳无交叉的形状。log step 422 的 agent 最终报告也明确承认尚有绳圈和交叉。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 17–34 s 右夹爪单独夹持近自由端绳段并将其拖向短柱；视频 117 s、134.8 s 后左夹爪夹持订扣侧绳段，右夹爪夹持外侧绳弯，配合调整松弛和牵引。部分靠近绳端的换抓为空夹，未据闭爪动作一概认定持绳。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 13, + "text_zh": "推断：log step 13 中 agent 的脚本从目标图提取到 cam_high 绿色虚线的像素外接框为 x=115–432、y=250–470，作为区域粗略方位参考；视频 0 s 同一静态视角中长尾明显伸出该范围右侧，柱旁绳圈在其上方，因此初态不满足整绳入区。此处不使用该脚本的世界坐标估计认证毫米级边界。" + }, + { + "t": 143, + "log_step": 399, + "text_zh": "观察：视频 134.8–143 s 左夹爪保持夹住订扣侧绳段，右夹爪拖动外侧绳弯向左靠近目标区，外侧绳弯确实随夹爪移动；但柱旁线圈没有被移向桌面左下，视频 143 s 仍有一段绳缠在短柱周围。" + }, + { + "t": 150.65, + "log_step": 422, + "text_zh": "推断：视频 149.75–150.65 s 虽然两爪张开抬离，柱旁绳圈仍位于 log step 13 所提取目标图外接框的上方，右侧弯曲绳段也未全部收进该框；结合全程画面中线圈始终留在柱旁，整绳入区从未成立。成功参考录像视频 50.5 s 中绳已铺展至订扣左下方；本节点判假来自本次可见越界部分，不由 success=0 反推。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 134.8–143 s 左夹爪夹住订扣侧绳段并保持，右夹爪夹住外侧绳弯向桌面左下牵引以调整入区位置，随后两爪依次松开抬起；只移动了部分绳段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 33, + "log_step": 134, + "where": "操作中", + "evidence_zh": "观察：视频 32.5–34.4 s 右夹爪在短柱右侧低位闭合绕行时停滞，柱旁绳圈保持交叉，随后视频 35–41 s 张爪撤离；后续换抓和双臂牵引直到视频 150.65 s 均未解开此处。log step 134 的在线服务结果同时记录接触峰值 114.2 N，log step 135 读取的实际末端位置仍停在短柱附近。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 33, + "log_step": 134, + "evidence_zh": "观察：视频 32.5–34.4 s 右夹爪贴近短柱和绳圈，绕行位移很小且绳圈未松解；log step 134 中基准在线服务的 safety.forcing 接触监测（报告夹爪或持物对外接触载荷）记录 max_press_force_n=114.2、max_drive_fraction_while_pressing=0.581。log step 130–131 脚本所发目标 y=0.120 m，log step 135 实测 y≈0.037 m，动作受载停住而未到目标；该读数本身并非 forcing 违规或仿真崩溃。推断：log step 135 给出的本局 control_steps=1377，结合 log step 237 的 40 Hz 控制率得到视频约 34.425 s；已与视频 34.4 s 的柱旁停滞及随后松爪核对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 33, + "log_step": 135, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 130–131 给出的低位绕柱目标与 log step 135 的实测末端明显不符，同时 log step 134 的服务接触载荷升高，视频 32.5–34.4 s 也显示右夹爪未能带绳绕过柱旁绳圈；之后视频 55–71 s 的多次闭爪、小幅试拉也没有带走柱旁所需绳端。机器人未能建立并执行有效的解结牵引，证据支持控制层问题；现有资料不足以把原因进一步归为具体夹持几何、逆解或反馈参数。" + } + ], + "gap_zh": "没有逐帧模拟器状态日志，无法认证夹爪的每一对接触、辅助抓取绑定，以及终态毫米级间隙、速度、漂移和共同保持窗口；但可见交叉与明显越界已足以判定两个节点未达。目标图未以独立图片提供，入区方位判断结合 DAG、log step 13 对目标图的像素提取记录和同视角参考录像，不把 agent 的世界坐标估计当作原生状态。接触监测没有指出 114.2 N 载荷的具体物体对，控制根因保留在大类。" + }, + "summary_zh": "机器人把长尾折回，随后换抓并用双臂牵引部分绳段靠近目标区，但短柱旁的交叉绳圈从未展开，整条绳也未铺入目标区，最终为 0/2。断点在解开理顺绳：视频约 33 s 的低位绕柱动作受载停滞，在线服务记录 114.2 N 接触峰值，后续操作未修复，根因保守归为控制。缺少逐帧状态和具体接触对，不能进一步认证毫米级终态或细分控制原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达（0/2）与视频一致：初态有柱旁绳圈，视频 33 s、70 s、100 s、135 s、150 s 帧中交叉绳圈一直存在，末帧仍有环；成功参考视频 50.5 s 绳已展开铺至订扣左下。控制步 1377/40 Hz=34.4 s 与视频停滞对得上，总动作 6027/40=150.7 s 等于视频时长，时钟换算成立。断点、接触力异常（服务读数 114.2 N）和保守的“控制”根因有证据，未发现需改内容的错误；仅注意断点 33 s 之后还有长时间尝试，根因停在大类是合适的。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:43:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--w2ifbm3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--w2ifbm3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7f969f4ade2d020ce128495ac9f6dd3b055d6c8d56b474de818f8d21d9d7cac", + "video_sha256": "8312ca645614a1f54dea6c66d94025c6f459e67cb37124dec7d3394a1dd005ce", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xfvcc7m.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xfvcc7m.json new file mode 100644 index 0000000000000000000000000000000000000000..c10afa2df482f6a95b3511bc0bf06d750e4e142f --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xfvcc7m.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--xfvcc7m", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5266, + "live_rows": 5266, + "sim_steps": 5266, + "physics_steps": 26330, + "steps": 1920, + "elapsed_s": 7874.6, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-standard--xfvcc7m/replay.mp4", + "duration_s": 131.733, + "fps": 15.0, + "frames": 1976, + "sha256": "ed845bbe941ac5efeb661b2f3406d4b7e36fb0874fdef3a09291fb3ae274f88b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙色绳在短柱周围盘绕并有多处相交，灰色订扣固定着一端，长自由尾段向画面右下伸出，初态未理顺。" + }, + { + "t": 12.8, + "log_step": 35, + "text_zh": "观察：视频 11.0–12.6 s，机器人右夹爪夹着绳段向上提，两股绳仍通向柱旁；视频约 12.8–13.4 s，绳段脱离右夹爪并落回桌面，柱旁形成重叠的小圈。log step 35 的脚本要求右爪继续抬高，未命令松爪。" + }, + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 72.0–90.0 s，机器人把长尾移向左侧，随后双爪夹住不同绳段抬拉；柱旁的盘绕逐渐移开，但订扣附近仍有相交的绳圈。" + }, + { + "t": 131.667, + "log_step": null, + "text_zh": "观察：按视频 0–131 s 每秒检查绳形，并密查视频 11–16 s、121–131.667 s；始终可见未消除的交叉或重叠。视频 130.0–131.667 s 两爪先后离开，订扣附近仍有紧小的相交绳圈，未出现 oracle 视频 50.933 s 所示分离展开的连续绳形；本次未达到解结判据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 87–94 s 及 127–129 s，两夹爪各夹住不同绳段配合牵引；右爪夹订扣附近的绳段，左爪夹另一侧绳段向左拉。此前视频 6–12.6 s 为右夹爪单独夹绳上提，后续也有单爪换抓、提拉。灰色订扣是环境固定件。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 10, + "text_zh": "观察：视频 0.0 s，长尾铺在柱的右侧并向右下弯曲；log step 10 记录 agent 根据目标区域图计算的区域位于桌面左下方。此时没有整绳入区的铺放结果。" + }, + { + "t": 93.0, + "log_step": 118, + "text_zh": "观察：视频 87–96 s，机器人先用双爪提拉绳段，再把左侧绳段向左铺下并松开左爪，右爪随后放下另一段；log step 118–119 的 lay1/lay2 脚本明确执行这些铺放动作。可见尝试了入区铺放，但订扣附近保留相交绳圈。" + }, + { + "t": 131.667, + "log_step": null, + "text_zh": "观察：视频 130.0–131.667 s，机器人两爪离开，长尾已向画面左下展开，订扣附近仍留有上下交叠的小绳圈。推断：DAG 的本节点完整判据还要求整绳贴桌，并与解结结果共同连续成立 0.5 秒；整段视频始终有自交，故未达到该完整验收，final=false、无成立区间。此结论不认证中心线是否全部入区，也不认证毫米级高度、间隙、速度或漂移。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 87–94 s，左右夹爪分别夹住绳的两处配合展开，随后左爪向左移绳并放下，右爪继续夹持另一段再放下；视频 96–101 s 左爪又单独夹长尾向左下牵引。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 12.8, + "log_step": 35, + "where": "操作中", + "evidence_zh": "观察：视频约 12.8 s，机器人右爪继续上提时绳段从爪中脱落，柱旁绳圈塌回桌面；log step 35 的动作是继续抬高右爪，未计划释放。随后虽然多次重新夹绳并移走柱旁盘绕，视频 131.667 s 仍保留自交绳圈，解结这一步始终没有完成，故早期失败未被修复。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 12.8, + "log_step": 35, + "evidence_zh": "观察：视频 11.0–12.6 s，机器人右爪夹持绳段形成悬起的两股绳；视频约 12.8–13.4 s，两股绳从右爪处落下，右爪留在上方，绳在桌上重新盘成重叠小圈。log step 35 没有松爪指令。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "推断：agent 在 log step 35 继续竖直拉高仍连到柱旁的绳段，log step 63、65、68、73、83 又让自由端绕柱转动；视频约 12.8 s 出现脱手，视频 24–60 s 这些绕行和提拉一直保留柱旁自交。后续 log step 126、144 仍通过拉开两侧处理局部绳圈，视频 127–131.667 s 却只展开长段、未解开小圈。结合 agent 在 log step 149 自述此前绕行和拉尾把松散交叉拉紧、应先追踪穿绕关系，支持其解结顺序及穿绕策略有误；停止时剩余预算不是这一根因。", + "source_zh": "日志 / 视频 / agent 自述" + } + ], + "gap_zh": "没有状态日志，评分器未报告 minimum_nonlocal_distance_m、outside_fraction 或 maximum_speed_m_s。视频未画出绿色区域边界，目标区域图片没有作为独立输入文件提供；log step 10 的区域计算是 agent 的图像分析，不能单独认证入区。录像也不足以认证毫米级高度、离手间隙、速度、漂移以及具体结型；因此未填这些数值，入区节点仅按其明确包含的联合验收要求判未完成。评分器字段 forcing_events=2，与 agent 在 log step 149 自述“没有 forcing”不同；没有这两个事件的时刻和力记录，未据此增加失败现象或手工约束。" + }, + "summary_zh": "机器人实际夹持、提拉并向左下铺放了绳段，后段移开柱旁盘绕，但视频约 12.8 s 的提绳脱手后，解结始终未完成，视频 131.667 s 仍有紧小自交绳圈，两个节点均未达到完整验收。动作脚本及最终自述支持解结穿绕顺序与拉绳策略有误；没有状态日志及原生几何指标，无法独立认证入区边界和毫米级终态条件。", + "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、时间、接触、断点（视频 12.8 s 右爪提绳脱手，log step 35 = lift3.py）与帧一致；两节点未达成成立。问题在 phenomena[1]：'残留紧小自交绳圈'只是重述未满足的解结判据（N10），应删除，由 root cause 与 evidence 承载。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（视频 12.8 s 右爪提绳脱落）、接触、现象与根因均与帧一致；第 1 轮意见已处理，未发现新的需改内容。", + "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": "2026-10-30T23:47:44Z", + "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-knot-untying-09-i01-standard--xfvcc7m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xfvcc7m/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xfvcc7m/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xfvcc7m/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "23171b5baa9cb97ac4ce29c076a565601c549c90c305d0eaa19f23dc51bb0e35", + "video_sha256": "ed845bbe941ac5efeb661b2f3406d4b7e36fb0874fdef3a09291fb3ae274f88b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xkbrtbz.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xkbrtbz.json new file mode 100644 index 0000000000000000000000000000000000000000..81c79aec45f6d3e9401c2030b4aee1b59fdc3ed4 --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--xkbrtbz.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--xkbrtbz", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 8895, + "live_rows": 8895, + "sim_steps": 8895, + "physics_steps": 44475, + "steps": 2189, + "elapsed_s": 10257.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.446, + "peak_processes": 12, + "peak_disk_gb": 1.14, + "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-knot-untying-09-i01-standard--xkbrtbz/replay.mp4", + "duration_s": 222.467, + "fps": 15.0, + "frames": 3337, + "sha256": "b98e77f504b65ce031fb35cea59f03d711c893f1a559c10b502b96988bc7b657" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 短柱旁的橙绳盘成相交的多个圈；按视频全程每5秒抽查，并加密检查视频 98–120 s、174–222.4 s，未见整绳成为无交叉且彼此分离的连续曲线。" + }, + { + "t": 116.0, + "log_step": 211, + "text_zh": "观察：视频 98–115 s 左夹爪确实夹绳、提起并跨过短柱后下降；视频 116.0 s 张爪后，固定端附近仍有相交的两个绳圈。log step 211 的脚本指令为夹住绳段提过柱顶再移到另一侧；这里只以画面确认实际移动。" + }, + { + "t": 222.4, + "log_step": 292, + "text_zh": "观察：视频 213.7–222.4 s，长自由段已移向左下，固定端旁仍保留交叉、重叠的小绳圈；视频 221.4–222.4 s 以0.2秒间隔复核，交叉未消失。成功参考录像视频 45–50 s 同一视角中的绳段已展开分离，此处没有该形态。agent 在 log step 292 也自述仍有一处自交，但节点判定依据本次画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 98–115 s 左夹爪夹住柱旁绳段并提过短柱；视频 206–213 s 左夹爪再次夹住绳圈一段向左下牵引，绳圈随之移动，但仍有交叉。两次操作时右爪在旁悬停。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": 241, + "text_zh": "观察：视频 142–146 s 右夹爪牵引自由端，放开后该端落在较靠左的位置；视频 174–182 s 左夹爪又夹住自由段拉向左下。长绳段有实质位移，但固定端旁的圈仍未铺开。" + }, + { + "t": 222.4, + "log_step": null, + "text_zh": "推断：视频 116.0 s、198.0 s 和213.7–222.4 s 的固定端附近均可见绳段上下叠放的真实交叉；结合任务给定绳径8毫米，上下叠绳不能同时满足整绳外缘不高于桌面11毫米的贴桌条件。末次放下后也仍为叠绳，故本节点的完整铺放验收未达到，并非由总分0推得；未将自由端进入左下区域当作整绳合格。" + }, + { + "t": 222.4, + "log_step": 289, + "text_zh": "观察：视频 221.4–222.4 s 两爪已离开绳子，叠放绳圈留在原处。log step 289 的在线观察返回done=False、reason=None，评分器字段live_success=0；这些字段没有单独报告整绳入区、贴桌或静止的判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 142–146 s 右夹爪单独夹绳并将自由端往左移；视频 174–182 s 左夹爪单独夹住自由段向左下牵引，视频 206–213 s 又夹取上方绳圈向左下搬移并松开。另一爪同时悬停，未见同时持绳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 116.0, + "log_step": 211, + "where": "操作中", + "evidence_zh": "观察：视频 98–115 s 机器人左爪夹绳提过短柱，视频 116.0 s 放下后仍留下交叉绳圈；后续牵引和末次抓取均未将该步骤完成，视频 222.4 s 交叉仍在。断点取首次提过柱后仍未理顺的结果，时间为粗略导航锚点。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 218.4, + "log_step": 287, + "evidence_zh": "推断：视频 216.5–220.3 s 左夹爪在剩余绳圈旁闭合后重新张开，随后空手撤离，绳圈未随爪抬起或被拉开。log step 286 的脚本计划抓住后向左下拉动；log step 287 返回闭合后开度0.0425米，不满足该脚本小于0.017米的抓取条件，因而跳过两段拉动。结合前后画面，此次没有建立能牵引目标绳段的有效抓持；并非先持稳再掉落。" + } + ], + "root_causes": [], + "gap_zh": "没有逐帧状态日志，也没有原生planar_clear、outside_fraction、绳高或终态松手认证的数值输出；三项native_metrics均未报告。目标虚线不绘在回放场景中，日志只保存agent对目标图的像素/坐标处理输出，不能据此独立认证末态整条中心线的毫米级边界、1毫米间隙、速度和漂移；铺放节点的否定依据可见上下叠绳及绳径的几何推断。视频 98–116 s 可见左爪夹绳提过短柱并按计划张爪，未见可确认的夹持丢失；残留交叉只说明节点未达到，不能据此认定规划、抓点几何或控制中的哪一项错误，因此不另添首次操作的失败现象，根因层留空。保留的没建立接触仅描述视频 216.5–220.3 s 同一未完成节点的末次修复尝试，不解释视频 116 s 的首次操作；log step 286–287 的开度阈值是脚本的分支条件，不是反馈控制误差的判据，也没有接触对记录可确定末次抓取未实现的具体原因。" + }, + "summary_zh": "机器人先用左爪提绳跨过短柱，再由左右夹爪先后牵引，将长自由段移向左下区域，但固定端旁始终留有交叉叠绳，两个完整节点最终均未达到。断点为解开理顺绳，视频 116.0 s 首次跨柱铺回后仍有交叉；视频 216.5–220.3 s 末次修复抓取未建立有效抓持，此现象只描述后续尝试。没有状态日志和毫米级终态测量，铺放未达包含叠绳高度的几何推断；首次操作为何未理顺及末次抓取为何未实现均缺少足够根因证据，根因留空，conf由7降为6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（两节点均未达到）、时钟和断点位置与视频一致；问题在失败原因：断点在视频 116 s 的首次跨柱操作，但根因和没建立接触现象只来自视频 216–222 s 的最后一次抓取，不能解释断点处为何没有解开。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点均未达到、断点 rope_untangled 在视频 116 s 与画面一致；根因留空有 gap_zh，删除结果型现象后仅保留末次没建立接触，未发现需要改内容的错误。", + "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": "2026-10-30T23:47:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xkbrtbz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xkbrtbz/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xkbrtbz/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--xkbrtbz/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "aa303e842a607dbc0cee2c5777dcaecdf580070660fb9eb699a93bbeae2ac198", + "video_sha256": "b98e77f504b65ce031fb35cea59f03d711c893f1a559c10b502b96988bc7b657", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--zy3v2y4.json b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--zy3v2y4.json new file mode 100644 index 0000000000000000000000000000000000000000..a2819bd4bcc65da9c81b12c1608da9a6b6444c76 --- /dev/null +++ b/phase2/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--zy3v2y4.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--zy3v2y4", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "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": 7568, + "live_rows": 7568, + "sim_steps": 7568, + "physics_steps": 37840, + "steps": 2333, + "elapsed_s": 10785.6, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-knot-untying-09-i01-standard--zy3v2y4/replay.mp4", + "duration_s": 189.267, + "fps": 15.0, + "frames": 2839, + "sha256": "e43e643b04e67d9221afb944baad08e8fc618e61412e0b8bdaf9c6696ac460ba" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙色绳在短柱周围盘绕并有多处交叉，固定端在灰色订扣下，自由端伸向右前方。" + }, + { + "t": 82.0, + "log_step": null, + "text_zh": "观察：视频 78.0–84.0 s，机器人双爪夹住不同绳段，将绳圈移至柱前；脱离柱子后圈底仍有交叉，未形成从固定端到自由端全程分离的曲线。" + }, + { + "t": 111.0, + "log_step": 227, + "text_zh": "观察：视频 106.0–113.0 s，机器人松开左爪并退出右爪后，桌上仍留下多个互相穿越的绳圈；log step 227 中 agent 也自述仍有若干交叉。视频 127.0 s、141.0 s 的再次铺放后，中央交叉仍可见。" + }, + { + "t": 189.2, + "log_step": 473, + "text_zh": "观察：视频 188.0–189.2 s，左爪仍夹绳移动，固定端附近有多个叠圈与交叉，另一个小圈也未展开；所有已检查的提绳、穿环、铺放前后均未出现整绳无交叉的状态。成功参考的 oracle 视频 40.0–48.5 s 显示分开的宽弯曲线，本次未达到该形状；参考仅用于辨认视觉判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.0–16.0 s，右夹爪闭合夹住自由端并将其提离桌面；视频 32.0–36.0 s，左夹爪夹住结旁的弧段上提。后续双爪也分别单独换抓、牵引绳段。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 78.0–82.0 s 两夹爪各夹一段共同提移绳圈；视频 103.0–107.0 s、153.0–156.5 s，一爪夹持圈弧、另一爪夹尾段向圈内穿送，属于两爪分别夹绳的协作。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，大段绳伸向短柱右侧及前方，尚未铺到左下目标区域；该节点不从初态成立。" + }, + { + "t": 127.0, + "log_step": 285, + "text_zh": "观察：视频 124.0–127.0 s，左夹爪把一处绳弯搬向左侧并放回桌面；视频 133.0–141.0 s 又移放其他绳段，确有铺放尝试。log step 285 的“已在区域内”是 agent 对轮廓位置的判断；这些画面仍有上下交叠的绳段，不能据此认定整绳已单层贴桌并完成完整验收。" + }, + { + "t": 161.0, + "log_step": 403, + "text_zh": "观察：视频 156.0–161.0 s，绳圈挂在右夹爪上，右臂撤回时将绳拉向右侧机器人底座；虽然夹爪张开，绳仍被机体承托或挂住，未达到离手贴桌铺放。" + }, + { + "t": 189.2, + "log_step": 468, + "text_zh": "观察：log step 468 的脚本计划依次松开右爪、移开右臂、把左爪持绳段降低到目标区后再松开左爪；视频 186.5–189.2 s 只显示右爪退开和左爪持绳转移，末帧左爪未松绳，低视角仍见斜向悬起的绳段。推断：交叠、悬高或持绳状态始终至少有一项阻止完整铺放验收，未观察到合格持续窗口，最终为 false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 124.0–127.0 s、130.0–134.0 s、137.0–141.0 s，左夹爪夹住局部绳弯搬移、降低并张爪；视频 168.0–170.0 s 右夹爪将外侧绳圈搬回工作区，视频 187.0–189.2 s 左爪仍夹尾段向目标区搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "outside_fraction", + "unit": "ratio", + "threshold": 0, + "direction": "lower_better", + "value": null + }, + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 106.5, + "log_step": 219, + "where": "操作中", + "evidence_zh": "观察：视频 103.0–107.0 s，右夹爪持绳穿向左爪支持的圈，随后左爪松开；视频 108.0–110.0 s 绳圈仍套挂在右爪上，退出右爪后视频 111.0–113.0 s 仍有交叉。log step 219 中 agent 自述圈搭在右指上并另发退爪动作。此后继续理绳和铺放，直到视频 189.2 s 仍未解开理顺，因此断点是解结步骤，时间锚定这次未奏效的穿环操作。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有状态日志；评分器 reward 未报告非局部最小间距、区外比例或最大速度，三项原生指标均保留 null。录像可确认残留交叉、暂时挂爪和末段持绳，但不能独立测量全绳毫米级高度、几何间隙、速度、漂移或严格确认时长；中段局部轮廓进入目标区不等于完整铺放通过。视频 108.0–112.0 s 显示右夹爪退出后绳圈脱离夹爪，不能把该暂时挂爪当作持续阻断解结的现象；视频 127.0 s、141.0 s、175.0 s、189.2 s 可见交叉或叠圈，但这只确认解结未达到，未能定位抓点偏差、错误穿送位置或其他操作层现象，故 phenomena 留空。log step 319 中 agent 自述在检查通向自由端的绳段及正确开口，log step 354 自述搬移后绳缩回结处；这些自述与残留交叉支持进一步检查解结策略，但不证明某次穿环的拓扑或顺序错误。交叉处被夹爪遮挡，缺少足以区分解结规划错误与抓取接触几何问题的证据，故移除原抓取和接触设计根因，root_causes 留空。log step 473 的最后自述只称放置仍在执行，没有完成证明。", + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + } + }, + "summary_zh": "机器人实际抓住绳尾和圈弧，双臂协作把绳圈移离柱子，并多次穿环、换抓和铺放，但整绳交叉一直未消除，两个节点最终均未达到。断点仍是解结步骤；视频 189.2 s 左爪仍持绳且桌上有叠圈，最终铺放尚未完成。无状态日志及原生几何指标，各次穿环拓扑和持续失败的具体机制无法核实，暂时挂爪也不足以解释后续未解结，故现象及根因留空，置信度由 7 降至 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（两节点均未达到，final=false）、接触和断点锚点与帧一致，未发现时钟错误。问题在失败原因层：被挡/碰撞缺少阻断证据，「交叉/重叠未消除」只是复述未达标的指标，抓取和接触设计的根因不能解释交叉始终没被打开。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点均未达到、final=false、接触标注与帧一致；断点锚在解结步骤，时间锚点可接受。第二轮已按第一轮意见清空无证据支持的现象和根因，并在 gap_zh 说明原因，与 N10（不能只复述未达指标）和证据纪律相符，未发现需要改内容的错误。