Add 12 tasks (phase 2)

README.md

@@ -9,6 +9,10 @@ step types, contact, prerequisite edges). Per run (trajectory): when each step h
 map), the contact that actually happened, and for a failed run the breakpoint step, the failure phenomena and the
 root causes. Label text is in Chinese.
 
+The labels come in two phases: phase 1 (folder `phase1/`, prompts v3.1, sections below) and phase 2 (folder `phase2/`,
+prompts v3.2, section [Phase 2](#phase-2) at the end). For a task in both folders, use phase 2: the importer
+reads only the highest `phaseN/` folder of a task (its DAG with its own trajectories).
+
 - Prompts: v3.1 (frozen labelling prompts, taxonomy v2; schemas `efe-task-dag/1` and `efe-trajectory-labels/1`).
 - Writer: Codex `gpt-6.1-sol` (effort high for task DAGs and trajectories). Reviewer: Claude `claude-sonnet-5-5`; up to
   two fix rounds plus a confirm round; files still disputed after that carry `review.status: "disputed"`.
@@ -361,3 +365,41 @@ root causes. Label text is in Chinese.
 | `phase1/robowits/stand_pages/` | 2 | full run |
 | `phase1/vlabench/texas_holdem/` | 2 | full run |
 | `phase1/yamlab/put_pot_on_cooktop/` | 2 | full run |
+
+## Phase 2
+
+- Prompts: v3.2 (the frozen labelling prompts with the fixes from a blind recheck of 30 phase-1 tasks; taxonomy v2;
+  schemas `efe-task-dag/1` and `efe-trajectory-labels/1`).
+- Writer: Codex `gpt-6.1-sol` (effort high for task DAGs and trajectories). Reviewer: Claude `claude-sonnet-5-5`; up to
+  two fix rounds plus a confirm round; files still disputed after that carry `review.status: "disputed"`.
+- Task repository: embodied-first-exam commit `80cac7a5a227db930c659c3307a1e79c2a84bc53`.
+- Scope: every benchmark task except the roboengineer suite (434 tasks), two runs per task (one success when
+  there is one, plus a failure; runs with a video first; seeded pick), 868 runs. Every task gets a newly written
+  DAG, and all its phase-2 runs (including runs already labelled in phase 1) are labelled against that DAG.
+- Run catalog: built from the run index of the dataset `MLL-Lab/embodied-exam-runs` (the run viewer's `run.json`
+  files); videos as in phase 1 from `MLL-Lab/embodied-exam-media`, `runs/<runId>/replay.mp4`. Some picked runs and
+  tasks are newer than the catalog shipped with the labelling interface, so importing them needs a catalog refreshed
+  from that run index.
+- The importer prefers the highest phase: when a task is under `phase1/` and `phase2/`, only `phase2/<suite>/<task>/`
+  (its DAG and its own trajectories) is used; `phase1/` stays as a record.
+- Layout as in phase 1: `phase2/<suite>/<task>/task_dag.json` and `phase2/<suite>/<task>/trajectories/<runId>.json`,
+  provenance work-directory paths relative, `dag_sha256` = sha256 of `task_dag.json` as published here. A task is
+  uploaded whole (its DAG together with all its phase-2 trajectories).
+- Work in progress: tasks are added as soon as their DAG and all their trajectories pass validation. Status: 12 of 434 tasks, 24 of 868 trajectories.
+
+### Phase 2 tasks
+
+| folder | trajectories | also in phase 1 |
+| --- | --- | --- |
+| `phase2/robodojo/fill_egg_holder/` | 2 | yes |
+| `phase2/robodojo/hang_mugs/` | 2 | yes |
+| `phase2/robodojo/hang_mugs_random/` | 2 | no |
+| `phase2/robodojo/insert_key/` | 2 | yes |
+| `phase2/robodojo/make_kong/` | 2 | yes |
+| `phase2/robodojo/make_toast/` | 2 | yes |
+| `phase2/robodojo/pack_objects_into_box/` | 2 | yes |
+| `phase2/robodojo/store_laptop_and_headphones/` | 2 | yes |
+| `phase2/robodojo/store_laptop_and_headphones_random/` | 2 | yes |
+| `phase2/robodojo/store_tools_in_toolbox/` | 2 | yes |
+| `phase2/robodojo/swap_blocks/` | 2 | yes |
+| `phase2/robodojo/sweep_blocks_random/` | 2 | yes |

phase2/robodojo/fill_egg_holder/task_dag.json

@@ -0,0 +1,337 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/fill_egg_holder",
+ "suite": "robodojo",
+ "base": "robodojo-fill-egg-holder-i00",
+ "title_zh": "装满蛋托并合盖",
+ "summary_zh": "四个蛋均低坐在蛋托范围内、托盖闭合超过九成，且双臂末端回到规定的初始位姿容差内，以上在同一动作边界成立。",
+ "embodiment_zh": "特权与标准模式均为桌边固定安装的两条ARX X5六关节机械臂，每臂配平行二指夹爪，无移动底盘；提供头部主相机及左右腕部相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-fill-egg-holder-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "eggs_in_holder_1",
+    "zh": "第1个蛋入蛋托",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机中，中央偏右白色蛋托内至少有1个浅棕色蛋低坐在杯位；每个计入的蛋中心须在随蛋托移动的约9×17.7厘米轮廓内且高于轮廓最低点，并严格高于托底点0.01米、低于托底点0.04米，悬在托上、架在边沿或压在盖上的蛋不计，夹持本身不否定达标且无需静置时长。合盖造成遮挡须结合此前装入及未移出证据判断，真实移出或抬高导致合格蛋少于1个时失去本步；全局成功另要求四蛋、闭盖同时成立，并且双臂末端相对初始位置各轴偏差均在0.15米内、姿态偏差在20度内。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂或右臂的二指夹爪夹住一个蛋，将其从右侧编织篮送入白色蛋托；不限定哪只手或哪个蛋先放。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 四蛋放入后闭盖",
+     "inputs/task/privileged/instruction.md:25-38 相同蛋、轮廓和严格高度范围",
+     "inputs/task/privileged/instruction.md:44-53 归位、动作边界联合验收；张爪仅用于部分分",
+     "inputs/task/privileged/instruction.md:64-67 任意蛋任意杯，不要求每杯一个",