运行在 10800 s 时限处仍在执行铺放，超时本身未被当作现象，处理正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:48:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--zy3v2y4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--zy3v2y4/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--zy3v2y4/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--zy3v2y4/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7075022491981faa617aed244bee65778d0aa22a64c197861f219878358c5d63", + "video_sha256": "e43e643b04e67d9221afb944baad08e8fc618e61412e0b8bdaf9c6696ac460ba", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--ptbgxzo.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--ptbgxzo.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0a063a035e5e12d0742827d3f5c93a1cd79790 --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--ptbgxzo.json @@ -0,0 +1,308 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-privileged--ptbgxzo", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 23275, + "submitted_actions": 23355, + "sim_steps": 23275, + "physics_steps": 232741, + "sim_time_s": 581.8524999997447, + "final_reward": 1.0, + "replay_wall_s": 3484.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 23275, + "strict_replay_required": 0, + "agent_sessions": 4, + "agent_resets": 8, + "agent_sim_steps": 46654, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-lock-picking-05-i01-privileged--ptbgxzo/replay.mp4", + "duration_s": 581.933, + "fps": 15.0, + "frames": 8729, + "sha256": "0e6861ab7a2ebd6dfe69651ec6be8b718696459e709fd886467becb9a517dd71" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [ + [ + 62.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 62.267, + "log_step": null, + "text_zh": "观察：视频 58.0–65.5 s，机器人夹持钥匙沿孔轴前送；左侧主视图与右上反向视图可见银色轴随前送穿在紫色板的中心孔内，紫色板完成转动后钥匙继续向蓝色板方向推进。" + }, + { + "t": 62.0, + "log_step": 88, + "text_zh": "推断：log step 85 从 reset 后开始的连续录制是最终交付的本次路径；log step 88 记录长凸耳中心已到轴向 0.05999 m、SAVED 2634。以本次控制行约 0.025 s 映射，2634/40 对应视频约 65.85 s；结合 log step 37、63 的前送步长、板厚与凸耳厚度，长凸耳尾缘首次越过紫色板约在视频 62.0 s，误差约 0.5 s。已检查视频 61.73、62.27、62.80 s 的前送及视频 65.47 s 的板后位置；尾缘受板面遮挡，边界为推断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪夹住钥匙柄，随钥匙的转动、前送与回撤一同运动，将长凸耳送过第1块紫色转子；钥匙是受评物体。视频约 62.0 s 的前后画面保持持握，完成时也未松开。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [ + [ + 80.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.733, + "log_step": null, + "text_zh": "观察：视频 77.0–84.5 s，机器人保持夹持并在蓝色板处转动后前送；反向斜视可见钥匙穿过紫色板的轴段，前端沿蓝色板孔继续向橙色板方向移动，未见钥匙离手或跌落。" + }, + { + "t": 80.7, + "log_step": 90, + "text_zh": "推断：log step 90 记录同一连续录制的长凸耳中心到轴向 0.179997 m、SAVED 3382。按每控制行约 0.025 s，端点为视频约 84.55 s，与视频 84.47 s 的停顿位置一致；由 log step 37、63 的前送步长及板厚、凸耳厚度回推，蓝色板尾缘清出约在视频 80.7 s，误差约 0.5 s。已检查视频 80.20、80.73、81.27 s；精确尾缘被相邻板遮挡，未把仅入孔时刻算作通过。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪夹住钥匙柄，随钥匙的转动、前送与回撤一同运动，将长凸耳送过第2块蓝色转子；钥匙是受评物体。视频约 80.7 s 的前后画面保持持握，完成时也未松开。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [ + [ + 100.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100.2, + "log_step": null, + "text_zh": "观察：视频 97.0–104.5 s，机器人在橙色板处完成转动后继续直线前送；视频 100.20–103.93 s 的主视图可见橙色板孔附近银色前端向酒红色板方向伸出，轴仍穿在前面的板孔内。" + }, + { + "t": 100.2, + "log_step": 92, + "text_zh": "推断：log step 92 记录长凸耳中心到轴向 0.299959 m、SAVED 4162，录制行对应视频约 104.05 s，与视频 103.93–104.47 s 的停顿吻合。结合 log step 37、63 的前送步长及板厚、凸耳厚度，尾缘清出橙色板约在视频 100.2 s，误差约 0.5 s；视频 99.67、100.20、100.73 s 已检查。后续在两板之间的大幅转动支持长凸耳已脱离橙色板全厚。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪夹住钥匙柄，随钥匙的转动、前送与回撤一同运动，将长凸耳送过第3块橙色转子；钥匙是受评物体。视频约 100.2 s 的前后画面保持持握，完成时也未松开。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [ + [ + 567.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 567.6, + "log_step": null, + "text_zh": "观察：视频 562.0–567.3 s，钥匙在酒红色板槽内随机器人转动；视频 567.33–567.67 s 的放大侧视可见银色前端和凸耳向绿色 END 一侧退出槽口，随后视频 568.4–571.1 s 清楚出现板外轴段和长凸耳，轴仍穿孔。首次完整清出取视频约 567.6 s，边界误差约 0.5 s。" + }, + { + "t": 571.067, + "log_step": 122, + "text_zh": "推断：视频 120–550 s 的多轮转动与回撤主要让酒红色转子逐步改变槽角，不能将凸耳停在槽内带转算作穿板。log step 93、97 的首次动作止于轴向 0.36 m 后退回 0.30 m，后续循环同样回撤；log step 122 才记录本次最终前送到 0.419925 m、SAVED 22858，与视频约 571.1–571.6 s 的板间停顿一致。因此本节点在最后一轮前送首次达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪夹住钥匙柄，随钥匙的转动、前送与回撤一同运动，将长凸耳送过第4块酒红色转子；钥匙是受评物体。视频约 567.6 s 的前后画面保持持握，完成时也未松开。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [ + [ + 581.85, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 581.867, + "log_step": null, + "text_zh": "观察：视频 579.07–581.87 s，银色钥匙前端从绿色 END 孔伸出，长凸耳随后露在 END 外侧；视频 581.00–581.87 s 已逐帧检查，机器人仍夹住柄，轴横贯四个转子及 END，结束前未发生回撤或掉落。" + }, + { + "t": 581.85, + "log_step": 197, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、strict_goal_reached=1、strict_goal_row=23275、replay_hold_steps=0、deterministic=1；log step 159 的新进程重放返回 episode_end=success，log step 197 的两次重放核验 all_success=true、all_strict=true、success_rows=[23275,23275]。" + }, + { + "t": 581.85, + "log_step": 124, + "text_zh": "推断：最终评分确认全轴长覆盖、双凸耳间隙、尾缘至少越过 END 1 mm 及连续保持 0.5 s 的联合条件成立，故终态记 true；完成锚点取视频约 581.85 s。log step 124 的交付录制终止于 sim_steps=23275、仿真 581.8525 s，与视频结束一致；23275 行按约 40 Hz 得视频约 581.88 s，且中间录制停顿已在视频约 84.5、104.0、571.5 s 核对。画面不足以独立量出 0.01 mm 孔隙或确认每个物理步的公差，终态精确验收依据评分结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪夹住钥匙柄，随钥匙的转动、前送与回撤一同运动，将长凸耳送过绿色 END 板；钥匙是受评物体。视频约 581.9 s 的前后画面保持持握，完成时也未松开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人夹持双凸耳钥匙，先穿过紫、蓝、橙三块转子，再反复旋转、回撤和再插入调整后续槽角，最终穿过酒红色转子及绿色 END；评分器严格成功，五个节点最终均成立，无失败断点。推断：前三个首次穿板时刻约为视频 62.0、80.7、100.2 s，第四个约为视频 567.6 s，完整终态确认约为视频 581.85 s；前四节点是锁存事件，后续正常回撤不撤销。证据缺口：无状态日志，部分凸耳尾缘被板遮挡，首次边界结合本次连续录制行数与前后画面推断；微小几何公差和连续确认依据严格重放评分，DAG 的三个原生指标未在评分字段中报告，数值保留 null。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，五个节点均 true 且被评分器终态支持；抽查视频帧与交付录制行数映射未见矛盾，无失败断点，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": "2026-10-30T23:33:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-privileged--ptbgxzo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-privileged--ptbgxzo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "54764590ed224787c0506482ba14801c0c48c2ec0573f7b28e2fd78ccab0afa9", + "video_sha256": "0e6861ab7a2ebd6dfe69651ec6be8b718696459e709fd886467becb9a517dd71", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--xxqhh5h.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--xxqhh5h.json new file mode 100644 index 0000000000000000000000000000000000000000..02f0e9eb1f6eefb23a17a926da29d6c412fb94cc --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--xxqhh5h.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-privileged--xxqhh5h", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 29617, + "submitted_actions": 29617, + "sim_steps": 29697, + "physics_steps": 296970, + "sim_time_s": 742.4249999995986, + "final_reward": 0.0, + "replay_wall_s": 2365.2, + "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": 1, + "agent_resets": 10, + "agent_sim_steps": 0, + "agent_records": 198, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 1.173, + "peak_memory_gb": 2.697, + "peak_processes": 10, + "peak_disk_gb": 0.908, + "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-lock-picking-05-i01-privileged--xxqhh5h/replay.mp4", + "duration_s": 742.533, + "fps": 15.0, + "frames": 11138, + "sha256": "d32b7a6002f759e292a5ab9bb786ad1be5fd6f13d2dc096bcdde7269c6f7212e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [ + [ + 449.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.0, + "log_step": 88, + "text_zh": "观察：视频 6–12 s，机器人二指夹爪夹住钥匙柄，将钥匙从托架提起并运到入钥侧；视频 18–440 s 主要在紫色第1板槽中转动、调轴。" + }, + { + "t": 449.0, + "log_step": 314, + "text_zh": "推断：视频 448–451 s，夹爪持钥匙明显向板组推进，视频 450 s 右上反向视图可见轴段从紫色板后延伸到蓝色第2板，故长凸耳已穿过第1板全厚，首次通过约为视频 449 s（约半秒误差）。log step 313–314 将同一录制前缀中的长凸耳中心推进到轴向 x≈0.120 m，第1板中心为 x=0，且返回 clearance_issues=[]，支持合法穿板。" + }, + { + "t": 450.0, + "log_step": 327, + "text_zh": "推断：这里只用录制动作计数辅助核对视频时钟，不使用 agent 时间：log step 327 的 sim_steps=19509 与已保存行数19509相同，控制步长0.025 s；log step 443 的29617行加评分器80步持位得到742.425 s，与视频742.533 s相符，并在视频约450 s推进至蓝板及视频739 s末次推进处核对。后续回撤不撤销本 event 节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂 Robotiq 二指夹爪夹住钥匙柄，从托架提起后保持抓握，送入、转动并穿过紫色第1转子。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [ + [ + 718.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 718.0, + "log_step": 423, + "text_zh": "推断：视频 717–720 s，机器人保持夹柄并进一步轴向送入，长凸耳由蓝色第2板处进入第2、3板之间，约视频 718 s 尾缘越过第2板；右上视图可见紫、蓝两板间轴段，夹爪也向板组靠近。对应已录制前缀的 log step 421–423 将长凸耳中心从 x≈0.120 m 推到0.180 m（第2板中心0.120 m），28801个控制步×0.025 s=720.025 s，与视频720 s的位置核对；通过时刻取视频帧约值，误差约半秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪持续抓握钥匙柄，先在紫、蓝两板处协同带转受动转子，再将长凸耳送过蓝色第2板。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [ + [ + 737.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 737.5, + "log_step": 441, + "text_zh": "推断：视频 736.5–739.5 s，机器人持柄向前推进，视频739 s夹爪已靠近第1板，钥匙前部停在橙色第3板朝第4板一侧；结合推进前后轴段与握柄位移，长凸耳约于视频737.5 s越过第3板。对应录制前缀的 log step 439 记录第3板处 x≈0.239 m、clearance_issues=[]，log step 441 随后推进到 x≈0.300 m（第3板中心0.240 m）；29577个控制步×0.025 s=739.425 s，与视频739.5 s末次推进停止核对。凸耳局部受板框遮挡，通过时刻约有半秒误差。" + }, + { + "t": 742.4, + "log_step": 443, + "text_zh": "观察：视频741.6–742.4 s，夹爪仍夹着钥匙柄，钥匙没有回撤或跌落；第3板首次通过事件保持记为已达成。log step 443 的保存前缀长度29617与最终提交长度一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪持续抓握钥匙柄，调整前两板和第3板的槽向后，将钥匙长凸耳送过橙色第3板。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 739.5, + "log_step": 443, + "text_zh": "推断：视频737–740 s，机器人将钥匙送至第3、4板间并作小幅轴线校正，之后持位至视频742.4 s；未见轴和长凸耳从酒红色第4板朝END的一面露出。log step 443 的最终保存位置为长凸耳中心 x≈0.300 m，第4板中心0.360 m，因此仍差一段轴向行程，长凸耳未穿第4板；这与成功参考视频560–581.8 s可见第4板至END之间完整银色轴段的外观不同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪仍抓握钥匙柄，将长凸耳送入第3、4板间，准备第4板所需的后续调角与插入；交付前缀在该准备位置结束，未到第4板。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 742.4, + "log_step": 591, + "text_zh": "观察：视频0–742.4 s的全程粗采样及视频737–742.4 s密集帧中，绿色END前后均未出现钥匙贯穿和长凸耳整体露出的成功外观；成功参考视频581.8 s则可见银色轴贯穿第4板和END且长凸耳露在绿色板外。评分器strict_goal_reached=0、success_in_hold_only=0；agent亦在log step 591明确称交付为未完成任务的部分检查点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_4", + "t": 739.5, + "log_step": 443, + "where": "操作中", + "evidence_zh": "观察：视频737–740 s，机器人持钥匙移到第3、4板间并校正轴线，随后直到视频742.4 s仍持位，未继续穿过酒红色第4板。log step 585和590明确提交动作前29617行，截在log step 443保存的位置；log step 444开始的下一次大幅转腕及其失握不在本交付片段内。" + }, + "unmet": { + "key_through_rotor_1": true, + "key_through_rotor_2": true, + "key_through_rotor_3": true, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "log_step": 444, + "source_zh": "日志", + "evidence_zh": "推断：导致交付停在第4板前的控制困难，有后续会话试验支持：log step 444在同一中间位置尝试为后续穿板把钥匙转到-15度，机器人API立即报告joint5逆解分支跳变0.61 rad；log step 446–447随后返回实际钥匙角仅约-7度、HAND=None和轴孔间隙失效。log step 585、590将交付截回这一动作之前，log step 591明确说明因该逆解跳变失握及恢复故障而保留部分检查点。这是解释未能延长交付的会话证据，后续失握本身不当作本视频的现象。" + } + ], + "gap_zh": "交付前缀在后续转腕失败之前截断，视频内只见第3、4板间持位，无法为第4板定位一个已发生的碰撞、失握或力异常，故现象层留空。无状态日志；前3板的凸耳局部受板框遮挡，合法通过及约半秒级时刻由相邻帧、录制前缀位置与控制步计数合并推断，无法从视频独立量测微小孔槽公差。评分器没有报告DAG的3项原生指标终值，均填null。" + }, + "summary_zh": "机器人抓起并持续夹持钥匙，长凸耳先后穿过第1、2、3转子，交付结束时为3/5节点；钥匙停在第3、4板间，第4板和END未完成。后续会话中的逆解分支跳变使继续转腕失败，agent因此交付截断前缀；该失握和恢复故障不在评分视频内，未标作轨迹现象。无状态日志，穿板局部遮挡使通过时刻和合法间隙需结合录制前缀反馈推断，原生指标终值未报告。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "校验通过；视频 450/718/742 s 帧与 3/5 节点、第4板与END未达成、断点在第4板一致；穿板时刻因遮挡只能约判，未发现可证伪的错误。", + "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": "2026-10-30T23:24:14Z", + "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-lock-picking-05-i01-privileged--xxqhh5h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-privileged--xxqhh5h/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "00ee6ac2b8543bf2152d12a86e8f5c6a06c08aa9688a748bd8d8846b1f5d43c4", + "video_sha256": "d32b7a6002f759e292a5ab9bb786ad1be5fd6f13d2dc096bcdde7269c6f7212e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--36cckkj.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--36cckkj.json new file mode 100644 index 0000000000000000000000000000000000000000..6f527ed4be36d4759a86699a05a19ee63ace77c5 --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--36cckkj.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--36cckkj", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5057, + "live_rows": 5057, + "sim_steps": 5057, + "physics_steps": 50570, + "steps": 1241, + "elapsed_s": 9118.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-lock-picking-05-i01-standard--36cckkj/replay.mp4", + "duration_s": 126.533, + "fps": 15.0, + "frames": 1898, + "sha256": "7556f7d6599f33b72bd85b1b907ec971631a8654e0ad27019b97cd13b725f9c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 钥匙位于入钥侧的支架区域，紫色第1转子的中心孔尚无钥匙轴贯穿；全片粗查及视频 118–126.4 s 密集检查中，长凸耳均未穿到紫板朝 END 一侧。" + }, + { + "t": 123.0, + "log_step": 141, + "text_zh": "观察：视频约 122–124 s 机器人二指夹爪夹住钥匙端部并抬起，钥匙离开原支承位置，长轴斜伸在板组外；视频 126.4 s 仍未插入紫板中心孔。log step 141 的脚本仅下降、闭爪和竖直抬升，未执行穿板动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 122–124 s，单臂 Robotiq 二指夹爪从两侧夹住钥匙端部并抬起，钥匙随夹爪移动；这是第1穿板节点所含的取钥匙准备操作，尚未穿板。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0–124 s 粗查及视频 118–126.4 s 密集检查中，蓝色第2转子前后未出现贯孔钥匙轴或已越板的长凸耳；末段钥匙仍在紫色第1板外侧，未向蓝板送入。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0–124 s 粗查及视频 118–126.4 s 密集检查中，橙色第3转子孔内没有钥匙轴，板后没有长凸耳；钥匙一直停留在入钥侧区域，未进入橙板。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 126.4, + "log_step": null, + "text_zh": "观察：视频 0–124 s 粗查及视频 118–126.4 s 密集检查中，酒红色第4板的中心孔未被银色钥匙轴贯穿，也未见长凸耳穿出；视频 126.4 s 机器人仍在第1板外持钥匙。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 126.4, + "log_step": null, + "text_zh": "观察：视频 126.4 s 绿色 END 板外没有钥匙轴或长凸耳，四个转子之间也没有贯通的钥匙轴。对照 oracle 视频 581.8 s，可见成功时银轴贯通板组、长凸耳露在 END 外；本回合全片粗查及末段密查均未出现该关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 123.0, + "log_step": 143, + "where": "操作中", + "evidence_zh": "观察：视频约 122–124 s 机器人完成夹持抬升，但视频 124–126.4 s 钥匙保持在紫色第1转子外，没有对孔推进。log step 143 中 agent 在确认钥匙在夹爪内后自述“Task complete”并结束；该节点包含取钥匙准备，已开始操作但首次穿板未完成。" + }, + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "source_zh": "日志", + "evidence_zh": "推断：log step 141 的脚本终点只是夹住钥匙并抬升，log step 142 请求查看抓取结果，log step 143 随即以“钥匙在夹爪中”为依据宣称“Task complete”并停止。视频 124–126.4 s 明确显示钥匙仍在第1板外；inputs/run.json 记录 wall_s=9121、time_limit_s=10800，停止时预算尚未耗尽，且 infra_error=0。将取钥匙这一准备成果当作全任务完成，导致后续穿板未执行。" + } + ], + "gap_zh": "观察：未提供状态日志，评分器 reward 未报告 shaft_bore_excess_m、key_depth、key_tilt_deg，三项原生指标记 null；视频足以判定尚未穿板，无须凭画面测量微小公差。视频约 122–124 s 的抓取最终成功，末段没有实际对孔插入尝试，不能据此区分插入偏差、卡阻或接触力问题；故失败现象层留空，也不把先前已修复的抓取问题当作最终断点现象。" + }, + "summary_zh": "观察：本实时回合机器人多次接近钥匙，最终在视频约 122–124 s 夹住并抬起钥匙，但未穿过第1转子，五个节点最终均为 false。推断：断点为第1穿板节点的操作中，log step 143 将抓起钥匙误当作任务完成并提前停止；没有实际插入失败动作可支持更具体的物理现象。观察：无状态日志，评分器未报告三项原生几何指标，但板组未贯穿的结果在视频中可直接判定。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 0–126.4 s 中钥匙始终未穿过第1紫板，约 122–124 s 才被夹起，五个节点均为 false，与标注一致；断点、空现象层（有 gap_zh）及“误以为完成”根因与日志 step 143 一致，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:19:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--36cckkj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--36cckkj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8822aec71bf40182552e62ad4e838ffea3745dc9df0a49cd6958f80d8f0da9fa", + "video_sha256": "7556f7d6599f33b72bd85b1b907ec971631a8654e0ad27019b97cd13b725f9c3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--89jtimc.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--89jtimc.json new file mode 100644 index 0000000000000000000000000000000000000000..6c283eadbc9ba07e73d8eea86affeb323f8ffcfe --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--89jtimc.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--89jtimc", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 72, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 46432, + "live_rows": 46432, + "sim_steps": 46432, + "physics_steps": 464320, + "steps": 5192, + "elapsed_s": 7461.8, + "replay_wall_s": 3388.1, + "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": 0.24, + "peak_processes": 9, + "peak_disk_gb": 0.341, + "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-lock-picking-05-i01-standard--89jtimc/replay.mp4", + "duration_s": 1160.867, + "fps": 15.0, + "frames": 17413, + "sha256": "8a474f4003a51d9c7401a1fa2021b17cf21f4590d4b5e0f4cd48696827c5913b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475.5, + "log_step": null, + "text_zh": "观察：视频 470.3–475.0 s，机器人夹爪夹住钥匙尾柄并抬起，长杆向支架倾斜；视频 475.5 s 已脱离夹爪、落回支架。