+     "inputs/task/standard/instruction.md:23-45 同一成功条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373 注册原生检查和过程分",
+     "inputs/oracle/replay.mp4:0,20,65,95,125,145 视频秒，空托及逐渐装入的外观"
+    ],
+    "conf": 6,
+    "note_zh": "四个蛋无固定配对，按当前至少第k个计数，计数边不规定实例先后。放入包括取蛋和搬运，不另设拿起或松手节点；成功不检查松手，故不冻结持物状态。仅有说明中所述验收条件，缺状态日志和完整底层检查器源码，毫米级高度不能仅凭主相机精确测量。"
+   },
+   {
+    "id": "eggs_in_holder_2",
+    "zh": "第2个蛋入蛋托",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "eggs_in_holder_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机中，中央偏右白色蛋托内至少有2个浅棕色蛋低坐在杯位；每个计入的蛋中心须在随蛋托移动的约9×17.7厘米轮廓内且高于轮廓最低点，并严格高于托底点0.01米、低于托底点0.04米，悬在托上、架在边沿或压在盖上的蛋不计，夹持本身不否定达标且无需静置时长。合盖造成遮挡须结合此前装入及未移出证据判断，真实移出或抬高导致合格蛋少于2个时失去本步；全局成功另要求四蛋、闭盖同时成立，并且双臂末端相对初始位置各轴偏差均在0.15米内、姿态偏差在20度内。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂或右臂的二指夹爪夹住一个蛋，将其从右侧编织篮送入白色蛋托；不限定哪只手或哪个蛋先放。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 四蛋放入后闭盖",
+     "inputs/task/privileged/instruction.md:25-38 相同蛋、轮廓和严格高度范围",
+     "inputs/task/privileged/instruction.md:44-53 归位、动作边界联合验收；张爪仅用于部分分",
+     "inputs/task/privileged/instruction.md:64-67 任意蛋任意杯，不要求每杯一个",
+     "inputs/task/standard/instruction.md:23-45 同一成功条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373 注册原生检查和过程分",
+     "inputs/oracle/replay.mp4:0,20,65,95,125,145 视频秒，空托及逐渐装入的外观"
+    ],
+    "conf": 6,
+    "note_zh": "四个蛋无固定配对���按当前至少第k个计数，计数边不规定实例先后。放入包括取蛋和搬运，不另设拿起或松手节点；成功不检查松手，故不冻结持物状态。仅有说明中所述验收条件，缺状态日志和完整底层检查器源码，毫米级高度不能仅凭主相机精确测量。"
+   },
+   {
+    "id": "eggs_in_holder_3",
+    "zh": "第3个蛋入蛋托",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "eggs_in_holder_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机中，中央偏右白色蛋托内至少有3个浅棕色蛋低坐在杯位；每个计入的蛋中心须在随蛋托移动的约9×17.7厘米轮廓内且高于轮廓最低点，并严格高于托底点0.01米、低于托底点0.04米，悬在托上、架在边沿或压在盖上的蛋不计，夹持本身不否定达标且无需静置时长。合盖造成遮挡须结合此前装入及未移出证据判断，真实移出或抬高导致合格蛋少于3个时失去本步；全局成功另要求四蛋、闭盖同时成立，并且双臂末端相对初始位置各轴偏差均在0.15米内、姿态偏差在20度内。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂或右臂的二指夹爪夹住一个蛋，将其从右侧编织篮送入白色蛋托；不限定哪只手或哪个蛋先放。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 四蛋放入后闭盖",
+     "inputs/task/privileged/instruction.md:25-38 相同蛋、轮廓和严格高度范围",
+     "inputs/task/privileged/instruction.md:44-53 归位、动作边界联合验收；张爪仅用于部分分",
+     "inputs/task/privileged/instruction.md:64-67 任意蛋任意杯，不要求每杯一个",
+     "inputs/task/standard/instruction.md:23-45 同一成功条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373 注册原生检查和过程分",
+     "inputs/oracle/replay.mp4:0,20,65,95,125,145 视频秒，空托及逐渐装入的外观"
+    ],
+    "conf": 6,
+    "note_zh": "四个蛋无固定配对，按当前至少第k个计数，计数边不规定实例先后。放入包括取蛋和搬运，不另设拿起或松手节点；成功不检查松手，故不冻结持物状态。仅有说明中所述验收条件，缺状态日志和完整底层检查器源码，毫米级高度不能仅凭主相机精确测量。"
+   },
+   {
+    "id": "eggs_in_holder_4",
+    "zh": "第4个蛋入蛋托",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "eggs_in_holder_3"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机中，中央偏右白色蛋托内至少有4个浅棕色蛋低坐在杯位；每个计入的蛋中心须在随蛋托移动的约9×17.7厘米轮廓内且高于轮廓最低点，并严格高于托底点0.01米、低于托底点0.04米，悬在托上、架在边沿或压在盖上的蛋不计，夹持本身不否定达标且无需静置时长。合盖造成遮挡须结合此前装入及未移出证据判断，真实移出或抬高导致合格蛋少于4个时失去本步；全局成功另要求四蛋、闭盖同时成立，并且双臂末端相对初始位置各轴偏差均在0.15米内、姿态偏差在20度内。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂或右臂的二指夹爪夹住一个蛋，将其从右侧编织篮送入白色蛋托；不限定哪只手或哪个蛋先放。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 四蛋放入后闭盖",
+     "inputs/task/privileged/instruction.md:25-38 相同蛋、轮廓和严格高度范围",
+     "inputs/task/privileged/instruction.md:44-53 归位、动作边界联合验收；张爪仅用于部分分",
+     "inputs/task/privileged/instruction.md:64-67 任意蛋任意杯，不要求每杯一个",
+     "inputs/task/standard/instruction.md:23-45 同一成功条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373 注册原生检查和过程分",
+     "inputs/oracle/replay.mp4:0,20,65,95,125,145 视频秒，空托及逐渐装入的外观"
+    ],
+    "conf": 6,
+    "note_zh": "四个蛋无固定配对，按当前至少第k个计数，计数边不规定实例先后。放入包括取蛋和搬运，不另设拿起或松手节点；成功不检查松手，故不冻结持物状态。仅有说明中所述验收条件，缺状态日志和完整底层检查器源码，毫米级高度不能仅凭主相机精确测量。"
+   },
+   {
+    "id": "holder_lid_closed",
+    "zh": "关上蛋托盖",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "eggs_in_holder_4"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机中，蛋托后方原先竖起的白色盖向前向下覆盖杯区，铰链沿其行程向闭合方向超过90%即达标，仍明显竖起或只合了一部分不达标；盖再次掀开使闭合比例不再超过90%时失去本步，夹爪接触或握住盖不影响成立。全局成功还要求四个蛋同时低坐在蛋托内，并且双臂末端相对初始位置各轴偏差均在0.15米内、姿态偏差在20度内，无额外张爪或保持时长要求。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左臂或右臂的夹爪接触蛋托盖背面或上缘，把盖向前下方推合。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂或右臂的二指夹爪夹住蛋托盖边缘，带动铰链转到闭合位置。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:41-49 铰链超过90%，与四蛋及双臂归位同时成立",
+     "inputs/task/privileged/instruction.md:64-67 低杯位被闭盖阻挡，最终关盖在装蛋后，盖只检查铰链",
+     "inputs/task/standard/instruction.md:33-41 同一闭盖与归位条件",
+     "inputs/oracle/replay.mp4:0,145,160,178 视频秒，盖打开、操作和最终合盖外观"
+    ],
+    "conf": 6,
+    "note_zh": "成功视频初始盖竖直打开，故无需开盖前置步骤。after记录装入后最终关盖的物理顺序，state不受边门控；可早合盖再重开，不要求此前从未合盖。单臂推盖和夹持盖沿为替代方案，不强制视频所用的左臂。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "eggs_seated_count",
+    "level": "new_code",
+    "source": "待记录 dyn.eggs_seated_count：独立求出target0..target3各自is_A_in_B与is_A_point_above_B_point_by_z_range的合取，再求当前个数；四节点分别比较至少1..4，不采用只在张爪时递增的过程分。验收来源 inputs/task/privileged/instruction.md:31-38、50-53。"
+   },
+   {
+    "atom": "holder_lid_closed",
+    "level": "new_code",
+    "source": "待记录 dyn.holder_lid_closed：egg_holder的GetParentLink指定铰链is_joint_position_above_ratio(percentage=0.9)，同时记录实际关节位置及上下限供核验；inputs/task/privileged/instruction.md:41-43。"
+   },
+   {
+    "atom": "both_arms_home",
+    "level": "new_code",
+    "source": "待记录 dyn.both_arms_home：原生all_robot_back_to_origin结果和每臂相对初始末端位姿的各轴位置误差、姿态角误差，仅属全局成功；inputs/task/privileged/instruction.md:44-45。"
+   },
+   {
+    "atom": "task_success",
+    "level": "new_code",
+    "source": "待记录 flags.success：原生Session.success()的逐动作结果，供success使用；inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-413；不得用目录最终评分或重放有效性代替。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "is_A_point_above_B_point_by_z_range.height_delta",
+   "unit": "m",
+   "threshold": {
+    "lower": 0.01,
+    "upper": 0.04,
+    "strict": true
+   },
+   "direction": "target",
+   "note_zh": "四蛋分别检查的蛋心相对托底点高度；inputs/task/privileged/instruction.md:35-38。"
+  },
+  {
+   "name": "is_joint_position_above_ratio.closed_ratio",
+   "unit": "ratio",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "note_zh": "严格超过阈值，沿关节行程朝闭合端归一化；inputs/task/privileged/instruction.md:41-43。"
+  },
+  {
+   "name": "all_robot_back_to_origin.axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "note_zh": "每臂末端x、y、z分别比较，不是欧氏距离；inputs/task/privileged/instruction.md:44-45。"
+  },
+  {
+   "name": "all_robot_back_to_origin.orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "note_zh": "每臂相对初始朝向的误差；inputs/task/privileged/instruction.md:44-45。"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，成功参考视频亦无状态日志；按暂行规则DECISIONS.md P8，五个节点的when及全局success均为null，atoms只说明以后需要记录的字段，不能声称已完成日志绑定或评分一致性验证。",
+  "输入只提供评分入口、仿真包装器及服务代码，未包含其运行时导入的RoboDojo底层fill_egg_holder任务与reward_manager实现；oracle/run.json步骤7的任务源码输出也有截断。因此阈值引用两模式instruction中的详细评分说明，尚无法逐行独立核实底层实现、坐标变换和边界比较。",
+  "特权模式评分器读取一次新进程重放的成功与初态一致性，标准模式���分器读取现场回合的成功并排除基础设施或仿真错误；两模式说明给出相同物理成功核心。重放有效性、文件格式及基础设施状态不作为世界状态节点或约束（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:153-178；inputs/grader/efe_robodojo-files/standard/tests/grade.py:39-47）。",
+  "两夹爪开度至少0.8时才获得10、25、40、90档过程分，但该离散分不决定成功，也不要求完成关盖或双臂归位；不能据分数倒推独立蛋的达标状态（inputs/task/privileged/instruction.md:50-53）。",
+  "双臂归位虽在文本中要求，但依据DECISIONS.md S4(b)默认只纳入全局成功，不设初态即获分的归位节点；四个蛋计数节点采用DECISIONS.md N4的任意实例至少k个解释。",
+  "主相机可辨低坐杯内与盖上、边沿、悬空的明显差别，但无法精确测出蛋心1至4厘米高度或盖铰链90%阈值；盖合后蛋被遮挡，须结合合盖前的装入证据及后续是否移出判断，不能将遮挡当作进度丢失。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "五步来自文本，初始空托与开盖和成功的逐蛋装入、关盖外观均经视频核对；计数及关盖顺序有文本和物理依据，但无状态日志，缺底层检查器源码，精确几何阈值只能引用任务说明并用视频辅助判断。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个节点（四个计数入托步骤+合盖）与文本一致；双臂归位按S4(b)留在success，无状态日志故when/success为null（P8），已在open_questions_zh说明。阈值与评分文本一致，未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['eggs_in_holder_1', 'eggs_in_holder_2', 'eggs_in_holder_3', 'eggs_in_holder_4', 'holder_lid_closed']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:15:11Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__fill_egg_holder/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__fill_egg_holder/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "8dad6b7e18c20d085ead568dfb6dc866409e3ebad242b359fa4b4438e4699f6e",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-privileged--96roxg7.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-fill-egg-holder-i00-privileged--96roxg7",
+ "taskKey": "robodojo/fill_egg_holder",
+ "dag_sha256": "d13f314a7b77747377f943b5ef5a3ad1d83465fe740f84f0e04922e25c81c628",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 250,
+   "sim_steps": 250,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 295.2,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 8.962,
+   "peak_memory_gb": 9.374,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.434,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-fill-egg-holder-i00-privileged--96roxg7/replay.mp4",
+  "duration_s": 10.5,
+  "fps": 12.0,
+  "frames": 126,
+  "sha256": "eabb0d2f4bd116f8f8e812f319dd78f33d6ed9bc5d8a1663e18753f023429262"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "eggs_in_holder_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四个蛋均在右侧编织篮，中央白色蛋托四个杯位全空；视频全程至 10.42 s 未见任何蛋被搬入，故至少1个蛋低坐杯内的条件始终不成立。"
+     },
+     {
+      "t": 10.42,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–10.42 s 右夹爪再次降向篮内，蛋托清晰可见且仍为空；盖保持竖起。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 145,
+      "text_zh": "观察：视频约 3.5–4.8 s 右夹爪下降到篮中蛋附近，随后视频约 5.0–6.5 s 空手抬起；四个蛋均留在篮内，没有形成可搬运的抓持。"
+     },
+     {
+      "t": null,
+      "log_step": 151,
+      "text_zh": "推断：log step 140、143、145、148、151 的移动与保持合计250个动作，与评分器 n_actions=250 及视频中的升高、下降、抬起、横移、再下降顺序一致，判为最终交付会话。此前 log step 89、106 的闭爪测试属于其他会话，不计入本视频的实际抓握。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 3.5–5.0 s 及 9.7–10.42 s 右臂张开的二指夹爪降到篮内蛋附近，但夹爪本体遮住接触面；可确认未夹持搬起蛋，不能确认是否轻触蛋或篮沿及其具体方式。"
+     }
+    ]
+   },