视频 571.4–579.3 s 再次短暂夹起，视频 579.8–581.2 s 又脱爪回落，长凸耳均未到达紫色第1转子槽。" + }, + { + "t": 1160.8, + "log_step": 335, + "text_zh": "观察：视频 600–1140 s 的机械臂旋转、前进时，钥匙仍在低处支架上，夹爪前没有随动的长轴；视频 1159.8–1160.8 s，空夹爪靠近紫色第1板，板后未出现穿出的轴段或长凸耳。log step 335 的“THE KEY IS HELD、rail empty”是 agent 自述，与这些画面不符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 470.3–475.0 s 和视频 571.4–579.3 s，单臂 Robotiq 二指夹爪夹住钥匙尾柄并带起尾部；长杆向下倾斜，随后脱爪落回支架，未形成持续持握或穿板。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 275.0, + "log_step": null, + "text_zh": "观察：视频 270–285 s，机器人空手将夹爪向蓝色第2转子周边探近，钥匙仍在支架上，未发生长凸耳穿板。log step 212–235 记录 agent 为预调第2转子而尝试接近、按压的脚本及逆解失败；这不是钥匙已通过该板的记录。" + }, + { + "t": 1160.8, + "log_step": null, + "text_zh": "观察：视频 600–1140 s 及视频 1159.8–1160.8 s，蓝色第2板前后没有贯穿的钥匙轴或已越板的长凸耳，钥匙留在入钥侧支架。第1板也从未通过，故本事件未达。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 270–285 s，单臂夹爪探近蓝色第2板及其白色环框，指端与板缘的交界受环框和视角遮挡；不能确定实际碰到转子、环框还是保持间隙，未见转子随爪转动。没有持钥穿该板的接触。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1160.8, + "log_step": null, + "text_zh": "观察：从视频 0 s 起通览全程，钥匙只在入钥侧支架处两次短暂抬起并回落；视频 735、900、1100 s 以及视频 1159.8–1160.8 s，橙色第3转子两侧均未出现穿过的银色钥匙轴或长凸耳。没有实际持钥推进到该板的动作，未达该穿板事件。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1160.8, + "log_step": null, + "text_zh": "观察：从视频 0 s 起通览全程，钥匙只在入钥侧支架处两次短暂抬起并回落；视频 735、900、1100 s 以及视频 1159.8–1160.8 s，酒红色第4转子两侧均未出现穿过的银色钥匙轴或长凸耳。没有实际持钥推进到该板的动作，未达该穿板事件。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1160.8, + "log_step": 347, + "text_zh": "观察：视频 1140–1160.8 s，绿色 END 板孔外没有露出的钥匙轴和长凸耳，前四板之间也没有贯穿的轴；钥匙仍在入钥侧低处支架上，夹爪停在第1板入口。log step 347 的实时服务 status 为 done=False；agent 随后的“完全插入”判断不能代替画面中的物体关系。" + }, + { + "t": 1160.8, + "log_step": null, + "text_zh": "推断：实际钥匙未进入板组，故有限轴贯穿五板、长凸耳越过 END 并联合保持的条件未成立；本判定依据可见的缺失轴段及钥匙位置，并非仅由总成绩 success=0 反推。成功参考视频 581.86 s 可清楚看到贯穿酒红板至 END 外的银轴，本回合没有这一外观。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 475.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 470.3–475.0 s，机器人为插入第1板而夹起钥匙尾柄，但杆身向支架倾斜；视频 475.5 s 钥匙已脱爪回落。视频 571.4–581.2 s 的重抓再次回落，此后一直空夹执行旋转和前进，直到视频 1160.8 s 都没有将长凸耳送过第1板，因此该步始终未修复。" + }, + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 475.5, + "log_step": null, + "evidence_zh": "观察：视频 470.3–475.0 s，钥匙尾柄被夹爪带起，长轴从夹爪斜向下伸至支架；视频 475.5–477.3 s，夹爪与钥匙分离，钥匙落回低处支架。视频 579.8–581.2 s 再次出现同样的脱爪回落，后续夹爪前没有随动钥匙。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 475.5, + "log_step": null, + "source_zh": "视频", + "evidence_zh": "推断：视频 470.3–475.5 s 和视频 571.4–581.2 s，机器人两次能夹起钥匙尾部，却都未能维持长杆与夹爪的相对姿态，杆身下倾后脱爪；这支持抓取后的保持控制失败。视频无法进一步区分夹持几何、夹紧驱动或辅助抓取连接的具体失效机制，故停留在“控制”。" + }, + { + "cat": "认知", + "item": "误以为完成", + "t": 1160.8, + "log_step": 350, + "source_zh": "agent 自述", + "evidence_zh": "推断：log step 335 中 agent 自述“THE KEY IS HELD、rail empty”后继续穿板脚本，然而视频 600–1140 s 钥匙留在支架、夹爪空行程；log step 347 的服务 status 仍为 done=False，agent 在 log step 348、350 却以“hold satisfied”“key fully inserted, final state holds all conditions”结束。视频 1159.8–1160.8 s 五板均无贯穿轴，run.json 的 wall_s=7370、time_limit_s=10800 也表明结束时尚有墙钟预算；错误的持握与完成判断使其没有修复实际抓取失败。" + } + ], + "gap_zh": "无状态日志、逐板通过标志或指端接触力记录，不能确定脱爪由哪种夹持几何、驱动或辅助抓取机制导致，控制根因不细分。第2板预调时的实际接触交界被环框及视角遮挡，contact_actual 记未知；其余未被实际持钥操作的后续板不虚构抓握接触。评分器未报告 DAG 中三项原生指标，均填 null。" + }, + "summary_zh": "机器人两次短暂夹起钥匙尾柄后均脱爪回落，随后空夹执行旋转与前进；五个穿板节点均未到达，最终为 0/5。断点是穿过第1转子的夹持保持失败，agent 又把空行程误认为完成，在服务仍未判成功时结束。无状态日志可细分脱爪机制，第2板前期预调的实际接触也无法确认；日志自述的贯穿终态与视频不符。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 100/300/472/476/575/700/900/1100/1160 s：钥匙始终在入钥侧支架，五板均无贯穿轴，success=0，节点与断点（第1转子、操作中）与画面一致；现象与根因有证据支持。", + "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": "2026-10-30T23:23:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--89jtimc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--89jtimc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8a0a61e74416c5f39feab7cc42f5457fe92b1f02ff2c672cc98d1fb8b786731d", + "video_sha256": "8a474f4003a51d9c7401a1fa2021b17cf21f4590d4b5e0f4cd48696827c5913b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8fnppiw.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8fnppiw.json new file mode 100644 index 0000000000000000000000000000000000000000..4652159a09834a22e2f8e201f6372c46587f29dd --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8fnppiw.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--8fnppiw", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 11448, + "live_rows": 11448, + "sim_steps": 11448, + "physics_steps": 114480, + "steps": 11074, + "elapsed_s": 5871.5, + "replay_wall_s": 840.2, + "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": 0.604, + "peak_processes": 18, + "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-lock-picking-05-i01-standard--8fnppiw/replay.mp4", + "duration_s": 286.267, + "fps": 15.0, + "frames": 4294, + "sha256": "9fdd3f54267cba18301b34e7621922bc9c4fea0392397c105c8d303ae2139698" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 74.0, + "log_step": 59, + "text_zh": "观察：视频 70–76 s，机器人夹爪夹住钥匙柄并将钥匙从支架抬到紫色第1板孔口；右上反向视角显示轴尖靠近孔，长凸耳仍在入钥侧。log step 59 记录夹爪开口约 0.035 m，与腕部画面中的夹持相符。" + }, + { + "t": 97.8, + "log_step": 73, + "text_zh": "观察：视频 96.8–99.6 s 的腕部画面中，原在两指间的圆柱钥匙柄向指尖外滑出；右上视角中长凸耳仍停在紫色第1板入钥侧，没有整体穿过该板。log step 73 的脚本尝试向第1板推进，其钥匙深度来自固定的钥匙—夹爪变换，并非对钥匙的独立测量。" + }, + { + "t": 286.1, + "log_step": 113, + "text_zh": "观察：视频 180–282 s 的重抓、调姿及视频 285.3–286.1 s 的末帧中，钥匙仍在紫板前，紫板与蓝板之间没有已通过的长凸耳及连接轴段。成功示例视频 80 s 可见紫板后的银色轴段；本次没有这一线索。agent 在 log step 113 自述已运行第一轮至第4板，但本次画面不支持，该自述不用于计入节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂 Robotiq 二指夹爪合拢夹住圆柱钥匙柄，将钥匙抬起并尝试推进紫色第1板；视频约 97.8 s 柄从指间滑出，随后又多次重新夹持、抬起和对准。钥匙自身的穿板位姿是受评对象。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 150.0, + "log_step": 77, + "text_zh": "观察：视频 98–162 s，钥匙停在紫色第1板孔口前，机器人夹爪继续运动甚至降到桌面附近；左侧大画面未见钥匙轴或长凸耳到达蓝色第2板。log step 77 虽打印后续阶段深度，但代码通过夹爪位姿和固定变换计算该值，失握后不能表示钥匙的位置。" + }, + { + "t": 286.1, + "log_step": null, + "text_zh": "观察：视频 180–282 s 的重新抓取及视频 285.3–286.1 s 的末段，钥匙仍只伸向紫色第1板，蓝色第2板孔口及其后方没有穿过的钥匙；此节点全程未达成，也没有对该板实际建立穿板操作接触。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 150.0, + "log_step": 77, + "text_zh": "观察：视频 98–162 s，钥匙停在紫色第1板孔口前，机器人夹爪继续运动甚至降到桌面附近；左侧大画面未见钥匙轴或长凸耳到达橙色第3板。log step 77 虽打印后续阶段深度，但代码通过夹爪位姿和固定变换计算该值，失握后不能表示钥匙的位置。" + }, + { + "t": 286.1, + "log_step": null, + "text_zh": "观察：视频 180–282 s 的重新抓取及视频 285.3–286.1 s 的末段，钥匙仍只伸向紫色第1板，橙色第3板孔口及其后方没有穿过的钥匙；此节点全程未达成，也没有对该板实际建立穿板操作接触。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 150.0, + "log_step": 77, + "text_zh": "观察：视频 98–162 s，钥匙停在紫色第1板孔口前，机器人夹爪继续运动甚至降到桌面附近；左侧大画面未见钥匙轴或长凸耳到达酒红色第4板。log step 77 虽打印后续阶段深度，但代码通过夹爪位姿和固定变换计算该值，失握后不能表示钥匙的位置。" + }, + { + "t": 286.1, + "log_step": null, + "text_zh": "观察：视频 180–282 s 的重新抓取及视频 285.3–286.1 s 的末段，钥匙仍只伸向紫色第1板，酒红色第4板孔口及其后方没有穿过的钥匙；此节点全程未达成，也没有对该板实际建立穿板操作接触。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 286.1, + "log_step": 111, + "text_zh": "观察：视频 0–286.1 s 中，绿色 END 板前后均没有贯穿的钥匙轴和完整露出的长凸耳；视频 285.3–286.1 s 钥匙仍在第1紫板前。成功示例视频 580.9 s 则清楚显示银轴穿过酒红板并从绿色 END 伸出。本次 reward 的 live_success、replay_success 均为 0，log step 111 的实时服务状态仍为 done=False，未出现完成确认。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 97.8, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频 97.6–98.4 s，机器人推进第1板时，钥匙柄从原有夹持中向外滑出，长凸耳仍在紫板入钥侧。视频 100–162 s 的后续运动和视频 180–286.1 s 的重抓均未完成长凸耳穿过第1板；因此最早未修复的失败步骤是穿过第1转子，后续贴桌动作并非首次断点。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 97.8, + "log_step": 73, + "evidence_zh": "观察：视频 96.8–97.4 s 的腕部画面中，圆柱柄位于两夹指之间；视频 97.8–98.4 s 柄已滑到两指外，之后夹爪沿轴方向继续前移而钥匙留在第1紫板前。log step 65、73 的插入代码持续给闭爪目标 0.8，没有安排在此松开钥匙，故这是夹持丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 98.0, + "log_step": 77, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：失握后的控制没有以物体反馈纠正。log step 64 的 key_now 用当前夹爪位姿乘固定变换 Ttk 来推算钥匙，log step 65 的 correct 只修正末端跟踪；log step 77 的异常检查只比较这一推算位姿与指令并检查关节力矩，没有检查夹爪开口或钥匙是否随动。视频约 98 s 已显示钥匙柄滑出，视频 100–150 s 钥匙仍在紫板前，脚本却继续打印第2、第3板阶段深度并执行后续动作；反馈缺口使失握没有及时被检测、停止和修复。" + } + ], + "gap_zh": "观察：inputs 中有完整视频、run.json 和成功示例，但没有本次状态日志及逐板通过标志；无法测量微小孔隙、公差或滑脱瞬间的接触力。推断：初次滑脱究竟由凸耳角度误差、局部阻挡还是夹持承载不足引起，证据不足以细分；所标反馈控制根因只解释失握后仍按夹爪推算钥匙、未能修复穿板失败，不据此虚构初次滑脱的机械原因。agent 在 log step 113 关于已推进至后续转子的叙述与视频不符，逐节点进度以视频为准；reward 未报告 DAG 中三个原生指标，故其值均为 null。", + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + } + }, + "summary_zh": "机器人夹起钥匙并送至第1紫板孔口，但视频约 97.8 s 钥匙柄从夹爪滑出，长凸耳未穿过第1板；后续重抓也未修复，五个节点均未达成。脚本仍由夹爪位姿推算钥匙并执行后续阶段，缺少失握后的物体反馈，日志自述的后续穿板进度与视频不符。没有状态日志和接触力明细，初次滑脱的具体机械原因及微小间隙无法进一步判定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：钥匙在约 97.8 s 从夹爪滑出，长凸耳未穿过第1紫板，五个节点均未达成；断点、现象与根因有证据支持。", + "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": "2026-10-30T23:17:51Z", + "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-lock-picking-05-i01-standard--8fnppiw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--8fnppiw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "80c082fe19558b5f3716807db434904121d556d1232dd2cafa10b6b31bbfc101", + "video_sha256": "9fdd3f54267cba18301b34e7621922bc9c4fea0392397c105c8d303ae2139698", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8zrcw7w.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8zrcw7w.json new file mode 100644 index 0000000000000000000000000000000000000000..6cc197956e0833201615f09477944b58638705b3 --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--8zrcw7w.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--8zrcw7w", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 8399, + "live_rows": 8399, + "sim_steps": 8399, + "physics_steps": 83990, + "steps": 1423, + "elapsed_s": 10809.5, + "replay_wall_s": 529.1, + "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-lock-picking-05-i01-standard--8zrcw7w/replay.mp4", + "duration_s": 210.067, + "fps": 15.0, + "frames": 3151, + "sha256": "af60d8769c6c3d92cbcbcbb9c5e03aa010a341e5db6d44e48209d612358ac5e0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100.0, + "log_step": null, + "text_zh": "观察：视频 0–100 s 的固定双视角中，机器人在支架处抓取、抬起及转动钥匙；视频 100 s 钥匙长凸耳仍在紫色第1转子入口侧，未见穿板后的轴段与长凸耳。" + }, + { + "t": 188.1, + "log_step": 595, + "text_zh": "观察：视频 186.5–187.6 s 右上反向斜视中，钥匙前端逼近紫色板的中心槽口，长凸耳未完整越到板后；视频 187.7–188.4 s 钥匙脱离夹爪并下落至入口侧支架。log step 595 的服务接触监测返回最大压力 129.8 N、夹爪间隙由约35 mm缩至14.4 mm；agent 在 log step 596 自述“轴尖到达第2转子”，但画面没有显示长凸耳通过第1转子。" + }, + { + "t": 198.4, + "log_step": 616, + "text_zh": "观察：视频 194–198.2 s 机器人再次夹住钥匙柄并抬至紫色板入口；视频 198.4 s 钥匙已落回支架，随后至视频 209.8 s 夹爪空手前进而钥匙留在低处。没有出现长凸耳完整穿过紫色板的事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 100 s、184 s 及198 s，单臂Robotiq二指夹爪从两侧夹住钥匙柄并抬动钥匙；多次换握后推进，视频约188 s和198.4 s推进时失去夹持。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约35–38 s，机器人还曾先用夹爪下探紫色第1转子顶部凸起及外圈，接触后退开；这是直接调整第1转子的另一段尝试，随后回到钥匙抓取，未见转子随爪转动。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 209.8, + "log_step": null, + "text_zh": "观察：视频全程的左右固定视角中，未见钥匙长凸耳到达并穿过蓝色第2转子；视频 188.4 s及198.4–209.8 s钥匙均位于紫色第1板入口侧的低处，后方板间没有贯穿轴段。前置的第1板合法穿过事件未发生，故本事件未达成。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 209.8, + "log_step": null, + "text_zh": "观察：视频全程的左右固定视角中，未见钥匙长凸耳到达并穿过橙色第3转子；视频 188.4 s及198.4–209.8 s钥匙均位于紫色第1板入口侧的低处，后方板间没有贯穿轴段。前置的第1板合法穿过事件未发生，故本事件未达成。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 209.8, + "log_step": null, + "text_zh": "观察：视频全程的左右固定视角中，未见钥匙长凸耳到达并穿过酒红色第4转子；视频 188.4 s及198.4–209.8 s钥匙均位于紫色第1板入口侧的低处，后方板间没有贯穿轴段。前置的第1板合法穿过事件未发生，故本事件未达成。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 209.8, + "log_step": 629, + "text_zh": "观察：视频全程绿色 END 板外未见钥匙轴或完整长凸耳；视频 209.1–210.0 s 仍如此，钥匙留在入口侧支架附近，夹爪已空手到达紫色板附近。log step 629 服务状态仍为 done=False、reason=None，评分器 live_success=0、replay_success=0；未形成连续0.5秒的完整贯穿终态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 188.0, + "log_step": 595, + "where": "操作中", + "evidence_zh": "观察：机器人一直在完成紫色第1转子的对准与插入。视频约188 s推进过程中，钥匙从夹爪滑落到入口侧支架，长凸耳未穿过紫色板；视频198.4 s重抓后的推进再次失去钥匙，至视频209.8 s未修复本节点。log step 596把推进称为到达第2转子，但视频只显示第1板前的失败。" + }, + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 188.0, + "log_step": 595, + "evidence_zh": "观察：视频184–187.6 s机器人夹爪夹持钥匙柄，钥匙随爪移动到紫色板前；视频187.7–188.4 s钥匙脱离夹爪、降落到低处支架，夹爪继续停在上方。视频198.0–198.4 s重抓后再次发生同类丢失，随后空夹前进；不是从未建立抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：机器人未能在向第一板推进时维持钥匙的受控夹持。log step 595、616的脚本均保持闭爪命令并沿插入方向推进，服务分别记录129.8 N与74.5 N的最大压力，夹爪间隙随后大幅收窄；视频约188 s与198.4 s同时显示钥匙落回低处而夹爪继续前进。这支持插入接触及持物控制失败，尚不足以区分接触几何、姿态估计或反馈参数的具体责任。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或原生逐板通过标志，第一板槽口局部有遮挡，微小间隙及脱握的具体触发机制不能精确复原；逐板判断依据多视角中长凸耳始终未完整过板且随即落回入口侧，而非仅由零分反推。三项原生几何指标均未在评分器字段中报告，保留null；根因只标到控制层级。" + }, + "summary_zh": "机器人反复抓取、抬动和调整钥匙，并直接接触过第1转子顶部，但未完成任何一个合法穿板节点，最终为0/5。断点是穿过第1转子：视频约188 s及198.4 s推进时均失去夹持，之后夹爪空手前进，钥匙留在入口侧支架附近。视频支持持物和插入控制失败；无状态日志，无法进一步确定脱握机制或精确测量槽隙。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐节点未达成、断点在第1转子（约188 s 推进时钥匙脱手落回入口侧支架）与帧一致；log step 595/616 的服务读数存在；现象“没保持住”和根因“控制”证据足够且未过度断言，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:37:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--8zrcw7w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--8zrcw7w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "18c1dede3ee57adf223f6fb960e7c64c561921f56dd4bb6c4cdc047bad77280a", + "video_sha256": "af60d8769c6c3d92cbcbcbb9c5e03aa010a341e5db6d44e48209d612358ac5e0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--c6u6zmd.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--c6u6zmd.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2fc311ad4989efe8461f54ddd72e85d06350d6 --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--c6u6zmd.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--c6u6zmd", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 7, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 11675, + "live_rows": 11675, + "sim_steps": 11675, + "physics_steps": 116741, + "steps": 2910, + "elapsed_s": 6269.3, + "replay_wall_s": 900.8, + "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": 0.323, + "peak_processes": 9, + "peak_disk_gb": 0.333, + "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-lock-picking-05-i01-standard--c6u6zmd/replay.mp4", + "duration_s": 291.933, + "fps": 15.0, + "frames": 4379, + "sha256": "eab51e334bb2a46938e35aba3b88bd9f20e1f1454c51fed3a4e161da4b6d348f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [ + [ + 21.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.6, + "log_step": 68, + "text_zh": "观察：视频 19.0–21.4 s 机器人夹持钥匙转动紫色第1板，视频 21.4–23.4 s 随后沿轴向推进；右上反向斜视可见入钥侧轴段缩短，钥匙进入第1、2板之间。log step 68 的脚本先在第1板槽内旋转，再向两板间隙推进，与视频动作相符。" + }, + { + "t": 21.6, + "log_step": null, + "text_zh": "推断：结合视频 21.4–23.4 s 的前后位置和随后钥匙进入第2板，长凸耳在视频约 21.6 s 首次越过第1板全厚；尾缘局部被板遮住，时间约有 0.5 s 不确定性。此为锁存事件，后续回撤不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂的二指夹爪夹住钥匙柄，视频 11.0–14.0 s 可见夹爪闭合、钥匙随末端抬升离开原支承高度；随后持柄旋转并推进第1板。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [ + [ + 28.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.1, + "log_step": 73, + "text_zh": "观察：视频 24.0–27.8 s 钥匙进入蓝色第2板并带其转动；视频 28.0–29.8 s 机器人持柄继续向橙色第3板推进，银色轴段连接前两板，第2板槽方向与推进时的凸耳方向相合。log step 73 的连续动作包含第2板旋转及向第3板推进。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "推断：结合视频 27.6–29.8 s 连续推进及随后在第3板处转动的构型，长凸耳在视频约 28.1 s 已从第2板朝 END 一侧退出，轴仍在孔内；尾缘受相邻板遮挡，首次通过时刻约有 0.5 s 不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人同一二指夹爪持续抓握钥匙柄，通过钥匙带动蓝色第2转子，并沿轴推进；未见另一只手参与。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [ + [ + 33.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.2, + "log_step": 73, + "text_zh": "观察：视频 30.0–32.8 s 机器人持钥匙在橙色第3板处转动，视频 33.0–34.6 s 钥匙继续向酒红色第4板推进，左侧大画面中第3板朝 END 一侧出现随轴前移的凸耳，随后钥匙在两板间旋转。" + }, + { + "t": 33.2, + "log_step": null, + "text_zh": "推断：由视频 32.8–34.6 s 凸耳离开第3板、进入板间隙的前后构型，将首次合法穿过第3板记为视频约 33.2 s，时间约有 0.5 s 不确定性；后续回撤保持该事件已达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪抓握钥匙柄，旋转钥匙带动第3转子，再将长凸耳推进至第3、4板间隙。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [ + [ + 288.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40.5, + "log_step": 73, + "text_zh": "观察：视频 39.5–43.5 s 酒红色第4板中心仅露出短轴尖，凸耳仍在槽内随板转动，随后机器人回撤，不能把这次轴尖露出记为长凸耳通过。" + }, + { + "t": 288.6, + "log_step": 216, + "text_zh": "观察：视频 288.0–288.4 s 第4板外仍是短轴尖；视频 288.6–289.1 s 长凸耳从槽内伸到第4板朝绿色 END 的一侧，轴段继续增长，随后钥匙向 END 推进。