+   "eggs_in_holder_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四个蛋均在右侧编织篮，中央白色蛋托四个杯位全空；视频全程至 10.42 s 未见任何蛋被搬入，故至少2个蛋低坐杯内的条件始终不成立。"
+     },
+     {
+      "t": 10.42,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–10.42 s 右夹爪再次降向篮内，蛋托清晰可见且仍为空；盖保持竖起。"
+     }
+    ]
+   },
+   "eggs_in_holder_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四个蛋均在右侧编织篮，中央白色蛋托四个杯位全空；视频全程至 10.42 s 未见任何蛋被搬入，故至少3个蛋低坐杯内的条件始终不成立。"
+     },
+     {
+      "t": 10.42,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–10.42 s 右夹爪再次降向篮内，蛋托清晰可见且仍为空；盖保持竖起。"
+     }
+    ]
+   },
+   "eggs_in_holder_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四个蛋均在右侧编织篮，中央白色蛋托四个杯位全空；视频全程至 10.42 s 未见任何蛋被搬入，故至少4个蛋低坐杯内的条件始终不成立。"
+     },
+     {
+      "t": 10.42,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–10.42 s 右夹爪再次降向篮内，蛋托清晰��见且仍为空；盖保持竖起。"
+     }
+    ]
+   },
+   "holder_lid_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色蛋托盖竖起；视频全程至 10.42 s 盖姿态未改变，机器人两臂没有操作蛋托盖。"
+     },
+     {
+      "t": 10.42,
+      "log_step": null,
+      "text_zh": "观察：视频 10.42 s 盖仍打开，与成功参考视频 178.0 s 盖平覆杯区的外观明显不同。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "is_A_point_above_B_point_by_z_range.height_delta",
+   "unit": "m",
+   "threshold": {
+    "lower": 0.01,
+    "upper": 0.04,
+    "strict": true
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "is_joint_position_above_ratio.closed_ratio",
+   "unit": "ratio",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "all_robot_back_to_origin.axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "all_robot_back_to_origin.orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "eggs_in_holder_1",
+   "t": 4.5,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 4.0–4.8 s 右夹爪已下降到第一处取蛋位置，但未夹住蛋；视频约 5.0–6.5 s 右臂空手抬起，四蛋仍在篮中。视频末段机器人改向另一只蛋下降，至视频 10.42 s 仍未有蛋入托，第1个蛋入蛋托从未完成。"
+  },
+  "unmet": {
+   "eggs_in_holder_1": false,
+   "eggs_in_holder_2": false,
+   "eggs_in_holder_3": false,
+   "eggs_in_holder_4": false,
+   "holder_lid_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.5,
+    "log_step": 143,
+    "evidence_zh": "观察：视频约 4.0–6.5 s 右夹爪到达篮内后空手上抬，蛋没有随夹爪离开篮底，未形成取蛋需要的夹持接触；视频 9.7–10.42 s 再次下降时仍无蛋被夹起。这里指未建立有效抓持，不是否定可能存在的轻触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 143,
+    "evidence_zh": "推断：log step 103 的脚本中 movej 只改变机械臂关节，闭爪须另调用 grip；最终重启后的 log step 139–151 仅调用 movej 和 hold，首次下降后在 log step 145 直接抬回高位，没有闭爪指令。视频约 4.0–6.5 s 对应地显示张爪下降后空手上抬，因此交付动作没有建立取蛋所需的夹持；证据不足以再细分控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频只有主相机，取蛋位置的实际接触面被夹爪遮住，无法确认轻触蛋或篮沿的接触对与方式，故 contact_actual 为未知。日志中的若干即时输出为空，末次会话没有最终总结；通过250个交付动作的总数和视频动作顺序确认会话对应，未将此前会话的碰撞、闭爪与逆解失败当成本次现象。评分器未报告DAG所列四项原生连续指标，均记null。"
+ },
+ "summary_zh": "评分轨迹中右臂到篮内尝试取蛋后空手抬起，再移向另一只蛋下降；四蛋均留在篮中、蛋托始终为空且盖未关闭，最终0/5节点达成。断点为第1个蛋入蛋托，未建立有效抓持；最终会话动作仅移动机械臂而未执行闭爪，支持控制层归因。无状态日志且夹爪遮住接触面，具体轻触方式无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频全程四蛋留篮、蛋托空、盖竖起，五节点均未达成与帧一致；断点 eggs_in_holder_1、操作中、没建立接触（右夹爪张开下降后空手抬起）与视频一致；动作数 60+55+50+45+40=250 与 n_actions 吻合，会话映射成立；控制根因为带标注的推断，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": "2026-10-29T09:19:42Z",
+  "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/robodojo-fill-egg-holder-i00-privileged--96roxg7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-fill-egg-holder-i00-privileged--96roxg7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "85e710a1a73e4cd480bb1c81e6faa1400aaf578c8d540eb9f33fc58dcec0b6c8",
+   "video_sha256": "eabb0d2f4bd116f8f8e812f319dd78f33d6ed9bc5d8a1663e18753f023429262",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-privileged--pfawzya.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-fill-egg-holder-i00-privileged--pfawzya",
+ "taskKey": "robodojo/fill_egg_holder",
+ "dag_sha256": "d13f314a7b77747377f943b5ef5a3ad1d83465fe740f84f0e04922e25c81c628",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "n_actions": 4302,
+   "sim_steps": 4302,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 1304.8,
+   "replay_timeout_s": 2920.8,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-fill-egg-holder-i00-privileged--pfawzya/replay.mp4",
+  "duration_s": 179.333,
+  "fps": 12.0,
+  "frames": 2152,
+  "sha256": "1ade3b31eb767926daa9bc03296b1526abc6c59979a2a1b3c125b8ff2e0b02fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "eggs_in_holder_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蛋托为空、盖竖起；视频 7.0–11.0 s 右夹爪夹住篮中一蛋并提起，篮内剩三蛋；视频 22.0 s 蛋仍高于杯位，视频 22.5–25.0 s 已低坐在画面左后杯，视频 27.0–30.0 s 夹爪撤离后蛋留在杯内。"
+     },
+     {
+      "t": 22.5,
+      "log_step": 79,
+      "text_zh": "推断：按任意实例至少1蛋计数，以视频约 22.5 s 的低坐外观确定入托时刻，误差约半秒；log step 79 的保存记录与该次装入相符，仅作辅助，不把 agent 时钟换算成视频时钟。"
+     },
+     {
+      "t": 179.25,
+      "log_step": null,
+      "text_zh": "推断：合盖前已见至少1蛋入杯，之后未见移出，视频 178.333–179.250 s 盖保持闭合；评分器 reward.success=1、all_success=1、deterministic=1、state_identical=1 支持终态继续达标。盖后的蛋被遮挡，蛋心相对托底的严格高度阈值不能由图像直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂平行二指夹爪从篮内夹住并搬运第1个计入蛋托的蛋；左臂此时停在初始位置。"
+     }
+    ]
+   },
+   "eggs_in_holder_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      82.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 82.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5–40.5 s 右夹爪夹起下一蛋，视频 41.0–42.5 s 蛋脱离夹爪回落篮内，视频 43.0–60.0 s 托内仍只有一蛋；视频 64.0–72.0 s 右夹爪重抓并提起一蛋，篮内剩两蛋。视频 82.0 s 该蛋仍略高，视频 82.5–85.5 s 已低坐在画面左前杯，视频 88.0–95.0 s 托内保有两蛋。"
+     },
+     {
+      "t": 82.5,
+      "log_step": 98,
+      "text_zh": "推断：按任意实例至少2蛋计数，以视频约 82.5 s 的低坐外观确定入托时刻，误差约半秒；log step 98 的保存记录与该次装入相符，仅作辅助，不把 agent 时钟换算成视频时钟。"
+     },
+     {
+      "t": 179.25,
+      "log_step": null,
+      "text_zh": "推断：合盖前已见至少2蛋入杯，之后未见移出，视频 178.333–179.250 s 盖保持闭合；评分器 reward.success=1、all_success=1、deterministic=1、state_identical=1 支持终态继续达标。盖后的蛋被遮挡，蛋心相对托底的严格高度阈值不能由图像直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂平行二指夹爪从篮内夹住并搬运第2个计入蛋托的蛋；左臂此时停在初始位置。首次提起时蛋滑回篮内，随后同一右夹爪重抓后完成装入。"
+     }
+    ]
+   },
+   "eggs_in_holder_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      114.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频 95.0–104.0 s 右夹爪从篮内夹起并搬运一蛋，篮内剩一蛋；视频 113.0–113.5 s 携蛋下降，视频 114.0–116.0 s 画面右后杯出现低坐的第三蛋，视频 118.5–125.0 s 夹爪撤离后托内仍有三蛋。"
+     },
+     {
+      "t": 114.0,
+      "log_step": 103,
+      "text_zh": "推断：按任意实例至少3蛋计数，以视频约 114.0 s 的低坐外观确定入托时刻，误差约半秒；log step 103 的保存记录与该次装入相符，仅作辅助，不把 agent 时钟换算成视频时钟。"
+     },
+     {
+      "t": 179.25,
+      "log_step": null,
+      "text_zh": "推断：合盖前已见至少3蛋入杯，之后未见移出，视频 178.333–179.250 s 盖保持闭合；评分器 reward.success=1、all_success=1、deterministic=1、state_identical=1 支持终态继续达标。盖后的蛋被遮挡，蛋心相对托底的严格高度阈值不能由图像直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂平行二指夹爪从篮内夹住并搬运第3个计入蛋托的蛋；左臂此时停在初始位置。"
+     }
+    ]
+   },
+   "eggs_in_holder_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      136.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": null,
+      "text_zh": "观察：视频 125.0–132.0 s 右夹爪夹起篮中最后一蛋，篮内变空；视频 135.0–136.5 s 右夹爪携蛋越过剩余杯位，随后画面右前杯出现第四蛋。视频 138.5–145.0 s 仍可见四蛋低坐杯内，后续没有取出蛋的动作。"
+     },
+     {
+      "t": 136.0,
+      "log_step": 107,
+      "text_zh": "推断：按任意实例至少4蛋计数，以视频约 136.0 s 的低坐外观确定入托时刻，误差约半秒；log step 107 的保存记录与该次装入相符，仅作辅助，不把 agent 时钟换算成视频时钟。"
+     },
+     {
+      "t": 179.25,
+      "log_step": null,
+      "text_zh": "推断：合盖前已见至少4蛋入杯，之后未见移出，视频 178.333–179.250 s 盖保持闭合；评分器 reward.success=1、all_success=1、deterministic=1、state_identical=1 支持终态继续达标。盖后的蛋被遮挡，蛋心相对托底的严格高度阈值不能由图像直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂平行二指夹爪从篮内夹住并搬运第4个计入蛋托的蛋；左臂此时停在初始位置。"
+     }
+    ]
+   },
+   "holder_lid_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      168.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 165.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 155.0–160.0 s 左夹爪首次接近并推盖后，视频 165.0 s 托盖仍竖起、四蛋仍在杯内；log step 110 也记录首次推后盖关节位置仍在打开端。"
+     },
+     {
+      "t": 168.5,
+      "log_step": 116,
+      "text_zh": "观察：视频 167.5–168.25 s 左夹爪调整方向并接触盖的上缘附近，视频 168.5 s 盖已向前下方翻合，覆盖整个杯区；视频 168.75–173.0 s 盖保持闭合。log step 116 记录调整接触方向后的关节位置接近闭合端。"
+     },
+     {
+      "t": 179.25,
+      "log_step": 148,
+      "text_zh": "推断：以视频约 168.5 s 的完全覆盖外观作为闭合超过90%的起点，精度约半秒；视频 178.333–179.250 s 左夹爪撤离、双臂回撤且盖未重开，评分器 success=1 支持闭盖和双臂归位均满足终态条件。log step 148 是所交付4302动作文件的新进程重放成功记录，作为交付一致性的辅助证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左臂夹爪以指端接触白色盖并向前下方推合；首次接近后盖未合，调整夹爪方向后再次推盖成功。未见两指从相对两侧夹住盖，右臂在篮旁归位处停放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "is_A_point_above_B_point_by_z_range.height_delta",
+   "unit": "m",
+   "threshold": {
+    "lower": 0.01,
+    "upper": 0.04,
+    "strict": true
+   },
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "is_joint_position_above_ratio.closed_ratio",
+   "unit": "ratio",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "all_robot_back_to_origin.axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "all_robot_back_to_origin.orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分轨迹完成四蛋入托及合盖，五个节点终态均成立；四蛋分别约于视频 22.5、82.5、114.0、136.0 s 低坐入杯，左夹爪约于视频 168.5 s 推合托盖，视频 179.25 s 结���时双臂已回撤，评分器判定成功。视频中第二蛋滑回篮内及首次推盖未合均在后续修复，无未修复断点。没有状态日志，入杯和闭盖时刻由视频估计；蛋心严格高度、铰链90%及归位容差无法直接从图像测量，终态结合评分结果确认，本次 oracle 就是本运行自身，没有独立参考。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分器判定成功，五个节点终态均成立；抽查视频 22.5、82.5、114、136、168.5 s 的入托与合盖时刻与标注一致，接触类型（右夹爪抓握、左夹爪推/扫合盖）与画面相符，无断点。",
+    "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": "2026-10-29T09:19:17Z",
+  "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/robodojo-fill-egg-holder-i00-privileged--pfawzya/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-fill-egg-holder-i00-privileged--pfawzya/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79c43e3e811765fb54fbde5285e68863e069946782a8fbb3095db1b322b5db31",
+   "video_sha256": "1ade3b31eb767926daa9bc03296b1526abc6c59979a2a1b3c125b8ff2e0b02fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/hang_mugs/task_dag.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/hang_mugs",
+ "suite": "robodojo",
+ "base": "robodojo-hang-mugs-i00",
+ "title_zh": "三只杯挂上杯架",