log step 216 的动作是对准 END 后继续插入。" + }, + { + "t": 288.6, + "log_step": null, + "text_zh": "推断：结合视频 288.4–289.1 s 长凸耳与第4板外表面的相对位置，首次完整通过第4板约在视频 288.6 s；微小尾缘净距不能从像素精确测量，时间约有 0.5 s 不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂二指夹爪抓住钥匙柄，多次插入、转动及回撤后，在视频 288.6 s 附近持柄将长凸耳送过第4板。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [ + [ + 291.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 291.3, + "log_step": 216, + "text_zh": "观察：视频 290.9–291.2 s 钥匙前端逐渐从绿色 END 槽中伸出；视频 291.3–291.87 s 长凸耳露于绿色板外，银色轴连续贯穿四转子及 END，夹爪仍夹住柄，末帧未见退出或掉落。该可见构型与参考成功视频 581.0 s 的贯穿末态一致；参考视频仅用于辨认构型。" + }, + { + "t": 291.8, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 success、live_success、replay_success、deterministic、live_matches_replay、finalized 均为 1，infra_error 为 0，resumes 为 0；评分器确认本次实时回合及其重放成功。" + }, + { + "t": 291.3, + "log_step": null, + "text_zh": "推断：视频约 291.3 s 开始保持完整贯穿末态至结束，结合评分器成功判定，记该节点最终为真；联合间隙、1 mm 尾缘净距及连续 0.5 s 验收由成功结果支持，不能由画面独立精确测量。区间起点为合格保持段的起点，视觉时间约有 0.5 s 不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪始终在末段抓握钥匙柄，向绿色 END 板推进并维持贯穿状态；视频 291.8 s 右上视角可见两指夹持柄部，未松手。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人抓握钥匙并反复旋转、插入和回撤，长凸耳依次通过四个转子，视频约 291.3 s 达到并保持贯穿绿色 END 的终态，五个节点最终均为真；评分器的实时与重放结果均成功。log step 219 虽出现模型过滤提示，但评分器已经记录完整回合成功，不据此添加失败标签。无状态日志，前三板的凸耳尾缘局部遮挡，首次通过时间为结合前后构型的近似判断；微小几何公差及联合确认由评分器成功结果支持，三个原生指标未在评分字段报告，值保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功回合，五个节点均达成且 final=5；抽查视频 22.5、289、291.8 s 帧，与标注的穿板时序和末态一致，评分器字段支持成功，无失败层。第4板 288.6 s 的像素级判定无法独立精确验证，但与末态及评分器成功一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:23:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--c6u6zmd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--c6u6zmd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "51581c5f8bfb9e1455b7fb55b5ad5556cc727030b2f5c51926bdc9cde5101f9c", + "video_sha256": "eab51e334bb2a46938e35aba3b88bd9f20e1f1454c51fed3a4e161da4b6d348f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--lbmdnil.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--lbmdnil.json new file mode 100644 index 0000000000000000000000000000000000000000..75a0b222c4b74d0a1e87acacc7bf242ba55bb75e --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--lbmdnil.json @@ -0,0 +1,273 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--lbmdnil", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 5832, + "live_rows": 5832, + "sim_steps": 5832, + "physics_steps": 58320, + "steps": 2662, + "elapsed_s": 4206.0, + "replay_wall_s": 404.9, + "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": 0.549, + "peak_processes": 12, + "peak_disk_gb": 1.322, + "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-lock-picking-05-i01-standard--lbmdnil/replay.mp4", + "duration_s": 145.867, + "fps": 15.0, + "frames": 2188, + "sha256": "141fda99ab2e999b1c67f5650a4df232d5731be9559a6cd6f84ba1541df4945f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.8, + "log_step": 275, + "text_zh": "观察：视频 26.5 s 钥匙仍放在入钥侧长支架上；视频约 27.8 s，机器人张开的夹爪下降并碰动钥匙，使其偏离支架，未向紫色第1板孔内推进。log step 275 记录的是这次下降操作。" + }, + { + "t": 88.3, + "log_step": 479, + "text_zh": "观察：视频约 86.8–88.2 s，二指夹爪夹住钥匙靠近圆柱柄的轴段并短暂抬起，钥匙离开原支承处；视频约 88.3 s 钥匙相对夹爪下滑、转斜并脱离，随后落回支架附近。全片粗查及视频 24–33 s、60–96 s、105–130 s 的密集检查中，钥匙均未被送入紫色板孔。" + }, + { + "t": 145.8, + "log_step": 586, + "text_zh": "观察：视频 145.0 s 和 145.8 s，紫色板的孔槽及板后轴段位置没有钥匙贯穿，机器人空爪停在入钥侧。log step 586 的服务状态为 control_steps=5832、done=false，评分器记录 live_success=0、replay_success=0、live_matches_replay=1；本节点未达的判断来自可见穿板动作始终未发生。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单臂 Robotiq 二指夹爪在视频约 86.8–88.2 s 对向夹住钥匙靠柄的细轴，短暂将其抬离支承处，随后失持；在此之前，视频约 27.8 s 张开的手指侧面先推碰钥匙使其离架。拿取钥匙并入本节点；没有发生夹持钥匙穿板的接触。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145.8, + "log_step": null, + "text_zh": "观察：视频 0–145.8 s 的全程粗查及抓取、抬升和回撤阶段的密集帧中，机器人只在板组入钥侧取钥匙，没有将钥匙送到蓝色第2转子板；左侧主视角和右上反向视角始终没有出现该板前后相连的银色钥匙轴及穿出的长凸耳。视频 145.8 s 仍是空板孔，本节点未达到且未进入该板的操作。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145.8, + "log_step": null, + "text_zh": "观察：视频 0–145.8 s 的全程粗查及抓取、抬升和回撤阶段的密集帧中，机器人只在板组入钥侧取钥匙，没有将钥匙送到橙色第3转子板；左侧主视角和右上反向视角始终没有出现该板前后相连的银色钥匙轴及穿出的长凸耳。视频 145.8 s 仍是空板孔，本节点未达到且未进入该板的操作。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145.8, + "log_step": null, + "text_zh": "观察：视频 0–145.8 s 的全程粗查及抓取、抬升和回撤阶段的密集帧中，机器人只在板组入钥侧取钥匙，没有将钥匙送到酒红色第4转子板；左侧主视角和右上反向视角始终没有出现该板前后相连的银色钥匙轴及穿出的长凸耳。视频 145.8 s 仍是空板孔，本节点未达到且未进入该板的操作。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145.8, + "log_step": null, + "text_zh": "观察：视频 0–145.8 s 中，绿色 END 板外从未出现钥匙长凸耳，左侧主视角始终没有银色钥匙轴贯穿板组；视频 145.8 s 也没有贯穿轴或 END 外露凸耳。参考成功视频 581.0 s 可清楚看到同一视角的板间银轴及 END 外露凸耳，本次相应可见位置均为空，故完整终态未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 27.8, + "log_step": 275, + "where": "操作中", + "evidence_zh": "观察：视频约 27.8 s，机器人在拿取钥匙的下降过程中将钥匙碰偏、碰离支架；拿取属于第1转子穿板操作。此后机器人虽在视频约 87–88 s 短暂夹起钥匙，却再次失持，后续重抓也没有把钥匙送进第1板；视频 145.8 s 仍无穿板轴段。因此最早未修复的失败步骤是 key_through_rotor_1，而非尚未开始的后续板节点。" + }, + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 27.8, + "log_step": 275, + "evidence_zh": "观察：视频 27.4–28.2 s 的腕部近视图中，机器人张开的手指下降到钥匙侧面，钥匙随接触横向移位、转斜并离开白色长支架；视频 32.5 s 可见钥匙已在支架侧方。该事件是取钥匙时碰动目标，未形成预定的居中夹持。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 88.3, + "log_step": 479, + "evidence_zh": "观察：视频 86.8–88.2 s，钥匙靠柄轴段位于两指之间，钥匙随夹爪抬升而离开原支承位置；视频约 88.3 s，腕部视角中的圆柱柄相对手指转斜、下移并退出夹爪，主视角随后显示空爪继续抬离、钥匙落回支架附近。机器人未将这次短暂拿起转化为穿板。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：抓取接近和持握执行未能可靠控制钥匙。视频约 27.8 s 的下降先把目标碰离支架；log step 275 命令末端到 y=-0.2592 m，服务返回实际 y=-0.2457 m，存在约 13.5 mm 的横向偏差。log step 468 与 log step 479 的脚本均以 grip=0.8 执行抬升，后者的服务读数最终为夹爪开度 0，而视频约 88.3 s 钥匙仍从指间脱离；这支持持握执行失败，不能仅据 agent 最终自述归为始终没有接触。具体是接触布局、跟踪还是辅助抓持失效，现有记录不能分开，故停在控制类别。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志、逐帧接触对或抓持锁定标志，无法确认短暂夹持时是否建立辅助抓持，也不能确定脱离所对应的力或漂移条件；因此控制根因不细分。末段钥匙具体遮挡位置不能确定，agent 在 log step 589 所称可能卡在支架下或桌内仅为其猜测，不据此归因环境异常。评分器未报告 DAG 的三个原生几何指标，均填 null；板组可见且始终未贯穿，以上缺口不影响五个节点未达的判断。" + }, + "summary_zh": "本次机器人反复拿取钥匙，但没有将钥匙插进任何转子板，五个节点最终均未达到（0/5）。断点为第1转子穿板操作：视频约 27.8 s 的下降先把钥匙碰离支架，视频约 87–88 s 又出现短暂夹起后脱离，后续未修复；日志与画面支持抓取及持握执行方面的控制问题。无状态日志，不能细分失持的接触或力学机制，也不能确认末段钥匙在遮挡处的精确位置。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 20/26.5/28/32/88.5/145 s：钥匙原在长支架上，约 28 s 下降后偏离支架，145 s 无任何穿板，五节点未达、断点 key_through_rotor_1、碰撞与没保持住现象与画面一致；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": "2026-10-30T23:31:26Z", + "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-lock-picking-05-i01-standard--lbmdnil/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--lbmdnil/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0899db076853d5582beb25595fe456f74ce7f4dc0eda0ccbdae83d8cf2d1de7c", + "video_sha256": "141fda99ab2e999b1c67f5650a4df232d5731be9559a6cd6f84ba1541df4945f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ngmhtvc.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ngmhtvc.json new file mode 100644 index 0000000000000000000000000000000000000000..639ac3a128486447ba60ed63e9e4b41091bee53c --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ngmhtvc.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--ngmhtvc", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "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": 25, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 10512, + "live_rows": 10512, + "sim_steps": 10512, + "physics_steps": 105120, + "steps": 9142, + "elapsed_s": 10816.8, + "replay_wall_s": 1467.6, + "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-lock-picking-05-i01-standard--ngmhtvc/replay.mp4", + "duration_s": 262.867, + "fps": 15.0, + "frames": 3943, + "sha256": "31c226e353896d45974658a2dbd0c6300c7108449d7691b77576ac2f8ab7f3e6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 钥匙平放在紫色第1转子之前的支架上，尚未插入板孔。" + }, + { + "t": 11.5, + "log_step": 125, + "text_zh": "观察：视频 9.5–11.5 s 机器人夹爪在钥匙柄附近闭合后向上离开，钥匙仍留在原支架上，没有随夹爪抬升；log step 125 是机器人抬升指令及末端位姿反馈，并非钥匙已拿起的证明。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "观察：视频 16–17.5 s 机器人夹指接触使钥匙轴从支架侧面向下摆斜；视频 26.5–30.5 s 钥匙转为低位斜躺在入钥侧桌面，没有送到紫板中心孔。" + }, + { + "t": 141, + "log_step": null, + "text_zh": "观察：视频 141 s 机器人夹爪退到钥匙上方，银色钥匙仍在桌面；后续机器人继续在钥匙柄附近反复接近和闭合。" + }, + { + "t": 262.8, + "log_step": 1021, + "text_zh": "观察：逐秒检查视频全程并细查视频 235–262.8 s，长凸耳从未越过紫色第1转子；视频 262.8 s 钥匙仍斜放在入钥侧桌面，夹爪在柄附近。log step 1021 自述已发出完整插入序列，画面未显示该穿板结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 16–17.5 s 及 24.5–30.5 s，单臂夹指接触、拨动钥匙柄/邻近轴段，使钥匙从支架上转斜并移向桌面；反复合爪未见将钥匙稳定夹住并随手抬升，因此不把闭合指令记为已建立抓握。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60, + "log_step": null, + "text_zh": "观察：视频 60 s 左侧大画面与右上反向视图中，蓝色第2转子前后均无钥匙轴贯穿，机器人仍在第一块板之前处理低位钥匙；全程检查未见长凸耳到达或通过该板。" + }, + { + "t": 262.8, + "log_step": null, + "text_zh": "观察：视频 262.8 s 钥匙仍位于整组转子板之前的桌面，蓝色第2转子未被钥匙贯穿；没有该板的穿板事件。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 150, + "log_step": null, + "text_zh": "观察：视频 150 s 左侧大画面与右上反向视图中，橙色第3转子前后均无钥匙轴贯穿，机器人仍在第一块板之前处理低位钥匙；全程检查未见长凸耳到达或通过该板。" + }, + { + "t": 262.8, + "log_step": null, + "text_zh": "观察：视频 262.8 s 钥匙仍位于整组转子板之前的桌面，橙色第3转子未被钥匙贯穿；没有该板的穿板事件。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 245, + "log_step": null, + "text_zh": "观察：视频 245 s 左侧大画面与右上反向视图中，酒红色第4转子前后均无钥匙轴贯穿，机器人仍在第一块板之前处理低位钥匙；全程检查未见长凸耳到达或通过该板。" + }, + { + "t": 262.8, + "log_step": null, + "text_zh": "观察：视频 262.8 s 钥匙仍位于整组转子板之前的桌面，酒红色第4转子未被钥匙贯穿；没有该板的穿板事件。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 绿色 END 板孔内没有钥匙，完整贯穿条件初始不成立。" + }, + { + "t": 262.8, + "log_step": null, + "text_zh": "观察：视频全程至视频 262.8 s，绿色 END 板外没有钥匙长凸耳，四块转子板也未形成连续穿轴；末秒仍可见钥匙留在入钥侧桌面。评分器记录 success=0、live_success=0、replay_success=0，与未贯穿画面一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_through_rotor_1", + "t": 11.5, + "log_step": 125, + "where": "操作中", + "evidence_zh": "观察：视频 9.5–11.5 s 机器人尝试合爪、抬升以准备第1次穿板，但夹爪离开时钥匙仍留在支架上。后续视频 16.5 s 钥匙被拨斜，视频 141 s 及 262.8 s 仍留在入钥侧桌面，始终没有完成第1转子的穿板；这是最先未修复的步骤。" + }, + "unmet": { + "key_through_rotor_1": false, + "key_through_rotor_2": false, + "key_through_rotor_3": false, + "key_through_rotor_4": false, + "key_through_end": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 11.5, + "log_step": 125, + "evidence_zh": "观察：视频 9.5–11.5 s 机器人闭合夹爪并抬手，钥匙没有离开原支架；视频 16.5 s 只见钥匙向下摆斜，视频 141 s 再次抬手后钥匙仍在桌面。所需的双指夹持、携带钥匙的有效接触未建立，存在碰拨接触但没有可用于穿板的持握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：机器人选用的接近和闭合几何受到钥匙支架干涉，未使两侧夹指在钥匙柄上夹实。log step 112 的基准服务 safety.forcing（机器人驱动接近力矩上限且有压接触的监测）直接记录夹指压在 the key cradle 0 0 上，joint4 达 50 N·m 上限，接触力最大 48.4 N，抓取结束开口仍为 0.0826 m；视频 5.5 s 可见夹爪贴近支架，视频 11.5 s 闭合抬手却留下钥匙。后续多次换方向接近也只拨动钥匙，支持接触布局不适配；本回合内未验证替代抓法能完成搬运。" + } + ], + "gap_zh": "没有状态日志或逐板通过标志，无法恢复每次瞬时夹指接触对及辅助抓取是否曾短暂触发；但钥匙始终未穿板在两路固定视图中可辨。log step 1020–1021 只有最后插入脚本的启动记录，没有执行完成输出，不能据其计划补计节点。评分器未报告 shaft_bore_excess_m、key_depth、key_tilt_deg 三项原生指标。" + }, + "summary_zh": "机器人反复接近、闭合并抬升夹爪，却未有效持起钥匙，接触将钥匙从支架拨斜至入钥侧桌面，五个穿板节点均未达到。断点为穿过第1转子的操作中：视频 11.5 s 抬手后钥匙仍在原处，服务日志记录夹指压住钥匙支架，支持抓取和接触设计失败；视频 262.8 s 仍未出现任何贯穿关系。无状态日志及最后插入脚本的完成回报，瞬时接触细节不能精确还原。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "五个穿板节点均未达成，与视频一致；断点在第1转子、现象与根因有证据支持。", + "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": "2026-10-30T23:33:21Z", + "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-lock-picking-05-i01-standard--ngmhtvc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--ngmhtvc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "14b39eb7e7872c6c612ab6b63b4a2bd48fc10b6af1b142d97ab39dbebf756006", + "video_sha256": "31c226e353896d45974658a2dbd0c6300c7108449d7691b77576ac2f8ab7f3e6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--y42nvma.json b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--y42nvma.json new file mode 100644 index 0000000000000000000000000000000000000000..9529c77cc8bc0914c677533a42e0b140016839f6 --- /dev/null +++ b/phase2/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--y42nvma.json @@ -0,0 +1,301 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--y42nvma", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "replay_success": 1, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 32884, + "live_rows": 32884, + "sim_steps": 32884, + "physics_steps": 328839, + "steps": 6888, + "elapsed_s": 4380.1, + "replay_wall_s": 1927.8, + "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-lock-picking-05-i01-standard--y42nvma/replay.mp4", + "duration_s": 822.2, + "fps": 15.0, + "frames": 12333, + "sha256": "4d346e4236280db6e81ff85c58b12d45d691dd3c627451489ba8987f14f44eee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [ + [ + 164.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 164.0, + "log_step": 80, + "text_zh": "观察：视频 159–167 s，机器人用闭合的二指夹爪夹住钥匙柄；第1块紫色板转动后，钥匙沿孔轴向第2块蓝色板推进，夹爪与钥匙同步移动。视频 175–185 s 已推进至蓝色板，钥匙没有留在原支架上。" + }, + { + "t": 164.0, + "log_step": 80, + "text_zh": "推断：结合视频 163–165 s 的首次前进、视频 175–185 s 的后续位置，以及 log step 79 的先转第1板再轴向推进指令和 log step 80 的对应执行输出，长凸耳在视频约 164 s 首次越过紫色板全厚；越板尾缘被邻板部分遮挡，时刻约有 1 s 不确定性。后续回撤不撤销该事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：固定底座单臂的 Robotiq 二指夹爪夹住钥匙柄，保持对向夹持，带动钥匙轴向推进及绕轴旋转，完成紫色第1板的穿板操作。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [ + [ + 202.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 202.0, + "log_step": 82, + "text_zh": "观察：视频 195–206 s，第2块蓝色板转动后，机器人继续夹持钥匙向橙色第3板推进；右上反向视图中的轴段随之向板组内移动，视频 213–225 s 长凸耳已经抵达橙色板并随钥匙转动。" + }, + { + "t": 202.0, + "log_step": 82, + "text_zh": "推断：视频 201–203 s 的轴向推进使长凸耳首次完全离开蓝色板、进入蓝橙两板之间；到达时间取视频约 202 s，约有 1 s 不确定性。log step 81–83 的先在第2板转动、再推进至第3板的指令及执行输出与这段视频一致；没有用 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：固定底座单臂的 Robotiq 二指夹爪夹住钥匙柄，保持对向夹持，带动钥匙轴向推进及绕轴旋转，完成蓝色第2板的穿板操作。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [ + [ + 233.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 233.0, + "log_step": 83, + "text_zh": "观察：视频 229–237 s，机器人在第3块橙色板转动完成后继续向前送钥匙；左侧大画面可见银色轴端从橙色板朝酒红色板一侧伸长，随后机器人在两板之间大幅转动钥匙。" + }, + { + "t": 233.0, + "log_step": 83, + "text_zh": "推断：由视频 232–234 s 的外露轴段和凸耳位置变化，长凸耳在视频约 233 s 首次完全穿过橙色板，时刻约有 1 s 不确定性；log step 83–85 的推进、板间转向及进入第4板的连续执行与所见一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：固定底座单臂的 Robotiq 二指夹爪夹住钥匙柄，保持对向夹持，带动钥匙轴向推进及绕轴旋转，完成橙色第3板的穿板操作。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [ + [ + 801.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 801.5, + "log_step": 110, + "text_zh": "观察：视频 792–798 s 钥匙仍在酒红色第4板处转动、轴端仅短距离突出；视频 799–804 s 机器人保持夹持并沿轴向推进，银色长凸耳从该板朝绿色 END 的一侧露出，视频 802–804 s 可见凸耳与酒红色板分离、轴仍在板孔内。" + }, + { + "t": 801.5, + "log_step": 110, + "text_zh": "推断：在视频约 801.5 s，长凸耳尾缘首次越过酒红色板外表面，时间估计误差约 0.5 s；此前多次停在第4板槽内并转动不算全厚通过。log step 108–110 记录最后一次转动完成后才继续向 END 推进，与视频相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：固定底座单臂的 Robotiq 二指夹爪夹住钥匙柄，保持对向夹持，带动钥匙轴向推进及绕轴旋转，完成酒红色第4板的穿板操作。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [ + [ + 822.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 822.13, + "log_step": 110, + "text_zh": "观察：视频 820.0–822.13 s 的连续帧显示机器人继续夹持钥匙，银色轴贯穿板组，长凸耳沿绿色 END 槽逐渐露到板外，最后一秒未回撤或掉落；视频 822.13 s 末帧与参考成功视频 581.86 s 的贯穿外观相符。log step 110 的机器人实时服务返回 done=True、reason=success；评分器同时记录 live_success=1、replay_success=1、deterministic=1、live_matches_replay=1。" + }, + { + "t": 822.1, + "log_step": 110, + "text_zh": "推断：以视频约 822.1 s 为包含连续 0.5 s 确认的完成锚点；长凸耳尾缘越过 END、有限轴长覆盖全部板孔及微小间隙的联合验收由实时服务成功返回和一致的成功重放确认。画面能支持外露与持续夹持，但不能独立量出 1 mm、0.01 mm 公差或确认计数；完成时刻约有 0.5 s 不确定性。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人二指夹爪持续夹住钥匙柄，沿轴向将长凸耳送出绿色 END 板，并在视频末尾保持夹持；没有松爪要求。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "shaft_bore_excess_m", + "unit": "m", + "threshold": 1e-05, + "direction": "lower_better", + "value": null + }, + { + "name": "key_depth", + "unit": "plate_pitch", + "threshold": null, + "direction": "higher_better", + "value": null + }, + { + "name": "key_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人夹取钥匙并调整握法后，依次完成四块转子板的首次穿板事件，通过多次回撤和重新转动将第4板对齐，最后在视频约 822.1 s 完成贯穿 END 的联合确认，5/5 节点最终成立。实时服务及评分器均判定成功，重放与实时一致，无失败断点。没有状态日志；前几块板的凸耳尾缘部分遮挡，首次越板时间约有 1 s 不确定性，末端微小几何公差和确认时长依赖服务成功结果，三个原生指标未在评分器字段中报告。