+ "summary_zh": "三只杯子通过杯柄挂在杯架上且同时满足高度、朝向和挂钩距离检查，双臂末端回到起始位姿容差内。",
+ "embodiment_zh": "两种模式均为固定桌面双臂机器人：左右各一条ARX X5六关节机械臂，每臂末端为平行二指夹爪；底座固定，无移动底盘。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-hang-mugs-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "mugs_hung_1",
+    "zh": "第1只杯挂好",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中木杯树上至少有1只杯呈杯柄在上、杯身垂在横钩下的悬挂姿态（白色红柄杯、亮黄色杯、赭黄色杯任意组合），每只计入的杯须同时满足杯心较初态升高超过0.045米、杯柄功能点世界高度超过0.9米、杯柄方向与右下第一个钩的上方向夹角在60度内、杯柄横向与该钩轴正向或反向夹角在60度内、杯柄功能点距任一钩功能点小于0.045米；仅举高但未对准钩不算，合格杯数降到1只以下即失去本步。本步按杯数即时判定；整项任务最终还要求三只杯同时合格并独立悬挂、双臂末端相对各自初态逐轴位置误差在0.15米内且朝向误差在20度内（画面下方双爪退回起始区），不要求夹爪张开或额外静置、保持时长。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住一只杯子的杯身或杯沿，调整杯柄方向并套上杯架横钩；左右臂均可承担，不固定用手。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:24-57",
+     "inputs/task/privileged/instruction.md:59-62",
+     "inputs/task/privileged/instruction.md:74-79",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-425",
+     "inputs/oracle/replay.mp4 @ 0,15,35,51.9 s"
+    ],
+    "conf": 6,
+    "note_zh": "按合格杯数计数，三只杯在评分中可互换，不限定杯的先后、使用的手或挂钩分配；计数边只表达至少k只蕴含至少k-1只，不限制实例顺序。高度、方向和距离是挂杯一步的验收；不拆抓取、抬升、转杯、套钩和松手过程。逐杯几何检查没有独立脱手条件，故freeze_held=false；所有杯的最终独立悬挂及双臂归位属于联合成功验收，不因夹爪靠近已挂杯而扣回本步。"
+   },
+   {
+    "id": "mugs_hung_2",
+    "zh": "第2只杯挂好",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "mugs_hung_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中木杯树上至少有2只杯呈杯柄在上、杯身垂在横钩下的悬挂姿态（白色红柄杯、亮黄色杯、赭黄色杯任意组合），每只计入的杯须同时满足杯心较初态升高超过0.045米、杯柄功能点世界高度超过0.9米、杯柄方向与右下第一个钩的上方向夹角在60度内、杯柄横向与该钩轴正向或反向夹角在60度内、杯柄功能点距任一钩功能点小于0.045米；仅举高但未对准钩不算，合格杯数降到2只以下即失去本步。本步按杯数即时判定；整项任务最终还要求三只杯同时合格并独立悬挂、双臂末端相对各自初态逐轴位置误差在0.15米内且朝向误差在20度内（画面下方双爪退回起始区），不要求夹爪张开或额外静置、保持时长。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住一只杯子的杯身或杯沿，调整杯柄方向并套上杯架横钩；左右臂均可承担，不固定用手。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:24-57",
+     "inputs/task/privileged/instruction.md:59-62",
+     "inputs/task/privileged/instruction.md:74-79",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-425",
+     "inputs/oracle/replay.mp4 @ 0,15,35,51.9 s"
+    ],
+    "conf": 6,
+    "note_zh": "按合格杯数计数，三只杯在评分中可互换，不限定杯的先后、使用的手或挂钩分配；计数边只表达至少k只蕴含至少k-1只，不限制实例顺序。高度、方向和距离是挂杯一步的验收；不拆抓取、抬升、转杯、套钩和松手过程。逐杯几何检查没有独立脱手条件，故freeze_held=false；所有杯的最终独立悬挂及双臂归位属于联合成功验收，不因夹爪靠近已挂杯而扣回本步。"
+   },
+   {
+    "id": "mugs_hung_3",
+    "zh": "第3只杯挂好",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "mugs_hung_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中木杯树上至少有3只杯呈杯柄在上、杯身垂在横钩下的悬挂姿态（白色红柄杯、亮黄色杯、赭黄色杯任意组合），每只计入的杯须同时满足杯心较初态升高超过0.045米、杯柄功能点世界高度超过0.9米、杯柄方向与右下第一个钩的上方向夹角在60度内、杯柄横向与该钩轴正向或反向夹角在60度内、杯柄功能点距任一钩功能点小于0.045米；仅举高但未对准钩不算，合格杯数降到3只以下即失去本步。本步按杯数即时判定；整项任务最终还要求三只杯同时合格并独立悬挂、双臂末端相对各自初态逐轴位置误差在0.15米内且朝向误差在20度内（画面下方双爪退回起始区），不要求夹爪张开或额外静置、保持时长。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住一只杯子的杯身或杯沿，调整杯柄方向并套上杯架横钩；左右臂均可承担，不固定用手。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:24-57",
+     "inputs/task/privileged/instruction.md:59-62",
+     "inputs/task/privileged/instruction.md:74-79",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-373",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-425",
+     "inputs/oracle/replay.mp4 @ 0,15,35,51.9 s"
+    ],
+    "conf": 6,
+    "note_zh": "按合格杯数计数，三只杯在评分中可互换，不限定杯的先后、使用的手或挂钩分配；计数边只表达至少k只蕴含至少k-1只，不限制实例顺序。高度、方向和距离是挂杯一步的验收；不拆抓取、抬升、转杯、套钩和松手过程。逐杯几何检查没有独立脱手条件，故freeze_held=false；所有杯的最终独立悬挂及双臂归位属于联合成功验收，不因夹爪靠近已挂杯而扣回本步。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "mug_lifted",
+    "level": "new_code",
+    "source": "逐杯记录 mug0/mug1/mug2 的 is_lift(z_threshold=0.045)，使用当前杯心高度与初态高度差；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   },
+   {
+    "atom": "mug_handle_high",
+    "level": "new_code",
+    "source": "逐杯记录 is_A_functional_point_higher_than_z(handle,z=0.9)；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   },
+   {
+    "atom": "mug_handle_up_aligned",
+    "level": "new_code",
+    "source": "逐杯记录杯柄功能框架z轴与cup_holder第一个handle_support_point框架z轴夹角及60度检查；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   },
+   {
+    "atom": "mug_handle_cross_aligned",
+    "level": "new_code",
+    "source": "逐杯记录杯柄功能框架x轴与第一个钩框架+x或-x夹角的60度检查之或；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   },
+   {
+    "atom": "mug_handle_near_hook",
+    "level": "new_code",
+    "source": "逐杯记录杯柄功能点到任意钩功能点的最小三维距离及小于0.045米检查；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   },
+   {
+    "atom": "arms_at_origin",
+    "level": "new_code",
+    "source": "记录 all_robot_back_to_origin 的双臂逐轴位置误差0.15米与朝向误差20度检查；来源 inputs/task/privileged/instruction.md:41-57；当前无状态日志，需在回放适配器中输出逐帧世界状态，非终局评分结果"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better"
+  },
+  {
+   "name": "mug_handle_world_height",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better"
+  },
+  {