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，5/5 节点与评分器成功字段一致，末端帧显示轴端已穿出酒红板朝 END；中间节点时间约1 s不确定性已声明，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": "2026-10-30T23:24:49Z", + "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-lock-picking-05-i01-standard--y42nvma/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--y42nvma/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cfd9a4eeee31f61b162015d04d8a81a762e12801e82769a567fc4738807cb2a4", + "video_sha256": "4d346e4236280db6e81ff85c58b12d45d691dd3c627451489ba8987f14f44eee", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--4chqhsv.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--4chqhsv.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ee05c0cae11fde840ff71e449497d834ec0d08 --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--4chqhsv.json @@ -0,0 +1,393 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-privileged--4chqhsv", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "all_success": 1, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 2856, + "submitted_actions": 2881, + "sim_steps": 2856, + "physics_steps": 2856, + "sim_time_s": 114.24000000000666, + "final_reward": 1.0, + "replay_wall_s": 4016.0, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 2856, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 10, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.526, + "peak_memory_gb": 1.17, + "peak_processes": 10, + "peak_disk_gb": 0.276, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-privileged--4chqhsv/replay.mp4", + "duration_s": 114.333, + "fps": 15.0, + "frames": 1715, + "sha256": "45182824a551f23d8109bc3f31aa75280b416cf5c2a7cedad808018528a3f73e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 13.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频 12.0–14.0 s，右夹爪夹住黄色绳段向隔墙送进，绳端先抵达墙孔，随后从墙的左侧伸出；视频 13.5–14.0 s 已能看到墙两侧的连续绳段。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频 16.5–17.5 s，左夹爪在 G1 左侧合拢夹住伸出的绳段，双爪短暂同时夹持；视频 18.5–20.0 s 右爪放开，左爪拉长左侧绳段，G1 中的绳仍在。" + }, + { + "t": 13.5, + "log_step": null, + "text_zh": "推断：结合视频 12.5–14.0 s 的穿出过程和视频 17.5 s 腕部近景，G1 首次完整穿越约在视频 13.5 s，误差约 0.5 s；从初始绳盘到送出自由端的连续运动判断方向朝 C 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留G1的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右臂二指夹爪先抓绳并送过 G1，视频 16.5–17.5 s 左臂二指夹爪在另一侧夹住绳段、与右爪共同持绳；随后右爪松开，左爪牵引。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [ + [ + 27.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.5, + "log_step": null, + "text_zh": "观察：视频 24.0–27.5 s，左夹爪提着 G1 左侧的绳段，将自由端送入绿色环 A；视频 27.0–28.5 s 左腕视图显示黄色绳穿过绿色环的内部，环前后均有绳段。" + }, + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 29.5–31.5 s 左爪放开并重新夹住 A 另一侧的末端附近；视频 32.5–36.0 s 左爪把绳端向后方提走，A 内仍保留连续绳段。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "推断：视频 26.5–27.5 s 的送入及随后从另一面换抓，支持 A 约在视频 27.0 s 首次穿透，误差约 0.5 s；送出方向背离 C 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留A的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪夹住绳段送过 A，随后先松开，再从环另一面夹住靠近绳端处并牵引；右爪没有同时持绳。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [ + [ + 43.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.5, + "log_step": null, + "text_zh": "观察：视频 40.0–44.5 s 左夹爪将从 A 出来的绳端向后方紫孔 G2 送入；视频 43.5 s 主视图已见绳端伸到隔墙右侧，视频 44.0–44.5 s 继续伸长。" + }, + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频 47.5–49.5 s 右夹爪在 G2 右侧靠近并夹住绳段，左爪仍持绳；随后左爪撤离，视频 52.0–56.0 s 右爪拉出绳端并搬向右侧，G2 的穿绳关系保持。" + }, + { + "t": 43.5, + "log_step": null, + "text_zh": "推断：结合视频 43.0–44.0 s 的墙两侧变化与视频 48.5–49.5 s 的紫孔腕部近景，G2 首次穿透取视频 43.5 s，误差约 0.5 s；方向朝琥珀环 T 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留G2的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪送绳穿过 G2；视频 48.0–49.5 s 右臂二指夹爪从另一侧接住绳段，双爪同时夹持后左爪松开，由右爪牵引。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [ + [ + 73.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 73.5, + "log_step": null, + "text_zh": "观察：视频 68.0–74.0 s，右夹爪提起自由端并对准琥珀环 T；视频 72.5 s 绳端到达环口，视频 73.5–74.0 s 绳端越过环的另一面。" + }, + { + "t": 78.0, + "log_step": null, + "text_zh": "观察：视频 74.5–76.5 s 右爪松开后在 T 另一面重新合拢夹住绳段；视频 77.0–79.5 s 右腕近景清楚显示黄色绳穿过琥珀环，随后右爪向前牵引绳端。" + }, + { + "t": 73.5, + "log_step": null, + "text_zh": "推断：由视频 73.0–74.0 s 绳端跨越环厚及视频 77.0–79.5 s 的连续穿环形态，T 首次穿透约为视频 73.5 s，误差约 0.5 s；沿材料方向背离 G2 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留T的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右臂二指夹爪夹住绳段送入 T，放开后在另一面重新夹住靠近自由端的绳段，并向 G3 方向搬运；左爪没有同时持绳。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [ + [ + 88.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 88.5, + "log_step": null, + "text_zh": "观察：视频 84.0–89.5 s，右夹爪将绳端送入隔墙中部红孔 G3；视频 88.0 s 绳端尚被墙面遮住，视频 88.5–89.5 s 可见绳端从墙左侧伸出并逐渐加长。" + }, + { + "t": 94.0, + "log_step": null, + "text_zh": "观察：视频 92.5–95.5 s 左夹爪在 G3 左侧合拢夹住伸出的绳段，右爪仍夹住右侧绳段；视频 96.0 s 左爪牵引绳端到左侧，绳仍穿过 G3。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：结合视频 88.0–89.0 s 的绳端穿出与视频 93.0–95.5 s 红孔腕部近景，G3 首次穿透取视频 88.5 s，误差约 0.5 s；方向朝绿色环 A 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留G3的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右臂二指夹爪送绳穿过 G3；视频 93.0–95.5 s 左臂二指夹爪在另一侧夹住绳段，双爪同时夹持后右爪松开，左爪将绳端拉到左侧。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [ + [ + 110.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 106.0, + "log_step": null, + "text_zh": "观察：视频 100.0–106.0 s 右夹爪在 G3 右侧夹住绳段，左夹爪松开并换抓左侧绳段，随后双爪同时持绳；视频 107.0–107.5 s 右爪张开并撤离，左爪继续带着绳端移动。" + }, + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 108.5–111.0 s 左夹爪向前方青环 C 送绳；视频 110.0–111.0 s 左腕近景逐步显示黄色绳贯穿 C 的环内，主视图中自由端已伸到 C 的外侧。" + }, + { + "t": 110.0, + "log_step": null, + "text_zh": "推断：结合视频 109.5–110.5 s 的主视图和左腕近景，C 首次完整穿越取视频 110.0 s，误差约 0.5 s；送出方向背离 A 所在侧。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "观察：视频 111.5–114.27 s 机器人保持末端姿态，左夹爪仍夹住穿出 C 的绳段；视频 113.0、113.5、114.0 s 和最后一帧的左腕近景均显示绳留在 C 孔内。" + }, + { + "t": 114.267, + "log_step": null, + "text_zh": "推断：视频 114.27 s 的主视图及腕部视图仍保留C的穿绳走向，后续抽帧未见拔出；评分器 reward.strict_goal_reached=1、all_success=1、replays=2，支持本孔最终满足规定方向、单次穿越和厚度余量。微小余量不能从像素独立测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 100.0–106.0 s 右臂二指夹爪夹住 G3 右侧绳段作锚点，左臂二指夹爪换抓 G3 左侧绳段；右爪随后松开撤离，左爪单独送绳穿 C，并持绳至视频结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分视频中机器人依次将绳穿过 G1、A、G2、T、G3、C，六个节点均保持至视频 114.27 s；评分器记录两次回放均成功、strict_goal_reached=1，成功发生在提交动作内。机器人在墙孔两侧用双爪交接，在自立环处送绳、换抓，并在 C 穿好后由左爪持绳等待，没有失败断点。无状态日志，各孔达成时间按视频估计、误差约 0.5 s，亚毫米孔缘余量和全绳低速联合确认由严格成功结果支持；两个原生指标未在 reward 中单列，故值为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，六个节点均到达并保持至结尾，时间在约1秒内，contact_actual与画面一致，无失败断点，评分器字段支持终态。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:23:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--4chqhsv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--4chqhsv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2310a064f6336f0db1ebe2e81513f9099eb6429b96b5e744e3d2207221eca606", + "video_sha256": "45182824a551f23d8109bc3f31aa75280b416cf5c2a7cedad808018528a3f73e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--eud5imy.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--eud5imy.json new file mode 100644 index 0000000000000000000000000000000000000000..6ced3b097376416fd071f005ffc65e441dba0783 --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--eud5imy.json @@ -0,0 +1,279 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-privileged--eud5imy", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "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": 142, + "submitted_actions": 142, + "sim_steps": 192, + "physics_steps": 192, + "sim_time_s": 7.680000000000006, + "final_reward": 0.0, + "replay_wall_s": 349.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 50, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 0, + "agent_sessions": 2, + "agent_resets": 8, + "agent_sim_steps": 0, + "agent_records": 12, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.526, + "peak_memory_gb": 1.073, + "peak_processes": 8, + "peak_disk_gb": 0.85, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-privileged--eud5imy/replay.mp4", + "duration_s": 7.733, + "fps": 15.0, + "frames": 116, + "sha256": "0554de55533dc60ed45ff8d135ef40ad323570e7cc8b90f06489d6ca0102df08" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 5.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黄色绳盘在隔墙右侧桌面，六孔均无贯穿绳段；左臂保持张爪，右臂随后去取绳端。" + }, + { + "t": 5.1, + "log_step": 384, + "text_zh": "观察：视频 4.8–5.5 s 主视图及右腕近景显示，右夹爪夹持黄色绳端沿 G1 孔轴向送过白墙，绳段从青孔内连续连接墙两侧；视频 5.6–7.67 s 持续保留该关系，左夹爪未参与。首次完整穿越约为视频 5.1 s，视觉误差约 0.3 s。" + }, + { + "t": 7.6, + "log_step": 384, + "text_zh": "推断：log step 380 明确回放最终选用的前 142 行，log step 384 返回右手持 rope、crossing_sequence=[(G1,-1)]；同一前缀的 log step 344 还返回 ambiguous=False、thickness_clear=True。该末端形态与视频 7.6 s 一致，支持 G1 单次正确方向的完整穿越；没有用 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：视频约 2.8–3.6 s 右侧二指夹爪闭合夹住桌面绳端，视频 3.8–5.6 s 将绳端抬起并送过 G1，随后持绳至结束；左夹爪始终未接绳。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.6, + "log_step": 386, + "text_zh": "观察：视频 0.0–7.67 s 左侧绿色环 A 内一直没有黄色贯穿绳段；视频 5.6 s 后右夹爪仅在 G1 出口持绳，未向 A 送绳，左臂保持初始姿态。log step 386 在向 A 的新命令之前已经保存 142 行前缀，log step 398–400 确认最终交付仍为该前缀；后续向 A 的会话动作不在评分视频内。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "推断：视频 0.0–7.67 s 绳的大部始终盘在墙右侧桌面，仅一端被右夹爪送过前方 G1；没有绳段被带到隔墙后方的紫孔 G2，也没有连接至该孔的抬高绳路。对比成功参考视频 50–60 s 的绳路，评分视频中 G2 的贯穿关系未形成。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 0.0–7.67 s 主视图后方的琥珀色环 T 始终空着，右夹爪取起的绳端只移到 G1；视频 7.6 s 环 T 两面没有连续黄色绳段。成功参考视频 70–80 s 可见经过该环的绳段，评分视频无此关系。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 4.4–5.5 s 右腕近景同时显示青孔 G1 与相邻红孔 G3，黄色绳仅对准并穿过 G1，红孔保持空着；视频 5.6–7.67 s 没有继续向 G3 送绳。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 0.0–7.67 s 主视图左前立柱上的青色环 C 始终没有绳段穿过，左臂未取绳；视频 7.6 s 绳端仍停在 G1 出口。成功参考视频 113.8 s 可见贯穿 C 的绳段，评分视频中该可见线索缺失。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "stable_time_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_a", + "t": 5.7, + "log_step": 386, + "where": "首步前", + "evidence_zh": "观察：视频约 5.7 s 起，机器人在穿过 G1 后保持右手持绳，直到视频 7.67 s 均未开始将绳送往 A；A 仍为空孔。log step 386 先保存 142 行 G1 前缀再试 A，log step 398–400 明确保留该前缀作为最终交付。故断点是未启动的 A 步骤；视频约 5.7 s 仅锚定前缀停止推进的位置，后续会话碰墙不作为评分轨迹中的碰撞。" + }, + "unmet": { + "rope_through_g1": true, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 5.7, + "log_step": 398, + "evidence_zh": "观察：视频 5.6–7.67 s 右夹爪停在 G1 处持绳，左夹爪未接绳，绿色环 A 内无绳；评分轨迹没有向 A 搬运或穿环的动作。log step 398 和 log step 400 均说明提交的是仅完成 G1 的 142 行文件。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：会话中控制 A 前的换手和绕墙移动未成功，导致 agent 最终只能保留 G1 前缀。log step 350、364、369 的换手/重抓反馈均为两手 None；恢复持绳前缀后，log step 395–396 的向 A 移动虽然求得 IK，却发生右夹爪压住 bulkhead strip1（隔墙构件）、最大接触力 267 N、桌面防护截停，且末端仍在 G1 附近；log step 398 随即明确放弃该动作并提交原前缀。以上仅用于解释未交付后续动作的控制困难，不将这些会话试验计入节点进度或失败现象；证据不足以唯一细分为抓取设计、逆解或反馈控制。" + } + ], + "gap_zh": "无状态日志；G1 的首次完整穿越时间约有 0.3 s 视觉不确定性，无法独立以画面核验 0.1 mm 径向余量。评分器未报告 maximum_speed_m_s 和 stable_time_s，故原生指标填 null；会话中的速度读数不替代评分终态指标。交付轨迹止于 G1，未包含向 A 的失败试验，根因仅由会话控制反馈及最终选用前缀的记录推断。" + }, + "summary_zh": "评分轨迹由右夹爪抓起绳端，约在视频 5.1 s 完成 G1 穿绕并保持到结束，最终为 1/6，A、G2、T、G3、C 均未完成。交付停在 A 步骤启动前；会话中的换手失败和向 A 移动受隔墙阻挡，支持控制困难导致只保留 G1 前缀，但这些未交付动作不记作评分轨迹的碰撞现象。无状态日志，G1 的亚毫米间隙及终态全绳速度不能独立精确核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "G1 在视频约 5.3 s 完成穿越并保持到结束（与标注 5.1 s 误差在 0.3 s 内），其余五孔确实未穿；断点 A/首步前/没尝试与 142 行交付一致，根因按 FAIL-22 由会话反复试验推断，已标为推断。未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:15:44Z", + "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-rope-threading-08-i01-privileged--eud5imy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--eud5imy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6cf6f59828658e6f5c9bbd9279fdb1e9507046c98a69cbb6009b387933c2db67", + "video_sha256": "0554de55533dc60ed45ff8d135ef40ad323570e7cc8b90f06489d6ca0102df08", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--hur7vzx.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--hur7vzx.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4a7476c00972dadbe0498bf243fe7a2917da2c --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--hur7vzx.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-privileged--hur7vzx", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "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": 851, + "submitted_actions": 851, + "sim_steps": 901, + "physics_steps": 901, + "sim_time_s": 36.03999999999941, + "final_reward": 0.0, + "replay_wall_s": 1171.8, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 50, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.526, + "peak_memory_gb": 1.23, + "peak_processes": 11, + "peak_disk_gb": 0.086, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-privileged--hur7vzx/replay.mp4", + "duration_s": 36.133, + "fps": 15.0, + "frames": 542, + "sha256": "2aff5bd76b761a6a68c3d166ba534871c1b0ca2c3587cef686a209fba12cc907" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 26.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.5, + "log_step": null, + "text_zh": "观察：视频 25.5–27.0 s，左夹爪把绳端送入墙上青孔 G1；视频约 26.5 s 的腕部近景可见绳端从孔内露到另一面。视频 29.0–31.0 s 右夹爪夹住外露端，左夹爪松开后右夹爪将绳继续拉过墙。首次完整穿越时刻约有 0.5 s 误差。" + }, + { + "t": 36.07, + "log_step": null, + "text_zh": "观察：视频 31.0–34.0 s，右夹爪将绳端拉向右侧并降低、松开；视频 35.2、35.4、35.6、35.8、36.0、36.07 s，绳仍从 G1 贯穿墙两侧，自由端留在右侧桌面，未退回孔外。" + }, + { + "t": 36.07, + "log_step": 200, + "text_zh": "推断：视频末段绳路与 log step 195 的 G1 单个负向交点相符。log step 197 保存了 851 个动作的 half1_done，log step 200 将当时记录写成交付文件，评分器 submitted_actions=851；据此确认后续会话测试不属于本视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 25.5–31.0 s，左夹爪夹绳送过 G1，右夹爪在墙另一侧夹住绳端，两爪短暂同时握绳完成交接；此后右夹爪单独牵引并在桌面上方松开。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [ + [ + 17.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频 16.5–18.5 s，左夹爪把绳端送过绿色环 A；视频约 17.5 s 的腕部近景出现贯穿环孔的黄色绳段，视频 18.0–19.0 s 松爪、退开后绳仍穿在环内。首次穿越时刻约有 0.5 s 误差。" + }, + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 20.5–25.0 s，左夹爪从 A 的另一侧重新夹绳并向 G1 拉动，绳继续贯穿 A；视频 25.0–36.07 s，环前后的连续绳段一直可见。" + }, + { + "t": 36.07, + "log_step": 195, + "text_zh": "推断：视频末帧的绳路与保存前 log step 195 的 A 单个正向交点相符；材料方向结合自由绳端的运动判断，未把该会话检查当作独立节点观测。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 14.5–24.5 s，左侧二指夹爪夹持自由绳端穿过 A，随后松开、绕到另一面重新夹持并拉绳；右夹爪此时未夹绳。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 6.5–8.5 s，右夹爪将黄色自由绳端送入隔墙后方紫孔 G2；视频约 7.0 s 的左侧腕部视图已见绳端越过孔，随后左夹爪在另一面接绳。首次完整穿越时刻约有 0.5 s 误差。" + }, + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 10.5–13.0 s，左夹爪拉出绳段，紫孔两侧均有连续黄色绳；之后视频 13.0–36.07 s 的主视图及腕部视图未见该段退出 G2。" + }, + { + "t": 36.07, + "log_step": 195, + "text_zh": "推断：视频 36.07 s 的绳路与保存前 log step 195 所列 G2 单个正向交点一致；该日志是 agent 脚本的会话检查，仅用来辅助判断材料方向，节点值和时间以画面为依据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 3.0–10.5 s，右夹爪夹持绳端并送过 G2，左夹爪在墙另一侧夹住外露绳段；两爪短暂同时夹绳，右爪松开后由左爪牵引。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–36.07 s，右侧琥珀环 T 一直没有绳从环孔两面贯通；绳在其前方或下方桌面，末帧 T 的孔内仍为空。机器人在本次交付中只处理 G2、A、G1，未将绳端送向 T。" + }, + { + "t": 36.07, + "log_step": 205, + "text_zh": "观察：log step 200 保存文件后，log step 205 才开始从 half1_done 继续测试穿 T；本次评分器只回放 851 个提交动作，视频结束前没有该段取绳、运往 T 的动作，故不计后续会话测试的接触或进度。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.07, + "log_step": null, + "text_zh": "观察：视频 0.0–36.07 s 未见机器人向墙上红孔 G3 送绳；视频末段腕部视图中，G1 旁的红孔为空，没有黄色绳贯穿墙两侧。对照成功示例视频 114.27 s 的六孔绳路，本次缺少经 G3 返回左侧的绳段。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.07, + "log_step": null, + "text_zh": "观察：视频 0.0–36.07 s，左前方立柱上的青环 C 始终空着，机器人没有将绳端送入此环；视频末帧可直接看到环内无绳。成功示例视频 114.27 s 的腕部近景则可见黄色绳贯穿 C。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "stable_time_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 401, + "where": "首步前", + "evidence_zh": "观察：交付视频 34.0–36.07 s 停在 G1、A、G2 已穿好的状态，T、G3、C 的工作均未启动，未见一个已开始且未修复的物理失败。log step 200 保存半程文件，log step 205 以后继续的是未保存进该交付的 T 会话测试，log step 401 返回 Gemini 服务过滤中断。无法从交付画面唯一定位一个失败中的剩余节点，故断点为 unknown；首步前指剩余步骤尚未开始。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：没有状态日志；视频可判断局部穿孔关系，但无法独立测量 0.1 mm 余量、全绳最大速度或共同稳定窗口，评分器也未报告两个原生指标。log step 401 明确记录模型服务过滤中断；此前仅保存了半程交付，未见成功验收或 agent 回放验证（reward.agent_replays=0）。推断：这是完整结果固定前的外因中断，按外因规则不从未完成的后半程反推机器人失败现象或根因；catalog success=0 原样保留。T 的卡阻与逆解问题只见于保存后的会话测试，不能移入本次评分轨迹，亦不足以给该交付选一个物理失败节点。", + "unmet": { + "rope_through_g1": true, + "rope_through_a": true, + "rope_through_g2": true, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + } + }, + "summary_zh": "评分视频中绳先穿 G2，再穿 A、G1，三处关系保持到视频 36.07 s，最终为 3/6；T、G3、C 没有穿入。交付止于已完成的半程，后续 T 测试未写入交付，log step 401 出现模型服务过滤中断，因此保留 catalog 失败结果，但不编造物理断点、失败现象或根因。无状态日志，穿孔起点约有 0.5 s 误差，亚毫米余量及原生速度、稳定时长未能独立核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三孔(G2、A、G1)穿过、T/G3/C未穿的节点值与视频末帧一致；交付仅半程、未验证，log step 401 为模型服务过滤中断，按外因规则断点 unknown、两层为空并写 gap_zh，处理合规。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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+ "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.000–2.200 s（全部 34 帧，含最后一秒），绿色环 A 内无黄色绳段，环两面未出现连续穿绳；机器人没有向 A 送绳。成功参照视频 114.2 s 可见绳跨越隔墙并贯穿各环，本次录像中无此关系。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.000–2.200 s（全部 34 帧，含最后一秒），紫孔 G2 未出现贯穿墙两侧的黄色绳段；绳始终盘在墙右侧桌面，机器人未向 G2 运绳。成功参照视频 114.2 s 可见绳跨越隔墙并贯穿各环，本次录像中无此关系。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.000–2.200 s（全部 34 帧，含最后一秒），右侧低矮琥珀环 T 内没有绳，黄色绳盘与环分离；机器人未向 T 送绳。成功参照视频 114.2 s 可见绳跨越隔墙并贯穿各环，本次录像中无此关系。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.000–2.200 s（全部 34 帧，含最后一秒），红孔 G3 没有贯穿墙两侧的黄色绳段；绳没有离开右侧桌面的盘绕位置，机器人未向 G3 送绳。成功参照视频 114.2 s 可见绳跨越隔墙并贯穿各环，本次录像中无此关系。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：逐帧检查本次视频 0.000–2.200 s（全部 34 帧，含最后一秒），左前方立柱上的青色环 C 孔内为空，环两面无连续绳段；机器人未将绳带至 C。成功参照视频 114.2 s 可见绳跨越隔墙并贯穿各环，本次录像中无此关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 0.0, + "log_step": 52, + "where": "首步前", + "evidence_zh": "观察：本次视频 0.000–2.200 s 中机器人两臂始终停在初始姿态，黄色绳盘在隔墙右侧桌面，没有抓绳或向 G1 送绳。log step 52 的 agent 脚本仅把五次 hold_action 保存为交付轨迹，log step 55 写出的生成脚本也只生成相同保持动作；log step 61 的回放结果为 rows=5、strict_success=false。推断：按 agent 后续从 G1 开始穿绳的方案（log step 239），以未启动的 G1 作为首步前断点；独立会话中的运动没有出现在本次交付回放。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 52, + "evidence_zh": "观察：视频 0.000–2.200 s 的全部画面中，机器人夹爪未接近或夹起桌面的黄色绳，绳未被送向 G1，六孔始终未穿绳；log step 52 保存的交付动作是五次保持初始关节目标，穿绳步骤未在评分轨迹中启动。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，无法精确复核绳体逐点速度、亚毫米孔缘余量和联合确认时长，两个原生指标也未由评分器报告；但本次视频全部 34 帧都显示绳仍在初始桌面且机器人未启动穿绳，因此六节点均可判为 false。log step 52 仅保存五次保持动作，log step 55 的生成脚本也只生成保持动作，log step 61 已回放该文件；后续 log step 239、989、1129 是独立会话实验，不能用作本次节点进度或现象的证据。没有证据说明一次错误的记录、保存、打包或选择操作导致失败，也未找到已形成的更好交付轨迹，因此删除交付根因，root_causes 留空；会话结束时尚在等待实验（log step 1158），run.json 的 wall_s=10803、time_limit_s=10800 仅说明会话预算耗尽，不据此推定能力根因。审阅分歧：DECISIONS.md D23 的 Now (a) 对真正无评分交付的 agent 失败运行仍要求 phenomena/root_causes 均为空；审阅者将本次占位文件归入此类。本次 reward.submitted_actions=5、agent_replays=2，且存在对应评分视频，故按 docs/03_trajectory.md:255-256、280-281 对已交付但未启动步骤的基线轨迹保留“没尝试”，仅描述评分回放，不否认 agent 在会话中尝试过。占位交付与 D23 无交付的适用边界分歧保留于此，不改动 D23 的 Now 文本。" + }, + "summary_zh": "本次评分轨迹只执行五次初始保持，视频 0.000–2.200 s 中黄色绳一直盘在隔墙右侧桌面，六个穿孔节点均未达成，断点仍为 G1 首步前，现象“没尝试”仅指评分回放。已删除证据不足的“交付操作出错”根因：独立会话中存在穿绳实验，但没有证据证明错误的保存或选择操作导致本次失败。无状态日志及两个原生指标数值；因根因无法确定、审阅者对占位基线是否适用 D23 存在分歧，按其备选建议将 conf 从 9 降至 5，分歧及当前规则的处理已写入 gap_zh。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "六个节点 false、final=0、断点 G1 首步前与视频一致（帧里两臂不动、绳盘在墙右侧）。问题在失败层：整个 session 从未保存过真实交付轨迹，agent 一直做会话内实验直到 10800 s 限时；这是 D23 的“无交付、agent 自身失败”情形，现行规则 (a) 为 phenomena / root_causes 留空并写 gap_zh，而文件给了没尝试 + 交付操作出错，后者的“agent 保留占位文件、未把后续操作写入交付”缺少证据（没有任何一次保存了更好的轨迹）。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 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"https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-privileged--vu9myn2/replay.mp4", + "duration_s": 107.733, + "fps": 15.0, + "frames": 1616, + "sha256": "d386e6bb3dc76fc65f492c06ed3df1b67c229e69173de28a551f73723bc3ccd4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 8.2, + 10.9 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄绳盘在隔墙右侧桌面，六孔均未穿绳。" + }, + { + "t": 8.2, + "log_step": 73, + "text_zh": "观察：视频 7.8–8.4 s，右爪持绳端从右向左送过墙上青孔 G1；视频 9.0–10.2 s 可见墙两侧连续绳段。log step 73 的交付脚本输出报告 G1poke 的 crossing_sequence=[(G1,-1)]、thick=True、amb=False，与可见方向和单次贯穿相符。到达时间约视频 8.2 s，目测误差约 0.3 s。" + }, + { + "t": 10.9, + "log_step": 66, + "text_zh": "观察：视频 10.2–10.9 s，右爪张开、转向并向右撤回，伸到墙左侧的短绳端随之退回，视频 10.9–12.0 s 的右腕画面中青孔已无贯穿绳段；左爪到视频 12.8–13.0 s 才抵近接绳处。log step 66 的交付脚本确实先执行右爪 open_grip 和回撤，再移动左爪接绳。" + }, + { + "t": 22, + "log_step": 73, + "text_zh": "观察：视频 13.0–22.0 s，左爪在 G1 左侧反复开合和上下移动，但绳端仍在墙右侧，左爪后续移走时没有带走绳；log step 73 报告三次 left no weld、G1 handover weld=None，随后 G1pull 的 crossing_sequence=[]。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 50.0 s 及视频 106.7、107.0、107.3、107.6 s，绳端落在墙右侧桌面，未再穿过 G1，终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–10.2 s，右臂二指夹爪夹住并提起黄色绳端，将其送过 G1；随后张爪回撤。视频 13.0–22.0 s 左爪虽尝试接绳，却未夹住绳端；没有观察到两爪同时持绳，故不记双臂协作抓握。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38, + "log_step": 73, + "text_zh": "观察：视频 32.0–40.0 s，左爪空载移向绿色环 A 并在环前调整朝向，绳端留在墙右侧桌面，没有跟随左爪，也没有穿入绿环。log step 73 的 Apoke 输出 weld=None、crossing_sequence=[]；视频 42.0 s 左爪离开后绿环仍空。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 106.7、107.0、107.3、107.6 s，黄绳仍整体盘在隔墙右侧桌面；该孔没有贯穿两面的黄色绳段，终态未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 34.0–40.0 s，左臂二指夹爪空合并向绿环 A 作试穿动作，未持绳。候选：空载试穿；没有夹住绳，不能记为抓握，现有接触方式不能表达这次空载物理尝试。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46, + "log_step": 73, + "text_zh": "观察：视频 42.0–48.0 s，左爪空载移向隔墙后部，视频 50.0–62.0 s 右爪又在紫孔 G2 一侧作接绳动作；绳一直留在右侧桌面，没有任何绳段随两爪到达紫孔。log step 73 报告 G2poke 的 weld=None、crossing_sequence=[]，G2 接绳三次 no weld。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 106.7、107.0、107.3、107.6 s，黄绳仍整体盘在隔墙右侧桌面；该孔没有贯穿两面的黄色绳段，终态未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 42.0–48.0 s 左爪空载对孔，视频 50.0–62.0 s 右爪在 G2 一侧空合尝试接绳，两者先后动作但都未夹住绳。候选：空载试穿/空夹；抓握等现有方式不适用，未观察到双爪共同持绳。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 70, + "log_step": 73, + "text_zh": "观察：视频 64.0–68.0 s，右爪空载接近琥珀环 T；视频 68.0–76.0 s 夹爪在环口附近动作，但黄绳仍在桌面，环两侧没有连续绳段。log step 73 的 Tpoke 报告 weld=None、crossing_sequence=[]。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 106.7、107.0、107.3、107.6 s，黄绳仍整体盘在隔墙右侧桌面；该孔没有贯穿两面的黄色绳段，终态未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 66.0–76.0 s，右臂二指夹爪空合着在琥珀环 T 口附近运动，没有持绳。候选：空载试穿；不将闭合但没有绳的夹爪标为抓握，具体孔缘接触无法从画面确认。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80, + "log_step": 73, + "text_zh": "观察：视频 72.0–78.0 s，右爪仍停留在琥珀环附近，随后在视频 80.0 s 回到墙前部；视频 80.0–92.0 s 左爪向墙另一侧作接绳动作，均没有携带绳。右腕画面能看到红孔 G3 内没有黄色绳段；log step 73 的 G3poke 报告 weld=None、crossing_sequence=[]，随后左爪接绳三次 no weld。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 106.7、107.0、107.3、107.6 s，黄绳仍整体盘在隔墙右侧桌面；该孔没有贯穿两面的黄色绳段，终态未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 76.0–80.0 s 右爪空载转向、回撤，视频 80.0–92.0 s 左爪空合尝试接 G3 的预期绳端，实际没有绳到达。候选：空载试穿/空夹；没有实际夹绳，抓握不适用，两爪也未共同持绳。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 96, + "log_step": 73, + "text_zh": "观察：视频 90.0–98.0 s，左爪在墙左侧空合并转向、向青环 C 方向移动，未带着绳到达 C，青环 C 在主视图始终无绳贯穿；视频 100.0 s 左爪空载抬起。log step 73 的 Cpoke 和 FINAL 都报告 crossing_sequence=[]、weld=None。" + }, + { + "t": 107.6, + "log_step": null, + "text_zh": "观察：视频 106.7、107.0、107.3、107.6 s，黄绳仍整体盘在隔墙右侧桌面；该孔没有贯穿两面的黄色绳段，终态未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 94.0–98.0 s，左臂二指夹爪空合着尝试向青环 C 送绳，但夹爪内无绳，也没有抵达环另一侧。候选：空载试穿；现有抓握等方式不适用，不能将脚本计划持绳当作实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 10.9, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频 8.2–10.2 s，右爪曾将绳端穿过 G1；视频 10.2–10.9 s 右爪按脚本松开并回撤后，短绳端退回墙右侧。视频 13.0–22.0 s 左爪接绳未成功，直到视频 107.6 s 都没有恢复 G1；它是本次交付中首个达成后丢失且未修复的节点。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 10.9, + "log_step": 66, + "evidence_zh": "观察：视频 9.0–10.2 s，绳端已穿过 G1，右爪仍持着；视频 10.2–10.9 s，右爪执行计划中的张爪与回撤，绳端随即缩回孔外，视频 11.0–12.0 s 可见孔内不再有绳。此处是已建立穿绕关系后的释放回退，并非夹持中滑脱。" + }, + { + "cat": "接触", + "item": "没建立接触", + "t": 14.0, + "log_step": 73, + "evidence_zh": "观察：视频 13.0–22.0 s，左爪在 G1 的接绳位置反复开合，随后离开时夹爪内没有绳，原绳端仍留在墙右侧桌面。log step 73 的交付脚本输出也显示三次 left no weld、G1 handover weld=None；这是释放后尝试接绳时未建立抓持，未恢复 G1。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 10.9, + "log_step": 66, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 66 的交付脚本在右爪送绳后立即 open_grip 并回撤，之后才让左爪到固定位置下降接绳；log step 73 实际 G1 poke 的 TCP x=-0.176，未到脚本目标 x=-0.2357。视频 10.2–12.8 s 显示右爪释放时左爪尚未到位，短绳端已经退回，视频 13.0–22.0 s 的后续空夹无法接续支承。局部换抓的伸出长度与释放时机未保证绳段在两次抓取间保持穿孔关系。可行替代仅由参考录像支持：inputs/oracle/replay.mp4 的参考视频 16.0–20.0 s 可见较长绳段伸到墙左侧并由左爪接住，参考视频 24.0–26.0 s 左爪带绳移向绿环而 G1 仍有绳贯穿；不将其计作本次进度。" + } + ], + "gap_zh": "本目录无状态日志，不能逐帧独立核算孔缘的 0.1 mm 余量、接触力与全绳最大速度；两个原生指标均未由评分器报告。G1 的视频区间以多视角几何为主，交付脚本在 log step 73 输出的单次正确方向、thick=True、amb=False 作为辅助。agent 在 log step 76 自述左爪空扫后才抹去 G1 交叉，但视频 10.9–12.0 s 已显示右爪回撤后穿绕消失、左爪尚未到位，故采用视频时序；精确退回机制仍无接触状态可核实。" + }, + "summary_zh": "本次交付仅短暂建立 G1 穿绕关系（约视频 8.2–10.9 s），随后右爪松开回撤时绳端退回，左爪接绳未能恢复；历史最高 1/6，终态 0/6。后续 A、G2、T、G3、C 的动作均空载，断点为 G1 的释放与换抓接续失败，证据支持局部抓取和接触设计不足。无状态日志，亚毫米余量及全绳速度无法独立核算；视频显示的退回时序早于 agent 最终自述，标注以视频为准。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": 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"base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 绳盘位于隔墙右侧桌面，六孔均无贯穿绳段；视频 1.0–7.33 s 右夹爪下降、合拢夹住绳端附近并带绳离开原处，左臂一直停在初始位置。" + }, + { + "t": 9.333, + "log_step": 202, + "text_zh": "观察：视频 8.4–9.67 s 右夹爪将黄色绳端送到 G1 墙另一侧，视频 13.47 s 仍保持该形状。log step 201 明确加载最终交付的 287 行文件并调用 replay，log step 202 输出任务 evaluate_state 的 crossing_sequence（按材料坐标排列的孔名及有符号穿越）仅为 [(G1, +1)]，ambiguous=False；log step 7 读取的本实例要求却为 (G1, -1)。" + }, + { + "t": 13.467, + "log_step": 187, + "text_zh": "推断：交付脚本在 log step 187 选择材料中心线 pts[4] 附近抓取，并把材料起端向负 x 推过 G1；视频 9.33 s 及 13.47 s 可见起端在墙左侧、余绳留在墙右侧。因此沿材料起点至终点穿孔朝正 x，背离青环 C 所在侧，与要求相反；实际穿过孔并不满足本节点，整段未出现方向正确的 G1 关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.33–7.33 s 右臂二指夹爪合拢夹住黄色绳端附近，随后持绳送过 G1 并保持至视频 13.47 s；左夹爪未参与，不记双臂协作。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.467, + "log_step": 202, + "text_zh": "观察：检查视频 0.0–13.47 s 全段及末尾视频 12.53、13.0、13.33、13.47 s，主视图隔墙左侧绿色环 A 始终空着；伸过 G1 的短绳端停在墙边，机器人没有接绳或把绳送向 A，未形成环两侧连续绳段。 log step 201–202 对最终交付文件的独立回放检查也仅列出 G1 交点，没有本孔交点。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.467, + "log_step": 202, + "text_zh": "观察：检查视频 0.0–13.47 s 全段及末尾视频 12.53、13.0、13.33、13.47 s，机器人仅在墙前方 G1 处送绳，余绳留在右前方桌面；没有绳段被带到墙后部的紫孔 G2 并贯穿该孔。 log step 201–202 对最终交付文件的独立回放检查也仅列出 G1 交点，没有本孔交点。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.467, + "log_step": 202, + "text_zh": "观察：检查视频 0.0–13.47 s 全段及末尾视频 12.53、13.0、13.33、13.47 s，主视图隔墙右侧琥珀色环 T 始终空着，绳盘和右夹爪的送绳路径在其前方，机器人没有向 T 送绳。 log step 201–202 对最终交付文件的独立回放检查也仅列出 G1 交点，没有本孔交点。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.467, + "log_step": 202, + "text_zh": "观察：检查视频 0.0–13.47 s 全段及末尾视频 12.53、13.0、13.33、13.47 s，腕部视图中红孔 G3 位于青孔 G1 旁，绳段只进入 G1，未穿过红孔；主视图也没有从 G3 伸出的绳段。 log step 201–202 对最终交付文件的独立回放检查也仅列出 G1 交点，没有本孔交点。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.467, + "log_step": 202, + "text_zh": "观察：检查视频 0.0–13.47 s 全段及末尾视频 12.53、13.0、13.33、13.47 s，主视图左前方立柱青环 C 始终空着；黄色绳端只略伸过 G1 的墙面，未被牵引至 C。 log step 201–202 对最终交付文件的独立回放检查也仅列出 G1 交点，没有本孔交点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 8.5, + "log_step": 202, + "where": "操作中", + "evidence_zh": "推断：视频约 8.4–9.33 s 右夹爪把材料起端推过 G1 后，起端在青环 C 所在的墙左侧，余绳仍在右侧；沿材料起点至终点的穿越方向因此相反。log step 201–202 对最终交付文件回放所得 (G1, +1) 与 log step 7 的必需 (G1, -1) 不符，且视频 13.47 s 终态仍未修正；断点是已实际操作但方向错误的 G1 穿绕。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 8.5, + "log_step": 202, + "evidence_zh": "推断：视频 8.4–9.67 s 绳确已穿到 G1 另一侧，但起端和余绳所在两侧使材料方向倒置，未达到指定的有向穿绕关系；视频 13.47 s 仍保持该错误方向。log step 202 的最终文件回放交点为 (G1, +1)，而本实例要求 (G1, -1)（log step 7）。此处位姿不准指穿绕方向错误，未见绳从夹爪滑脱。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 8.5, + "log_step": 187, + "source_zh": "日志", + "evidence_zh": "推断：log step 7 已显示 G1 法向为正 x、要求符号 -1；log step 10 的交点代码按材料点索引递增方向决定符号。agent 在 log step 187 的交付脚本中却把“起端向负 x 推”注释为所需的 -1，并抓取 pts[4]、依次命令右夹爪向 x=-0.08、-0.13、-0.16 运动。材料起端先进入负 x 一侧，剩余材料仍在正 x 一侧，沿材料方向实际成为 +1；log step 201–202 回放最终文件确实得到该符号，视频 9.33–13.47 s 的两侧绳段布局与之吻合。错误在于把绳端运动方向当成材料起点至终点的空间方向，所选送绳策略从第一孔就方向相反。" + } + ], + "gap_zh": "无逐帧状态日志，视频不能精确复核亚毫米孔缘余量、全绳最大速度及联合稳定窗口，评分器 reward 也未报告 maximum_speed_m_s 或 stable_time_s，故两项原生指标留 null。G1 方向由最终交付脚本、同一文件的回放交点输出与视频共同确定；会话中的左臂接绳失败测试未录入最终交付，不作为本次轨迹的接触或失败现象。" + }, + "summary_zh": "交付视频中，右夹爪抓住绳端并送过 G1，但沿材料起点至终点的方向反了；其余五孔未穿绳，因此六个有向穿绕节点最终为 0/6。断点在 G1 操作中，交付脚本混淆绳端运动方向与材料方向，最终文件回放为 (G1, +1)，而任务要求 (G1, -1)。无逐帧状态日志及原生速度、稳定时长评分字段，无法精确复核孔缘余量和联合静止窗口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频、日志一致：右夹爪抓绳端并从 G1 送过，视频 13.4 s 起端在墙左侧、余绳在右侧；log step 202 回放得 (G1,+1)，而 step 7 要求 -1。其余五孔未穿绳，断点、现象与根因均有证据支持。", + "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": "2026-10-30T23:26:25Z", + "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-rope-threading-08-i01-privileged--zbpimnx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--zbpimnx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "96d15ab28e27850251a9a68640a99db9821229bc71e0ea7ec450c5772336609e", + "video_sha256": "c00f2905e24f34c7af7092f3996851196b676eb25f575995e5cd62172d0621c2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--5gzysvd.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--5gzysvd.json new file mode 100644 index 0000000000000000000000000000000000000000..f15de3895d0cb0eed7802571eaf968899136ac12 --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--5gzysvd.json @@ -0,0 +1,334 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-standard--5gzysvd", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "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": 8606, + "live_rows": 8606, + "sim_steps": 8606, + "physics_steps": 8606, + "steps": 1072, + "elapsed_s": 10822.5, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.335, + "peak_processes": 11, + "peak_disk_gb": 1.641, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-standard--5gzysvd/replay.mp4", + "duration_s": 344.333, + "fps": 15.0, + "frames": 5165, + "sha256": "2ba5323d6103acbfe9d8379e9aa0ef527ef6f3aacf53843ba503ef2503d16c5e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 142.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 92, + "log_step": 117, + "text_zh": "观察：视频 88–96 s，右夹爪在青孔 G1 右侧送绳，左夹爪在另一侧闭合接绳；视频 108、118 s 的腕部视图仍见孔内折返的短绳段，尚不据此认定完整单次穿越。" + }, + { + "t": 142.5, + "log_step": 168, + "text_zh": "推断：视频 141.3–143.1 s，夹爪张开，短绳尾落到墙左侧；视频 144、146、156 s 可见自由端在左侧、另一段仍从青孔 G1 连回右侧绳盘，按前后画面将完整贯穿起点估为视频 142.5 s（约有 1 s 不确定性）。" + }, + { + "t": 344.26, + "log_step": 417, + "text_zh": "观察：视频 208、280、312、328 s 至末尾视频 343.4、344.26 s，绳仍从 G1 贯穿隔墙，左侧绳段接向绿环 A，未见拔出。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右二指夹爪夹绳并向 G1 送入，左二指夹爪闭合接绳，两爪短暂同时夹持；随后右爪松开、左爪牵引，孔口再换抓，最后放开并从墙左侧重新夹取绳端。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [ + [ + 291.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 280, + "log_step": 317, + "text_zh": "观察：视频 216–248 s，左夹爪持绳数次接近绿环 A 后退回；视频 264–280 s 调整腕姿并重新对准，尚未形成环两面的完整绳段。" + }, + { + "t": 292, + "log_step": 326, + "text_zh": "推断：视频 288–293.1 s，左夹爪夹着绳向绿环 A 送进，孔口在腕部视图中逐渐越过持绳位置；结合视频 296–300 s 退爪后绳端留在环另一侧，及视频 310–314 s 重夹牵引后环两面连续的绳段，首次完整贯穿估为视频 291.5 s（约有 1–2 s 不确定性，允许持绳达成）。" + }, + { + "t": 344.26, + "log_step": 417, + "text_zh": "观察：视频 312、318、326、340 s 至视频 344.26 s，绿环 A 两面保持连续绳段，一端接 G1，另一端通向墙后方 G2，未见绳退回环外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住自由绳端，调整腕姿后送过绿环 A；松爪后移到环另一面重新闭合夹绳并牵引。右臂此时在 G2 等待，没有同时夹持 A 的绳段。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [ + [ + 324.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 322, + "log_step": 375, + "text_zh": "观察：视频 318–323.3 s，左夹爪持绳靠近墙后方紫孔 G2，右夹爪从另一侧伸入并闭合接住露出的绳端。" + }, + { + "t": 324.5, + "log_step": 379, + "text_zh": "观察：视频 323.8–326.1 s，左夹爪张开撤离，右夹爪向墙右侧牵引，绳跟随右夹爪离开孔口；视频 326 s 的右腕视图可见黄色绳穿过紫孔，主视图可连续追踪 A 至 G2 再至右夹爪的绳段。将首次完整贯穿估为视频 324.5 s，精度约 0.5 s。" + }, + { + "t": 344.26, + "log_step": 417, + "text_zh": "观察：视频 328、334、340 s 至视频 344.26 s，墙后方绳段仍从左侧 A 路径经 G2 到右臂所持端，未见退出紫孔。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左二指夹爪夹绳向 G2 孔口呈送，右二指夹爪从对侧闭合夹住绳端；两爪短暂同时夹持后左爪松开，右爪将绳端拉向墙右侧。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 328, + "log_step": 384, + "text_zh": "观察：视频 326–330 s，右臂持绳接近琥珀环 T，却停在其基座附近，绳端未从环孔另一面出现；log step 384 的机器人服务安全监测明确记录右臂 lower_forearm_link 压在 T pedestal 上，control step 8204、最大力 103.8 N，本次读取总峰值 104.2 N。" + }, + { + "t": 340, + "log_step": 397, + "text_zh": "观察：视频 331–336 s 右臂抬高重定向后再次下降，视频 337–340 s 仍停在 T 附近；log step 397 的服务结果记录接触力峰值 396.4 N、关节目标误差 1.391 rad。" + }, + { + "t": 344.26, + "log_step": 417, + "text_zh": "观察：视频 341–344.26 s，右臂再次变换姿态，绳仍通向环旁的夹爪，未形成贯穿琥珀环 T 两面的连续绳段；对照成功参考视频 80、88 s 可见的绳穿 T 关系，本次终态缺少该关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪保持从 G2 接来的绳端并尝试向琥珀环 T 送绳；右前臂另与 T 的固定基座发生阻挡接触。