+   "name": "handle_up_angle_to_first_hook",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_cross_angle_to_first_hook_axis",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_min_hook_distance",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_max_axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "输入states/index.json的logs为空；依DECISIONS.md P8，全部when及success为null，只能由视频判定，无法进行逐帧绑定或验证成功条件与评分的一致性。atoms列出需要新增记录的世界状态检查，不虚构现有日志字段。",
+  "任务专用hang_mugs.py及奖励解析器的完整源码未包含在grader或bench_src；包装代码将判定交给env.run_reward及env.take_action。节点中的全部数值阈值和单阶段、无保持窗口规则引自两模式instruction.md的Success节，未估计或按录像调参；oracle/run.json只含被截断的部分源码输出，尚不能独立核实角度与归位阈值的等号边界。",
+  "按DECISIONS.md S4(b)、D7及CASES.md原OPEN-8的默认处理，文本明确要求的双臂归位并入联合success语义，不另计步骤；当前无日志故success=null，完整归位阈值在每个目标节点的视频判据中保留，开局不计归位进度。",
+  "按DECISIONS.md N4，以可互换的三只杯的合格数量计数；外观虽不同，但检查器不将某杯固定匹配某钩，录像里的杯子顺序不构成边。",
+  "两模式任务世界状态判据相同，但交付与判分通道不同：privileged/tests/grade.py:128-178使用一次全新进程重放，standard/tests/grade.py:1-15、39-47使用现场单次episode结果并处理基础设施错误；这些不是世界状态节点或约束。",
+  "评分方向检查始终参照右下第一个钩，并非各自所用钩；instruction.md:49-55、74-79已说明这会排除通常前后朝向的中层钩，但不要求三杯使用不同钩。所有计数节点保留同一验收，不自行增加钩位分配或承重检测。",
+  "instruction.md:77-78的15/40/100部分分及夹爪开度要求仅属于独立过程分，不是二元成功条件；不把它的夹爪张开检查加入目标或约束。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三个挂杯计数步骤来自明确文本且成功录像显示完整完成；两模式包装器和说明一致，全部阈值均有文本出处。缺少状态日志及完整任务检查源码，数值条件无法独立复核或绑定，故保持视频判据和中等置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "三个计数节点（杯k挂好）与文本、评分器一致；但文本明确的最后一步“双臂回到起始位”既不是节点，success又为null，导致该成功合取项在DAG中无处承载。建议加final节点。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无状态日志，三个互换杯的计数节点（1..3，链式after）、when与success为null（P8）、双臂归位并入success语义（S4 b）、open_questions_zh覆盖文本/评分差异，均符合规则；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['mugs_hung_1', 'mugs_hung_2', 'mugs_hung_3']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:16:14Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "f730a4b6011d4266794e21402a0844ff1831d80664d16d0da5be226b4d83124c",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-privileged--pabfrxn.json

@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-hang-mugs-i00-privileged--pabfrxn",
+ "taskKey": "robodojo/hang_mugs",
+ "dag_sha256": "f3e5988dded7012180da547025d315f4c1d0437751b4941f3d1b31a9ee96e278",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 2270,
+   "sim_steps": 2223,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 384.3,
+   "replay_timeout_s": 2108.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 1,
+   "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/robodojo-hang-mugs-i00-privileged--pabfrxn/replay.mp4",
+  "duration_s": 92.667,
+  "fps": 12.0,
+  "frames": 1112,
+  "sha256": "88141c52c7b04aafd68e737faf4671b0c9ee261de2e18f729e6989dbae37ea91"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "mugs_hung_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s三只杯均在桌面，木杯架为空，初始挂杯数为0。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0–9.0 s左爪夹住亮黄色杯并将其从原桌面位置抬离；视频15.5–17.5 s杯柄朝上接近左下钩，视频16.0 s附近钩尖进入杯柄开口，随后继续向钩内送入。"
+     },
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "推断：依据视频15.5–17.5 s的对准过程及视频21.5–24.0 s左爪撤离后亮黄色杯独立悬挂，将至少1杯合格的起点估为视频16.0 s（约有1 s不确定性）；本节点freeze_held=false，不等到松手才计入。"
+     },
+     {
+      "t": 92.583,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–90.0 s的全程抽帧及视频91.0–92.583 s逐帧检查中，亮黄色杯始终留在左下钩上，未见挂杯数回落至0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左机械臂的二指夹爪夹住亮黄色杯的杯沿／杯身，抬起并转成杯柄朝上后送上左下钩；视频约20.5–21.5 s松开并撤离。"
+     }
+    ]
+   },
+   "mugs_hung_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频30.0–36.0 s右爪夹取赭黄色杯，杯子离开右侧原桌面位置并随右臂升起；亮黄色杯保持独立悬挂。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频42.5–46.5 s右爪将杯柄朝上的赭黄色杯送向右下钩，视频44.0 s附近钩尖与杯柄开口对合并进入，之后继续向杯架内侧移动；视频49.5–51.0 s右爪撤离后，两只杯均垂挂在下层钩上。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "推断：根据视频43.5–44.5 s的钩柄对准及随后的独立悬挂，将至少2杯合格的起点估为视频44.0 s（约有1 s不确定性），持杯对准阶段按freeze_held=false计入。"
+     },
+     {
+      "t": 92.583,
+      "log_step": null,
+      "text_zh": "观察：视频51.0–90.0 s抽帧及视频91.0–92.583 s逐帧检查中，两只下层杯始终留在架上，未见挂杯数回落至2以下。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右机械臂的二指夹爪夹住赭黄色杯的杯沿／杯身，抬起、转杯并送上右下钩；视频约48.0–49.5 s松开撤离。"
+     }
+    ]
+   },
+   "mugs_hung_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      81.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频60.0–66.0 s左爪在白色红柄杯杯沿建立夹持；视频69.0 s杯已离开左侧原桌面位置，视频72.0–78.0 s左臂持杯旋转并抬向上层钩，两只下层杯仍悬挂。"
+     },
+     {
+      "t": 81.0,
+      "log_step": null,
+      "text_zh": "观察：视频79.5–83.5 s左爪将红杯柄送入左上钩，视频81.0 s附近钩已穿入杯柄开口；视频85.5–87.5 s左爪向下撤开，白杯独立悬挂，上下共3杯均留在架上。"
+     },
+     {
+      "t": 81.0,
+      "log_step": null,
+      "text_zh": "推断：以视频80.5–81.5 s的钩柄对合估计至少3杯合格起于视频81.0 s（约有1 s不确定性），不把随后松手或双臂归位作为此计数节点的额外起点。"
+     },
+     {
+      "t": 92.583,
+      "log_step": 77,