左臂空手重定位，未与右爪共同持绳穿 T。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344.26, + "log_step": 397, + "text_zh": "观察：视频 334、340、343.4、344.26 s 的左腕视图中红孔 G3 内没有绳段，绳端仍在墙右侧 T 附近；右爪未把绳送至 G3。log step 397 中后续 G3 操作脚本因 T exit incomplete 断言停止，未执行其 G3 送绳动作。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344.26, + "log_step": 417, + "text_zh": "观察：从初态视频 0 s 到视频 208、312、328、343.4、344.26 s，左前方立柱上的青环 C 未出现贯穿绳段；成功参考末帧的绳穿 C 关系在本次主视图中没有出现。视频中早先左臂靠近或碰到 C 是持绳前往 A 时的干涉，没有送绳穿 C 的动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_t", + "t": 328.0, + "log_step": 384, + "where": "操作中", + "evidence_zh": "观察：视频 326–330 s，机器人右臂持绳靠近琥珀环 T 后停滞；log step 384 的机器人服务安全监测记录右前臂压在 T 基座上。推断：这是穿 T 的首次阻挡，后续抬高、改腕姿及正向接近都没有完成 T，至视频 344.26 s 仍未修复；早期 G1、A 的困难后来已修复，因此断点选 T。" + }, + "unmet": { + "rope_through_g1": true, + "rope_through_a": true, + "rope_through_g2": true, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 328.0, + "log_step": 384, + "evidence_zh": "观察：视频 328–330 s，机器人右臂在琥珀环 T 基座旁停住，绳端未通过环孔；log step 384 的服务安全监测（机器人接口返回的接触与驱动力读数）记录 lower_forearm_link → T pedestal，持续强推 1.48 s、接触力总峰值 104.2 N。后续 log step 397、414 又报告 396.4、340.4 N 的接触峰值，视频 337–344.26 s 仍未完成穿环。推断：这些力读数与画面中的阻挡属于同一穿 T 失败，不另重复标接触力异常。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机器人向 T 送绳时所执行的臂姿与运动未避开固定基座。log step 384 的服务观测明确给出右前臂与 T 基座的接触；agent 在 log step 388 提交抬高、关节重定向及再下降送绳的控制，log step 397 返回接触峰值 396.4 N、关节误差 1.391 rad；再次改用正向进环后，log step 414 仍返回接触峰值 340.4 N、误差 1.087 rad，与视频 328–344.26 s 的反复停滞一致。证据支持执行和接触几何层面的控制失败，但不足以在抓取和接触设计、轨迹或反馈控制子类间唯一归因。" + } + ], + "gap_zh": "没有状态日志或逐孔带符号交点记录；G1 早期折返及 A 孔口的夹爪遮挡，使首次完整单次穿越的时刻只能由相邻画面估计，分别约有 1 s、1–2 s 不确定性。亚毫米厚度余量、材料坐标方向以及全绳最大速度不能从视频独立精确核验；评分字段也未报告 maximum_speed_m_s、stable_time_s，故两项原生指标值留 null。服务 control_steps 是本次单局实时运行的计数：log step 417 的 8606 步乘 0.04 s 约为视频 344.24 s，与视频时长及末尾卸载姿态相符；log step 384 的 control step 8204 对应约视频 328.16 s，已在视频 328–330 s 的停滞处核对。根因仅保留控制大类。" + }, + "summary_zh": "评分轨迹最终保持绳穿 G1、A、G2，共 3/6 个节点；T 未穿成，G3、C 未进入穿绳操作。机器人在视频约 328 s 持绳接近 T 时右前臂被环基座挡住，后续多次调整仍未完成，服务接触力与关节误差读数支持控制层面的失败。无状态日志，早期局部穿越时刻及孔缘亚毫米余量存在视觉判定精度限制。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1、A、G2 达成、T/G3/C 未达成与视频一致；断点 T 及右臂被基座阻挡的现象有服务读数支持。无状态日志，G1/A 时刻只能目测，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": "2026-10-30T23:28:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--5gzysvd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--5gzysvd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3329f87c8c6dabb00d25eab629cbe1a2d377ac94466f92651a5796fc8a6b4859", + "video_sha256": "2ba5323d6103acbfe9d8379e9aa0ef527ef6f3aacf53843ba503ef2503d16c5e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--iexupth.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--iexupth.json new file mode 100644 index 0000000000000000000000000000000000000000..db7092aca76b8936f543cce16b07593f3b8e0440 --- /dev/null +++ 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"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": 0.469, + "peak_processes": 9, + "peak_disk_gb": 0.471, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-standard--iexupth/replay.mp4", + "duration_s": 74.867, + "fps": 15.0, + "frames": 1123, + "sha256": "c38c05132cea5fa0c34c8eaa3a4c85519504736b2fea04b661ace86dc42e8b1a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 18.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.1, + "log_step": 70, + "text_zh": "观察：视频 17.6–19.2 s，右夹爪夹住黄色绳向青孔 G1 送入，左腕视图开始出现穿出墙另一侧的绳端；视频 19.2 s 主视图可见绳段跨过隔墙。首次完整穿过约在视频 18.0 s，时间有约 0.5 s 的目视误差。" + }, + { + "t": 21.3, + "log_step": 79, + "text_zh": "观察：视频 20.3–24.5 s，换抓失败后绳端缩近孔面，但腕部视图仍可见黄色绳留在青孔内；视频 25.0–29.3 s 右夹爪再次送绳、左夹爪接住并向外牵引，未见绳完全退出孔。" + }, + { + "t": 74.8, + "log_step": null, + "text_zh": "观察：视频 74.0–74.8 s，绳仍从墙右侧穿过 G1 到绿色环 A 一侧，墙两侧均有连续绳段；没有新增穿越该孔的绳圈。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右侧二指夹爪抓绳并送入 G1，左侧二指夹爪在另一面接绳；视频 27.7–29.3 s 两爪在交接时共同夹持同一根绳，随后右爪张开、左爪牵引。此前主要由右爪单独抓握送绳。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [ + [ + 32.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.0, + "log_step": 140, + "text_zh": "观察：视频 32.0–33.3 s，左夹爪持绳向绿色环 A 送进，绳端越过环的另一面，约视频 32.8 s 建立穿孔关系。视频 34.0–42.0 s 虽有夹爪停滞与姿态调整，黄色绳仍贯穿环孔。" + }, + { + "t": 44.0, + "log_step": 170, + "text_zh": "观察：视频 44.0–48.0 s，左夹爪松开并移开，绳端留在 A 的另一面；视频 50.0–56.0 s 左夹爪重新抓起该端并向 G2 搬运，A 两侧连续绳段始终存在。" + }, + { + "t": 74.8, + "log_step": null, + "text_zh": "观察：视频 74.8 s，绿色环 A 内仍有单根连续绳段，由 G1 一侧通往 G2 一侧，未见拔出或额外折返穿环。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧二指夹爪夹住从 G1 拉出的绳端并送穿 A，随后在 A 出口侧多次松开、换抓；视频 50.0–52.0 s 重新夹住绳段并提起。右夹爪此时张开停留在 G1 旁。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [ + [ + 57.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 57.3, + "log_step": 225, + "text_zh": "观察：视频 56.0–57.6 s，左夹爪将绳端从 A 一侧送向紫孔 G2，腕部视图显示绳从孔中贯穿隔墙，约视频 57.2 s 完成；视频 58.0–65.0 s 左夹爪继续持绳，绳段保持穿孔。" + }, + { + "t": 68.5, + "log_step": 266, + "text_zh": "观察：视频 66.6–68.5 s，右夹爪接住 G2 另一侧的绳端并向琥珀环 T 牵引，左爪张开退出；绳仍通过紫孔，墙两侧均有绳段。" + }, + { + "t": 74.8, + "log_step": null, + "text_zh": "观察：视频 74.8 s，绳仍沿 A、G2、T 前方连接，未见从 G2 拔出或多次穿孔。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左侧二指夹爪持绳送入 G2 并保持，右夹爪在墙另一面接绳；视频 66.6–67.6 s 两爪共同夹持后，左爪松开，右爪将绳拉向 T。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 69.5, + "log_step": 266, + "text_zh": "观察：视频 68.4–70.0 s，右夹爪持绳接近琥珀环 T 并向孔口送进，右腕近景中的绳在孔缘附近弯折，未出现清楚贯穿孔内两侧的自由绳端；视频 70.5–71.0 s 夹爪携绳回撤时，绳仍位于环的旁侧。" + }, + { + "t": 74.8, + "log_step": 276, + "text_zh": "观察：视频 73.0–74.8 s，右夹爪再次向 T 送绳，末段近景中自由绳端横向伸在环右侧，夹爪及弯曲绳段停在孔缘附近，未形成单次完整贯穿关系。与成功参考视频 80.0 s 绳端已从 T 另一侧伸出的外观不同；参考仅用于识别完成外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 68.4–74.8 s，右侧二指夹爪持续夹住从 G2 接来的黄色绳，执行向 T 送进、回撤取松弛及再次送进；左夹爪已松绳，空手移往 G3 一侧等待。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 74.8, + "log_step": 276, + "text_zh": "观察：视频 0.0–74.8 s，未见黄色绳穿入红孔 G3；视频 72.0–74.8 s 左夹爪空手移到红孔一侧等待，右夹爪及自由绳端仍在 T 旁。log step 276 的脚本包含后续向 G3 送绳，但该动作在本次视频中尚未发生，不能据脚本计完成。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 74.8, + "log_step": null, + "text_zh": "观察：视频 0.0–74.8 s，左前方立柱上的青色环 C 孔内一直没有贯穿的黄色绳段；视频 74.8 s 左爪在其旁侧空手张开，绳仍通往 A，未送穿 C。成功参考视频 114.2 s 同一视角能清楚看见 C 孔内绳段，本次没有该外观。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_t", + "t": 69.5, + "log_step": 266, + "where": "操作中", + "evidence_zh": "观察：视频 68.4–70.0 s，右夹爪把 G2 出口绳端送向 T，但绳在孔缘旁弯折而未形成完整穿孔；视频 70.5–71.0 s 回撤后，视频 73.0–74.8 s 的再送绳仍未修复。G1、A、G2 保持，绳尚未送往 G3；因此最早未修复的操作为穿 T。" + }, + "unmet": { + "rope_through_g1": true, + "rope_through_a": true, + "rope_through_g2": true, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 69.5, + "log_step": 266, + "evidence_zh": "观察：视频 69.5 s 右腕近景中，右夹爪持有的绳在 T 孔缘旁弯曲；视频 70.5–71.0 s 回撤时绳位于环旁，视频 74.0–74.8 s 再送绳后自由端仍从环的右侧横伸，没有穿到目标另一面。绳端的位置和朝向未对准完整穿孔路径。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 69.5, + "log_step": 266, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 266 明确用右夹爪持绳经 T_pre、T_in 送穿 T，log step 276 又安排回撤取松弛后重新送入；目标环与动作意图明确。视频 68.4–74.8 s 绳随右夹爪移动，但自由端弯折在孔缘外侧，重试也未受控地穿孔，故归为控制问题；现有证据不足以确定具体控制子类。" + } + ], + "gap_zh": "观察：inputs/ 提供视频及完整运行日志，但没有状态日志；评分字段未报告逐孔交点、厚度余量、maximum_speed_m_s 或 stable_time_s。推断：局部关系及起始时刻按多视角画面判断，约有 0.5 s 误差，无法复核亚毫米边界；T 操作存在短时遮挡，结合前后帧及末帧未见完整穿过，不把孔口相切计为完成。缺少 T 阶段接触力和实际绳端位姿，根因只归控制，不细分。" + }, + "summary_zh": "观察：机器人先后将绳穿过 G1、A、G2，视频 74.8 s 这三处关系仍在，最终完成 3/6 个节点。推断：未修复的断点是向琥珀环 T 送绳，右夹爪两次操作后绳端仍偏在孔缘外侧，属于位姿不准和控制问题，G3、C 尚未实际送绳；无状态日志，精确厚度余量和控制子因无法复核。", + "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 18–19.5 s（G1 穿绳）、33 s、57.5 s、69 s、72 s、74.5 s：G1/A/G2 的时间与 T 未完成的判断均与画面一致，断点 rope_through_t 与 位姿不准+控制 的归因有视频支撑，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": "2026-10-30T23:21:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--iexupth/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--iexupth/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "94c632fb1f704a8f26b1b78ffb182a27706a6ead8a82f0487efe1c8c43c48725", + "video_sha256": "c38c05132cea5fa0c34c8eaa3a4c85519504736b2fea04b661ace86dc42e8b1a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--l3uxgfo.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--l3uxgfo.json new file mode 100644 index 0000000000000000000000000000000000000000..49fbe2df2fc08ac362da285cad45a27a6e155211 --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--l3uxgfo.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-standard--l3uxgfo", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4371, + "live_rows": 4371, + "sim_steps": 4371, + "physics_steps": 4371, + "steps": 1389, + "elapsed_s": 10803.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-standard--l3uxgfo/replay.mp4", + "duration_s": 174.933, + "fps": 15.0, + "frames": 2624, + "sha256": "46ab87c0873924cc0587cfbe3674e962a6c05cb7938460bcac97220ebe42e171" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.4, + "log_step": 91, + "text_zh": "观察：视频 47.6、48.4、49.92 s，机器人右夹爪在右侧桌面绳端上方闭合并小幅抬起，绳端仍留在桌面；视频 55–61.5 s 的低位视图中，夹爪升高而绳端未随之离桌。log step 91、93 的服务读数均为右指间开度 0 m，不能据此认定夹住了有厚度的绳。" + }, + { + "t": 48.4, + "log_step": 91, + "text_zh": "推断：本次为单一 live 评分局，reward.resumes=0、graded_by_live=1；log step 91 的 control_steps=1210，按控制周期 0.04 s 得视频 48.4 s，已与该时刻的闭爪画面核对。这里使用评分局控制步计数，不使用 agent 工作时间。" + }, + { + "t": 93.04, + "log_step": 142, + "text_zh": "观察：视频 84–99 s，右夹爪靠近并伸入 G1，但腕部视图内指间无绳，右侧桌面仍保留原绳圈与两端；视频 100–115 s 的双臂换手动作也没有转移绳段。agent 自述“G1 is now crossed once”（log step 143）与这些画面不符。" + }, + { + "t": 174.8, + "log_step": 204, + "text_zh": "观察：视频 174.0、174.8、174.87 s，右腕视图的 G1 孔内没有黄色绳，低位视图中绳仍在右侧桌面；全程未见绳被带到墙的左侧。对照 oracle 视频 15 s 已可见黄色绳伸至墙左侧，oracle 视频 114.2 s 可见连续穿孔绳段；本次缺少该可见关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪先在绳端处空夹，未形成对绳的抓握；随后右指抵压 G1 孔缘。视频 108–111 s 的腕部近景显示指爪贴在青色孔缘，log step 159 的服务强推记录明确写明右手指作用于 G1，事件 control step 2731、max_force_n=98.6；左爪的空换手不计为双臂抓绳。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 168.04, + "log_step": 197, + "text_zh": "观察：视频 120–168.04 s，机器人左夹爪从 G1 左侧移动到绿色环 A 附近，夹爪之间及其后方没有随行黄色绳；黄色绳始终留在墙右侧桌面。" + }, + { + "t": 174.8, + "log_step": 202, + "text_zh": "观察：视频 168.04、170.84、172.84、174.0、174.8、174.87 s，左夹爪在 A 环缘附近推进，但没有黄色绳贯穿绿色环。agent 自述“rope point has advanced through A”（log step 202）不能替代该关系；oracle 视频 30 s 及 114.2 s 中 A 两侧的连续黄色绳段在本次均未出现。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频 168–174.87 s，机器人左夹爪空手靠近并贴抵绿色 A 环缘，没有抓住绳。log step 201 的服务读数在这段推进中出现 26.7 N 接触力，结合腕部视图及夹爪离桌高度，支持指爪对环缘的抵压；该服务读数本身未命名接触对象。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.8, + "log_step": 205, + "text_zh": "观察：视频全程粗查及视频 168–174.87 s 密查，绳保持在右侧原绳圈，未被送至隔墙后方的紫孔 G2。log step 198、205 的 G2 接近逆解均失败，未提交该段关节运动；末帧左爪仍在 A 附近。" + }, + { + "t": 174.8, + "log_step": null, + "text_zh": "推断：结合视频 0 s 的未穿绳初态、全程未将绳带离右侧桌面的画面，以及末帧仍在原位的绳圈，G2 穿绳关系从未成立；不是根据 success=0 反推。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.8, + "log_step": null, + "text_zh": "观察：视频 0 s、全程约每 5 s 的画面及视频 174.0–174.87 s，右后方琥珀色环 T 始终没有黄色绳从孔中贯穿；机器人未携绳接近该环。末帧环孔为空，绳仍盘在右侧桌面。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.8, + "log_step": 163, + "text_zh": "观察：视频 0 s、84–115 s 的腕部近景和视频 174.0–174.87 s 的末段近景，红色 G3 内始终没有黄色绳。机器人右空爪曾转向 G3 一侧（log step 163 的服务运动段），但没有带绳；这不是 G3 穿绳操作。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 174.8, + "log_step": null, + "text_zh": "观察：视频 0 s、全程约每 5 s 的主视图及视频 174.0–174.87 s，左前方立柱青色环 C 孔内无黄色绳；左臂经过其附近时也是空手。oracle 视频 114.2 s 中可见 C 环贯穿的黄色绳段，本次末帧没有该关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "stable_time_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 48.4, + "log_step": 91, + "where": "操作中", + "evidence_zh": "观察：机器人为送绳穿 G1，在视频约 48.4 s 闭合右夹爪，但视频 49.92–60.32 s 抬爪时绳端留在桌面；随后视频 89.04–106.24 s 仅空爪穿孔和换手，未修复取绳失败，直至视频 174.87 s 仍无绳穿 G1。故断点属于首个 G1 操作，而不是后来 A 附近动作或工作预算结束。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 48.4, + "log_step": 91, + "evidence_zh": "观察：视频 47.6–49.92 s 右爪闭合并小抬，视频 55–61.5 s 继续抬高，黄色绳端仍在右侧桌面，夹爪没有带起绳。视频 89.04、93.04、106.24 s 的送绳和换手位置没有夹持绳段，故是所需的抓绳接触未建立，而非已持绳后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 48.4, + "log_step": 90, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：抓取控制未使绳进入双指的夹持接触。log step 81 的脚本向绳端位置下降后，log step 90 直接在当前关节位置闭爪；log step 91 报告 TCP 高度约 0.0285 m、指间开度 0 m，log step 93 小抬后仍为 0 m。视频 48.4–60.32 s 显示绳未随爪离桌。这支持抓取控制失败，但不足以在接触几何和执行跟踪误差之间指定子类。" + }, + { + "cat": "认知", + "item": "感知", + "t": 60.32, + "log_step": 116, + "source_zh": "agent 自述 / 日志 / 视频", + "evidence_zh": "推断：agent 把空爪误认为持绳，后续一直按该错误物体状态执行路线。agent 自述“wrist view shows it between the pads, and the small lift kept it attached”（log step 116），log step 123 继续把抬高的夹爪点报告为 held point；但视频 49.92、55、60.32 s 的低位画面显示绳端仍在桌面。log step 143、149 又宣称 G1 已穿过，而视频 93.04、106.24 s 没有随爪的绳；这种误判使机器人继续空换手、空走向 A，没有返回修正抓取。" + } + ], + "gap_zh": "无状态日志或逐指与绳的接触对，初次空夹的具体几何、跟踪或接触控制原因不能进一步区分。A 附近的服务接触力没有对象名，其环缘接触按前后腕部画面推断。评分器未报告 maximum_speed_m_s 与 stable_time_s，故两项原生指标为 null；这些缺口不影响六孔均未穿绳的视觉判断。" + }, + "summary_zh": "六个穿孔节点均未达成，最终为 0/6：机器人右爪空夹后没有带起绳，却继续执行 G1 穿孔、换手及 A 附近动作，直到视频 174.87 s 绳仍盘在右侧桌面。断点是 G1 操作中的取绳失败；agent 对已持绳及已穿孔的误判使该失败一直未修复。无状态日志，抓取控制的具体子因和 A 环缘接触细节仍有限，评分器也未给出两项原生指标。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "六节点均未达成与视频一致：绳始终在右侧桌面，空夹后未带起绳；断点 G1 操作中、没建立接触、感知误判均有帧和 log 支撑，时钟换算（control_steps 1210→48.4 s）已核对。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:17:59Z", + "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-rope-threading-08-i01-standard--l3uxgfo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--l3uxgfo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8cc79e11cde0a86370a4c69282f8d7460008588762b4d16214d551f642add7ad", + "video_sha256": "46ab87c0873924cc0587cfbe3674e962a6c05cb7938460bcac97220ebe42e171", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--m3jdjql.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--m3jdjql.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc6852e89a17c9fa3f1ae7135b38115156c5ac4 --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--m3jdjql.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-standard--m3jdjql", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "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": 4481, + "live_rows": 4481, + "sim_steps": 4481, + "physics_steps": 4481, + "steps": 892, + "elapsed_s": 10476.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-standard--m3jdjql/replay.mp4", + "duration_s": 179.333, + "fps": 15.0, + "frames": 2690, + "sha256": "f2730dcf786c32b568637707a4904537d1a8efd6977e59834c3d7fa799b5e95c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 125.0, + "log_step": null, + "text_zh": "观察：视频 120–126 s，右夹爪把夹持的黄色绳段移到 G1 前，绳在墙右侧向上回弯；视频 150–159.6 s，左夹爪从另一侧对向闭合，腕部视图能见孔内短绳影，但主视图与侧视中没有墙左侧连续穿出的绳段。" + }, + { + "t": 159.8, + "log_step": 143, + "text_zh": "观察：视频 159.6–160.2 s，右夹爪张开，原先竖起的绳段倒向墙右侧；视频 161–172 s，右爪退开、左爪离开 G1 时均未带走绳，绳盘和自由绳段仍全部位于墙右侧。视频 178.4、178.8、179.2 s 保持这一终态。" + }, + { + "t": 179.2, + "log_step": 145, + "text_zh": "推断：上述多视角未出现本节点要求的两侧连续、单次完整贯穿，孔前回弯及孔内投影不计完成，终态为 false。agent 在 log step 141、145 自述“G1 fully threaded”，与视频中接取后没有绳留在墙左侧的结果不符，按视频判定。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右二指夹爪先夹持并搬运绳段至 G1，左二指夹爪在墙另一侧对向闭合尝试接取；右爪松开后左爪没有接住绳。此项记录右爪实际持绳及双臂对接尝试，不表示左爪已成功夹住绳。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 172.0, + "log_step": 143, + "text_zh": "观察：视频 170–176 s，左夹爪离开 G1、移向绿环 A，其间夹爪及墙左侧均无黄色绳段；随后夹爪抵到绿环附近。log step 143 的服务接触力读数先后为 59.2 N、544.1 N，该日志来自无重置的实时单局。" + }, + { + "t": 179.2, + "log_step": 144, + "text_zh": "观察：视频 177–179.2 s，左腕近景中的绿色环孔内没有黄绳，主视图中的绳仍盘在墙右侧；没有形成绿环两侧连续绳段，节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "左二指夹爪空手移向绿色环 A，夹爪抵压环缘；没有把绳带到环前。视频 175–179.2 s 的近景与 log step 143 的接触力读数相符。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 179.2, + "log_step": null, + "text_zh": "观察：已检查视频 0–179.2 s 的全程概览及视频 120–179.2 s 的逐秒片段；机器人只在前部 G1 对接，随后左爪空手移向 A，未把黄绳送往后部紫孔 G2，未出现跨墙穿过 G2 的绳段，末尾绳仍全部在墙右侧。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 65.0, + "log_step": null, + "text_zh": "观察：视频 51、55、65 s，黄绳随右夹爪抬起并搭绕在夹爪附近，琥珀环 T 位于其下方，未出现环孔两面连续贯穿的黄绳；其余全程概览及视频 178.4–179.2 s 末帧中该环也没有穿绳关系。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 179.2, + "log_step": null, + "text_zh": "观察：全程概览和视频 120–179.2 s 的密集片段中，没有将黄绳送入墙上红孔 G3 的动作，也没有穿过 G3 的跨墙绳段；对接发生在前部 G1。视频 178.4–179.2 s，所有黄绳仍在墙右侧，G3 未完成。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 179.2, + "log_step": null, + "text_zh": "观察：视频全程主视图中，左前立柱上的青环 C 未穿入黄绳；视频 168–179.2 s 左爪移向 A 时，C 附近也没有绳。对照成功参考录像中青环 C 两侧都有连续黄绳的外观，本次未形成该关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 159.7, + "log_step": 143, + "where": "操作中", + "evidence_zh": "观察：视频 150–159.6 s，双爪隔 G1 对接；视频约 159.7 s 右爪张开后，黄绳倒回隔墙右侧，左爪未留下可见绳段。视频 161–172 s 左爪空手移开，之后压向 A，直到视频 179.2 s 也未返回修复 G1。log step 140 的脚本凭左爪开度打印“L GRASP”，log step 143 随即放开右爪；视频未显示实际接取成功。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 159.7, + "log_step": 143, + "evidence_zh": "推断：视频 159.6–160.2 s 右爪释放时，原持绳段立即落回墙右侧；视频 161–172 s 左爪离开时为空，说明左接取爪没有建立能夹住并承接绳段的抓握。这里不采纳 agent 在 log step 145 所称“到 A 后才从左爪滑落”，因为视频显示绳在离开 G1 前已留在墙右侧。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 139 记录左爪空夹；log step 140 的接取脚本仅以开度落在 0.0068–0.0098 范围判为抓到，未执行持绳牵拉或释放后图像核验，log step 143 接着释放右爪并继续 A 的轨迹。视频 159.7–172 s 显示接取没有承载成功，之后控制流程仍空手前进，故归为夹持交接及其验证的控制问题；现有证据不能进一步区分送入深度、接取位姿与夹爪相互干涉。", + "source_zh": "日志、视频" + } + ], + "gap_zh": "无状态日志或逐孔交点结果；G1 对接时局部绳段被两爪遮挡，不能精确测量孔厚余量、材料方向或指尖接触，故未把孔内短绳影计为完整贯穿。墙左侧始终没有连续穿出绳段，且释放后全部绳段回到右侧，足以判 G1 终态为 false；无法确定接取失败的具体控制子因。评分器未报告 maximum_speed_m_s 和 stable_time_s，两项原生指标值留 null。" + }, + "summary_zh": "本次实时单局尝试了 G1 的双臂接取，并在失去绳段后空手移向绿环 A；没有观察到任一孔形成完整单次贯穿，最终为 0/6。视频约 159.7 s 右爪释放后黄绳回落至墙右侧，左爪未接住，G1 的失败未被修复；随后 A 的压环及末尾空环画面均不能支持 agent 在 log step 145 所称的 G1 已完成。无状态日志，G1 指尖附近的精细交点及具体接取控制子因无法复核。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1 未贯穿、其余五孔未完成，0/6 与视频一致；断点 G1 的 159.7 s 右爪释放后绳回落墙右侧，左爪空手移开，与帧相符；现象和根因有证据支持，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:46:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--m3jdjql/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-standard--m3jdjql/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7276ca52bfbc4bd15da1a5f4ad1ac26959390d3e219940ca3c8e740f384f5df", + "video_sha256": "f2730dcf786c32b568637707a4904537d1a8efd6977e59834c3d7fa799b5e95c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--msvdxln.json b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--msvdxln.json new file mode 100644 index 0000000000000000000000000000000000000000..e74bfa23fba229e25c0f27ea17933301d381419e --- /dev/null +++ b/phase2/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--msvdxln.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-standard--msvdxln", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "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": 28, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 7319, + "live_rows": 7319, + "sim_steps": 7319, + "physics_steps": 7319, + "steps": 5709, + "elapsed_s": 10811.0, + "replay_wall_s": 5941.8, + "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-rope-threading-08-i01-standard--msvdxln/replay.mp4", + "duration_s": 292.8, + "fps": 15.0, + "frames": 4392, + "sha256": "8a6d812984babf820a7c2eb208a2e8625b9fdc6f5da6e2fac5b8430bfcffb550" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 232.0, + 236.5 + ], + [ + 253.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色绳盘在隔墙右侧，青孔 G1 没有贯穿绳段。" + }, + { + "t": 234.0, + "log_step": 788, + "text_zh": "观察：视频 232.0–236.0 s，右夹爪将绳端经 G1 送至隔墙左侧，两侧均见连续黄色绳；视频 236.5–237.0 s，右夹爪回退把绳带回右侧，左夹爪没有带走绳，穿孔关系消失。区间边界约有 0.5 s 误差。" + }, + { + "t": 253.5, + "log_step": 883, + "text_zh": "观察：视频 253.5–258.0 s，右夹爪再次经青孔 G1 送绳，左夹爪闭合接住；视频 259.0–262.0 s 右夹爪退开后，绳仍跨墙连接左夹爪和右侧绳盘。视频 292.6 s，黄色绳仍从 G1 连接墙两侧。" + }, + { + "t": 235.4, + "log_step": 795, + "text_zh": "推断：这是单一现场 episode，评分器 live_matches_replay=1；log step 795 的服务 control_steps=5884、sim_time_s=235.36 对应视频约 235.4 s 的双爪停靠，log step 935 的 7319 个控制步乘 0.04 s=292.76 s 亦与视频结束一致。此处仅核对控制时钟，区间取自检查的画面。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 253.5–259.0 s，右侧二指夹爪夹绳送过 G1，左侧二指夹爪闭合接绳，随后右爪松开退走；此前有多次单爪抓绳和失败的换手。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 265.5, + "log_step": 892, + "text_zh": "观察：视频 262.0–265.5 s，左夹爪持绳接近绿色环 A；视频 265.5–274.0 s 腕部近景中，夹爪尖端顶着绿色孔缘，黄色绳端留在爪尖附近，没有出现成功参考中绳端伸出环另一面的清晰贯穿形态（oracle 视频 28.0–30.0 s）。" + }, + { + "t": 283.5, + "log_step": 919, + "text_zh": "观察：视频 275.0–283.5 s，左夹爪仍受阻于 A 附近；视频 284.5–291.0 s，夹爪改变姿态并抬走，绳沿孔缘外侧弯过，随后落回桌面。视频 291.8–292.6 s，绿色孔内为空，绳位于其右缘外侧；未形成单次完整穿环。log step 919 读得左 TCP=[-0.2008,0.0332,0.0563]，与脚本要到的 G2 位置不同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 262.0–284.0 s，左二指夹爪夹住黄色绳端向绿色环 A 送入；右臂空爪移开。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 265.5–274.0 s，左夹爪指尖抵住绿色环 A 的孔缘，推进停滞。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 283.5, + "log_step": 914, + "text_zh": "观察：视频 275.0–283.5 s，机器人尝试从 A 转向后方紫孔 G2，但左夹爪留在 A 附近；右爪移到隔墙右侧后方，未接到黄色绳。" + }, + { + "t": 292.6, + "log_step": 927, + "text_zh": "观察：视频 284.5–291.0 s，第二次接近时左夹爪虽抬起转向，但绳端未到 G2，后落在 A 右侧桌面；视频 291.8–292.6 s，紫孔腕部近景内没有黄色贯穿绳段，两爪也没有完成持绳交接。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 275.0–284.5 s，左夹爪仍夹绳尝试向 G2 移动，绳未被送到紫孔；右夹爪执行接绳闭合动作但未见夹到绳。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 292.6, + "log_step": null, + "text_zh": "观察：视频全程的主视图中，右侧琥珀环 T 始终没有黄色绳贯穿；视频 291.8–292.6 s 绳仍在环前方桌面，机器人未开始持绳穿 T。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 292.6, + "log_step": null, + "text_zh": "观察：视频全程机器人主要在前方青孔 G1 和绿色环 A 附近操作，红孔 G3 的可见腕部视图没有黄色绳贯穿；视频 291.8–292.6 s，红孔仍为空。未见持绳穿 G3 的尝试。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 292.6, + "log_step": null, + "text_zh": "观察：视频 0.0–292.6 s，主视图左前立柱上的青色环 C 未被黄色绳贯穿；视频 291.8–292.6 s，绳在绿色环 A 与隔墙之间，青环 C 仍为空，未见穿 C 的尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_a", + "t": 265.5, + "log_step": 892, + "where": "操作中", + "evidence_zh": "观察：视频 265.5–274.0 s，左夹爪持绳向绿色环 A 推进，指尖抵住孔缘而停滞，绳端没有完整穿过；视频 284.5–292.6 s，后续改姿态与向 G2 移动也未修复 A，最终绳落在环外。此前 G1 的退出已在视频约 253.5 s 修复，因此首个未修复步骤为 A。" + }, + "unmet": { + "rope_through_g1": true, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 265.5, + "log_step": 892, + "evidence_zh": "观察：视频 265.5–274.0 s 的左腕近景，绿色环 A 的近侧孔缘横抵夹爪尖端，夹爪和绳端不再向环后推进；视频 275.0–283.5 s 的后续动作仍使左爪滞留此处。log step 919 的实际左 TCP 仍在 A 附近，而非脚本的 G2 入口。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 265.5, + "log_step": 891, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 891 的脚本持续闭合左夹爪，把末端沿绿色环 A 中心线直接从 Y=-0.060 推到 +0.090 m，未在穿孔前改变夹点或让自由绳端明显伸出指尖；视频 264.0–274.0 s 显示绳端紧靠指尖，指尖先抵住孔缘，故持绳的接触几何没有给自由端留下独立通过的空间。oracle 视频 28.0–30.0 s 可见长自由绳段穿过 A 并被拉到另一侧，证明此任务存在可行穿环接触方案；参考只用于说明替代可行性。" + } + ], + "gap_zh": "没有状态日志或逐孔 checker 输出；穿孔时绳端局部被指尖遮挡，区间边界精度约 0.5 s，无法从录像精确复核 0.1 mm 余量及完整孔厚截面。A 的未达判断综合孔缘停滞、抬爪后环外落绳与 oracle 的可见贯穿形态；评分字段仅给全局失败，不能独立决定各孔。评分器未报告 maximum_speed_m_s 与 stable_time_s，二者记 null。" + }, + "summary_zh": "机器人反复尝试 G1，曾短暂穿入后退出，最终重新穿好并保留至视频结束，终态为 1/6。左夹爪随后在绿色环 A 孔缘受阻，未形成完整穿环，后续 G2 送绳也未成功，T、G3、C 未尝试；断点为 A，接触几何使夹爪先于自由绳端受到孔缘阻挡。无状态日志或逐孔验收读数，孔厚及亚毫米余量只能作视觉判断。", + "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 230–292.6 s：G1 终态保持、A 未穿环（左爪抵孔缘后抬走，绳落环外）、断点 A 与被挡/碰撞现象均与画面相符；根因为推断且标注合理。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T23:33:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", 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"280f9040559ac3e332b4aa5546cc33178cbb72c3bec80b446cb101ff188740fe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，黄色绳盘在隔墙右侧桌面，墙孔与左侧桌面均无贯穿绳段。" + }, + { + "t": 220, + "log_step": null, + "text_zh": "观察：视频 195、200、205 s，右夹爪在右侧绳盘上方或旁边移动；视频 208、212、215、220、225.5 s，右臂移近隔墙右侧，绳仍留在右侧桌面，左腕视图未见黄色绳从青孔 G1 伸到墙左侧。这些画面不能确认夹爪夹住并抬起了绳段。" + }, + { + "t": 610, + "log_step": null, + "text_zh": "观察：视频 250、280、320、350、380、420、470、500、550、580、610、620 s，右臂反复在隔墙右侧调整位置，绳盘仍在右侧桌上，未见青孔 G1 形成贯穿关系；不据夹爪移动认定其持绳。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：视频 630、635、640、645、647.5 s，右臂摆离隔墙，绳仍在右侧桌面；视频 680、750、800、880 s，右臂又在绳盘及隔墙右侧附近移动。视频 886、888、890、892、893、893.6 s，绳保持在右侧，G1 左侧无贯穿绳段，不能把这段画面称为已确认的抓绳、挪绳盘或最后一次送绳。" + }, + { + "t": null, + "log_step": 321, + "text_zh": "观察：agent 在 log step 321 自述夹住绳并尝试向 G1 前推，同时报告 G1 及其余孔均未完成；这是 agent 会话陈述，未与视频时刻配对，抓握和搬绳陈述不作为画面已确认的动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 195–225.5 s 及视频 680、750、800、880、892、893.6 s 可见右臂二指夹爪在绳盘附近和隔墙右侧移动，但未能辨认绳段被两指夹紧并随爪抬起，不能确认抓握或其他接触方式；无逐接触状态记录。左臂未见同时抓绳或接绳。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，绿色环 A未穿绳，黄色绳盘位于隔墙右侧桌面。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：全程约每 10 s 的多视角抽帧，以及视频 208–225.5 s、630–647.5 s、886–893.6 s 的密集画面中，隔墙左侧的低矮绿色环保持空孔，左侧桌面没有到达它的绳段；未见机器人对该孔进行穿绕操作。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，紫色墙孔 G2未穿绳，黄色绳盘位于隔墙右侧桌面。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：全程约每 10 s 的多视角抽帧，以及视频 208–225.5 s、630–647.5 s、886–893.6 s 的密集画面中，绳始终集中在右侧前部桌面与右夹爪附近，没有绳从后方紫色墙孔伸到隔墙左侧；未见机器人对该孔进行穿绕操作。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，琥珀色环 T未穿绳，黄色绳盘位于隔墙右侧桌面。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：全程约每 10 s 的多视角抽帧，以及视频 208–225.5 s、630–647.5 s、886–893.6 s 的密集画面中，右侧后方的琥珀色环保持空孔，可见绳盘位于它的前方，未被送入环孔；未见机器人对该孔进行穿绕操作。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，红色墙孔 G3未穿绳，黄色绳盘位于隔墙右侧桌面。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：全程约每 10 s 的多视角抽帧，以及视频 208–225.5 s、630–647.5 s、886–893.6 s 的密集画面中，左腕视图的红孔没有贯穿的黄色绳段，右臂主要在相邻 G1 的右侧附近活动；未见机器人对该孔进行穿绕操作。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，青色环 C未穿绳，黄色绳盘位于隔墙右侧桌面。" + }, + { + "t": 893.6, + "log_step": null, + "text_zh": "观察：全程约每 10 s 的多视角抽帧，以及视频 208–225.5 s、630–647.5 s、886–893.6 s 的密集画面中，隔墙左前方立柱上的青环保持空孔，未见绳被带到它的任一面；未见机器人对该孔进行穿绕操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 220, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 208、212、215、220、225.5 s，右臂从绳盘附近移近隔墙右侧，但绳仍留在右侧桌面，左腕视图中 G1 左侧无连续黄色绳段；此后右臂反复调整，视频 892、893.6 s 仍未出现 G1 贯穿关系。视频 220 s 仅为该未修复步骤的导航锚点，不代表 log step 213–214 的命令或回读发生于此；不据画面认定已持绳送入。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 220, + "log_step": null, + "evidence_zh": "观察：视频 215、220、225.5 s，右臂移近隔墙但绳留在右侧桌面，G1 没有贯穿绳段；视频 892、893.6 s 末态仍无绳穿过 G1。独立的日志证据：log step 213 脚本目标 TCP 为 (0.055, −0.285, 0.152) m，log step 214 打印的服务本体感知回读为 (0.140, −0.320, 0.171) m，位置差约 9.4 cm；log step 318 打印目标 (0.072, −0.268, 0.188) m 与回读 (0.138, −0.307, 0.177) m，位置差约 7.7 cm。这些是 agent 会话脚本中的读数，未建立与视频时刻的映射；视频 220 s 仅作导航，不将末帧描述成与该回读对应的最后一次送绳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：将绳送到 G1 的执行环节存在问题，归为控制，证据不足以细分。log step 213–214 的 TCP 目标与服务回读位置差约 9.4 cm；log step 274、284 的脚本输出也记录目标未到及横向偏移；log step 318 的目标 (0.072, −0.268, 0.188) m 与回读 (0.138, −0.307, 0.177) m 相差约 7.7 cm。这些仅作独立会话证据，未映射到视频时刻；视频 215、220、350、400、892、893.6 s 中绳仍未建立 G1 贯穿关系，支持执行未达成，但不证明夹持、绳张力或具体阻挡机制。" + } + ], + "gap_zh": "没有仿真状态日志或逐接触力记录，画面未能确认绳被夹紧并随夹爪抬起，抓握方式标为未知。未建立 log step 213–214、318 与视频的 control_steps 映射，按 docs/DECISIONS.md N6 的现行规则不换算 agent 时间，也不把会话目标及回读配到视频 220 s 或末帧；这些数值仅作独立日志证据。agent 在 log step 321 的夹持、搬绳陈述未被画面确认；log step 249、285、289、321 对挂环、卡孔缘、运动学边界及绳盘牵制的解释均不当作已证实事实，因此根因仅在控制层级推断。评分器没有报告 maximum_speed_m_s 或 stable_time_s，两项原生指标填 null；这些缺口不影响从贯穿绳段缺失判断六孔均未达成。" + }, + "summary_zh": "右臂反复在绳盘和隔墙右侧附近移动，但视频未确认抓握或搬绳，六孔均未出现完整贯穿关系，节点终态为 0/6，断点仍是绳穿青孔 G1。独立会话日志的 TCP 目标与回读偏差支持控制执行问题的推断，但不与具体视频时刻配对。因缺少接触状态记录、抓握未确认且日志时刻映射未建立，将置信度由 8 降至 6，具体受阻机制仍不确定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "六孔均未穿绳、终态 0/6 与断点 G1 正确（视频 0–892 s 抽帧未见任何绳段穿过隔墙孔）。问题在证据：把 agent log step 213/214/318 的 TCP 读数与视频时间并列，却没有 N6 的映射核对；视频帧也不支持“持绳朝 G1 送入”“最后一次送绳停在墙右侧”的观察。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "六孔均未穿绳、断点 G1、不换算 agent 时间、抓握标未知，均与视频一致；第二轮已修正的点未发现新问题。", + "n_issues": 0, + "n_major": 0 + } + ], + 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"v2", + "runId": "roboarc-rope-threading-08-i01-standard--qywqdaj", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 5, + "live_success": 0, + "replay_success": 0, + "runtime_binding_ok": 1, + "deterministic": 1, + "live_matches_replay": 1, + "gpu_backend": 1, + "finalized": 1, + "n_actions": 2866, + "live_rows": 2866, + "sim_steps": 2866, + "physics_steps": 2866, + "steps": 567, + "elapsed_s": 10722.3, + "replay_wall_s": 10283.7, + "video_rendered": 1, + "gpu_lost": 0, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "infra_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-rope-threading-08-i01-standard--qywqdaj/replay.mp4", + "duration_s": 114.733, + "fps": 15.0, + "frames": 1721, + "sha256": "32cfb7cfaa73b2c2a0471bf1910c4e75c91b792c8447d30ce9e2e9f3ce42dd4a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色绳盘在隔墙右侧桌面，G1 孔没有贯穿绳段。" + }, + { + "t": 72, + "log_step": 220, + "text_zh": "观察：视频 71.5–78.0 s，右夹爪将绳段移向 G1，夹爪停在墙面一侧；左腕视图透过青孔可见另一侧的绳段，但没有绳从孔内伸到左侧，右腕视图可见自由绳端仍在右侧。log step 220、228 分别记录送绳时接触力峰值 96.0 N、276.5 N。" + }, + { + "t": 97.3, + "log_step": 254, + "text_zh": "推断：log step 11 给出控制频率 25 Hz，log step 254 的 control_steps=2432 对应视频约 97.28 s；已核对视频 96.8–97.8 s 的右爪停在 G1 前并随后回撤，且最终 log step 306 的 2866/25=114.64 s 与片尾吻合。视频 95.0–97.4 s、104.0–108.0 s 的重复送绳均未形成贯穿，故 G1 始终未达到。" + }, + { + "t": 114.6, + "log_step": 306, + "text_zh": "观察：视频 113.0–114.6 s，右夹爪回到右侧桌面绳端附近，G1 左侧仍无穿出的绳段；没有建立可保留到片尾的穿孔关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 62.0–69.0 s、84.0–94.0 s，右臂二指夹爪闭合夹住黄色绳段，移动时牵动绳段离开原来的桌面位置，随后单臂向 G1 送绳；左夹爪未参与接绳。视频 72.0–78.0 s 及 95.0–97.4 s，右夹爪在墙面孔口前受阻。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色环 A没有穿绳。" + }, + { + "t": 114.6, + "log_step": null, + "text_zh": "观察：从视频 0.0–114.6 s 的全程粗查及视频 70.0–81.5 s、92.0–109.0 s、113.0–114.6 s 的关键段复查，隔墙左侧低矮的绿色环内及周围均无绳，右臂操作的绳始终没有送到左侧绿色环。片尾仍未达到本节点；成功参考视频 114.2 s 可见跨墙及穿环的连续绳路，仅用来比较可见形态。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，紫孔 G2没有穿绳。" + }, + { + "t": 114.6, + "log_step": null, + "text_zh": "观察：从视频 0.0–114.6 s 的全程粗查及视频 70.0–81.5 s、92.0–109.0 s、113.0–114.6 s 的关键段复查，右臂及所牵绳段始终活动在 G1 附近或右前方桌面，没有送至隔墙后方紫孔 G2，也没有出现成功参考中从后方跨墙延伸的绳路。片尾仍未达到本节点；成功参考视频 114.2 s 可见跨墙及穿环的连续绳路，仅用来比较可见形态。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，琥珀环 T没有穿绳。" + }, + { + "t": 114.6, + "log_step": null, + "text_zh": "观察：从视频 0.0–114.6 s 的全程粗查及视频 70.0–81.5 s、92.0–109.0 s、113.0–114.6 s 的关键段复查，隔墙右侧琥珀环保持空置，右臂所操作的绳在它前方桌面及 G1 附近，没有绳贯穿琥珀环两面。片尾仍未达到本节点；成功参考视频 114.2 s 可见跨墙及穿环的连续绳路，仅用来比较可见形态。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红孔 G3没有穿绳。" + }, + { + "t": 114.6, + "log_step": null, + "text_zh": "观察：从视频 0.0–114.6 s 的全程粗查及视频 70.0–81.5 s、92.0–109.0 s、113.0–114.6 s 的关键段复查，左腕视图的红孔未出现穿出绳段，右臂送绳目标是相邻青孔 G1；绳没有贯穿红孔两侧。片尾仍未达到本节点；成功参考视频 114.2 s 可见跨墙及穿环的连续绳路，仅用来比较可见形态。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，青色环 C没有穿绳。" + }, + { + "t": 114.6, + "log_step": null, + "text_zh": "观察：从视频 0.0–114.6 s 的全程粗查及视频 70.0–81.5 s、92.0–109.0 s、113.0–114.6 s 的关键段复查，隔墙左前方立柱青环保持空置，黄色绳没有进入该侧，也没有像成功参考那样贯穿环孔。片尾仍未达到本节点；成功参考视频 114.2 s 可见跨墙及穿环的连续绳路，仅用来比较可见形态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "stable_time_s", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 72.0, + "log_step": 220, + "where": "操作中", + "evidence_zh": "观察：视频约 72.0 s 起，右夹爪将所夹绳段送到 G1 前，夹爪在墙面附近停滞，左侧没有绳端穿出；视频 74.0–78.0 s、95.0–97.4 s 及 104.0–108.0 s 反复调整后仍未贯穿。log step 220、228 的机器人服务接触力读数升高，后续直到视频 114.6 s 都没有修复 G1 穿绳关系。" + }, + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 72.0, + "log_step": 228, + "evidence_zh": "观察：视频 72.0–78.0 s，右夹爪朝 G1 推进时贴近墙面、反复偏移，绳端仍留在来侧；视频 95.0–97.4 s 和 104.0–108.0 s 重现受阻。log step 228 中脚本命令 TCP 到墙面 x=0、z=0.155 m，服务实测 TCP 却停在 x=0.0938、z=0.1816 m，接触力峰值为 276.5 N；log step 280 的继续推入命令对应峰值 315.7 N，末端仍停在来侧。推断：这是夹爪/持绳在墙面或孔缘受挡，未将绳送穿。" + } + ], + "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：本次送绳使用的夹持姿态不适配穿墙接触几何。log step 215、220、228、248、280 的脚本均将手指接近轴设为向下 [0,0,-1]，再沿墙法向推动所夹绳段；视频 72.0–78.0 s、95.0–97.4 s、104.0–108.0 s 显示夹爪在孔口前受挡，服务同时报告明显的接触力和目标/实测位置差。对照 log step 154、156，手指沿 -x 的空爪通道试探可使 TCP 到墙另一侧 x=-0.0441 至 -0.0653 m，视频 24.5–31.0 s 也可见空爪穿入；它只验证姿态通行，不等于带绳成功。成功参考视频 20.0–30.0 s 可见双臂接送并将绳引到隔墙左侧，参考视频 114.2 s 形成完整跨墙穿环绳路，故存在已验证的替代方案；这些参考仅说明可行性，不计作本次进度。" + } + ], + "gap_zh": "没有逐绳节状态日志或逐孔原生通过记录，无法精确核验绳厚余量、材料坐标方向及全绳速度；评分器未报告 maximum_speed_m_s、stable_time_s，原生指标留 null。主视图和腕部前后画面足以排除实际贯穿，但无法精确分离每次受挡时是手指哪一面还是持绳接触孔缘，因此根因依据接触姿态与实测阻力作推断，不追加滑脱或感知归因。" + }, + "summary_zh": "本次右夹爪进行了通道试探、抓绳和多次向 G1 送绳，但未建立任何完整穿孔关系，六节点最终为 0/6。断点为绳穿青孔 G1：向下夹持送绳时夹爪在墙面/孔缘前受阻，服务接触力和末端偏差支持接触设计不适配；其余五孔未实际开展穿绳。无逐绳节状态及逐孔通过读数，厚度余量、全绳速度和确认时长无法精确核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + 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