+      "text_zh": "观察：视频91.0–92.583 s三杯仍独立悬挂，左爪持续退回画面左下起始区，右爪已在右下起始区；inputs/run.json评分字段success=1、replay_success=1、ended_failed_check=0，log step 77所读保存候选的新进程重放结果也为success=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左机械臂的二指夹爪夹住白色红柄杯的杯沿，抬离桌面、转成红柄在上并送上左上钩；视频约84.5–86.0 s松开并向下撤离，随后归位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "mug_handle_world_height",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_up_angle_to_first_hook",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_cross_angle_to_first_hook_axis",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_min_hook_distance",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_max_axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分视频中，机器人依次将亮黄色杯、赭黄色杯、白色红柄杯挂到左下、右下、左上钩，三个计数节点约在视频16.0 s、44.0 s、81.0 s达成并保持至结尾；视频92.583 s三杯独立悬挂，双臂已退回起始区，评分器判定成功。日志中第三杯落下及重置后右杯受扰属于会话测试，未在本次评分视频中发生，不计为本轨迹的进度损失。无状态日志，逐杯高度、角度、距离及双臂归位误差无法直接复核，节点首次达标时刻为约有1 s不确定性的视觉估计，终态结合评分器成功结果判定；所有原生数值指标均未由评分字段单独报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个计数节点的视频时间（约16/44/81 s）、contact_actual（单臂夹爪抓握）与终态成功均与抽帧一致；评分成功，无失败层，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:23:16Z",
+  "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/robodojo-hang-mugs-i00-privileged--pabfrxn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-hang-mugs-i00-privileged--pabfrxn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e19c9ad8e1aa2e30c5395dc78df0552efc79ee83dfa604c34404826716a6df1",
+   "video_sha256": "88141c52c7b04aafd68e737faf4671b0c9ee261de2e18f729e6989dbae37ea91",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-standard--7g48thv.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-hang-mugs-i00-standard--7g48thv",
+ "taskKey": "robodojo/hang_mugs",
+ "dag_sha256": "f3e5988dded7012180da547025d315f4c1d0437751b4941f3d1b31a9ee96e278",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1471,
+   "sim_steps": 1471,
+   "physics_steps": 14710,
+   "steps": 1388,
+   "elapsed_s": 1219.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-hang-mugs-i00-standard--7g48thv/replay.mp4",
+  "duration_s": 61.333,
+  "fps": 12.0,
+  "frames": 736,
+  "sha256": "989a4ce07e38d0581f6d86b441334257f95604796a6efcc3d58e98a2af658c3e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "mugs_hung_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 9,
+      "text_zh": "观察：视频 0.0 s 三只杯均在桌面，木杯架各钩为空；没有初始挂杯进度。"
+     },
+     {
+      "t": 10.5,
+      "log_step": 29,
+      "text_zh": "观察：视频 5.5–10.25 s 右夹爪夹持并举起赭黄色杯，杯口仍朝上或斜上，移向右下低钩；视频 10.5–11.5 s 松爪后杯落在杯架底座右侧桌面，未出现杯柄在上、杯身悬垂于钩下的姿态。"
+     },
+     {
+      "t": 21.75,
+      "log_step": 35,
+      "text_zh": "观察：视频 18.5–21.5 s 右夹爪夹着亮黄色杯向杯架搬运；视频 21.75–22.25 s 杯脱离夹爪落回桌面并翻倒，未到达挂钩。"
+     },
+     {
+      "t": 58.25,
+      "log_step": 48,
+      "text_zh": "观察：视频 28–39 s 左夹爪举起并移动白色红柄杯，视频 40–42 s 将其放回桌面；视频 46–57.75 s 右夹爪重新夹起并移向低钩，杯仍未形成悬挂朝向，视频 58.25–59 s 松爪后白杯落到杯架底座前方桌面。"
+     },
+     {
+      "t": 61.25,
+      "log_step": 49,
+      "text_zh": "观察：视频 60.5–61.25 s 两爪退回画面下方，三只杯均由桌面承托、所有挂钩为空；此终态与 log step 51 中 agent 自述“三杯均未挂上”及评分器 success=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.5–10.25 s 右二指夹爪夹持赭黄色杯杯沿；视频 18.5–21.5 s 右爪夹持亮黄色杯；视频 28–40 s 左爪夹持白色红柄杯，放到桌面后，视频 46–58 s 右爪重新夹持白杯尝试套钩。两臂依次操作，未同时夹持同一杯。所有单杯尝试均未使合格杯数达到1，接触归入本计数节点。"
+     }
+    ]
+   },
+   "mugs_hung_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.25,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–22.25 s 赭黄色杯留在底座右侧桌面，右爪搬运的亮黄色杯随后掉到桌面；没有两只杯同时处于悬挂姿态。"
+     },
+     {
+      "t": 61.25,
+      "log_step": null,
+      "text_zh": "观察：视频 0–61.25 s 各次单杯操作均未形成一只合格挂杯，更没有累计两只；视频 61.25 s 三杯仍全部在桌面。本节点按至少2只合格杯计数，不将抓取第二件实物等同于已开始累计第二只挂杯。"
+     }
+    ]
+   },
+   "mugs_hung_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.75,
+      "log_step": 48,
+      "text_zh": "观察：视频 54–58.75 s 右爪尝试挂白杯时，赭黄色杯在底座右侧桌面、亮黄色杯侧倒在桌面前部；白杯松爪后也落到桌面，没有三杯同时悬挂。"
+     },
+     {
+      "t": 61.25,
+      "log_step": 49,
+      "text_zh": "观察：视频 61.25 s 三杯仍在桌面，两爪已退出；未形成累计3只合格杯的状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "mug_handle_world_height",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_up_angle_to_first_hook",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_cross_angle_to_first_hook_axis",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_min_hook_distance",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_max_axis_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "mugs_hung_1",
+   "t": 10.5,
+   "log_step": 29,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.0–10.25 s 右爪将赭黄色杯移到低钩旁但杯身仍近直立，视频 10.5–11.5 s 执行降低、松爪后杯落回底座右侧桌面（对应 log step 28–29 的套钩及释放命令）；后续亮黄色杯掉落、白杯释放后也落桌，直到视频 61.25 s 都未修复“至少挂好1只杯”。"
+  },
+  "unmet": {
+   "mugs_hung_1": false,
+   "mugs_hung_2": false,
+   "mugs_hung_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.5,
+    "log_step": 29,
+    "evidence_zh": "观察：视频 9.0–10.25 s 右爪持赭黄色杯靠近右下钩时，杯没有转成杯柄在上、杯身垂在钩下的姿态，视频 10.5–11.5 s 松爪后直接落到桌面；视频 57.0–59.0 s 白杯重试同样未形成该姿态并落桌。推断：释放前杯与钩的相对位姿未到位，不能将落桌归为已挂好后的放后不稳。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 21.75,
+    "log_step": 35,
+    "evidence_zh": "观察：视频 18.5–21.5 s 亮黄色杯已被右爪夹起并随爪移动；视频 21.75 s 杯开始脱离夹爪，视频 22.0–22.25 s 落到桌面并侧倒，夹爪继续空手向杯架运动。log step 35 的搬运命令保持夹爪闭合，尚未执行该脚本的释放阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 10.5,
+    "log_step": 28,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：本次抓杯及套钩的接触几何没有把杯柄重定向到挂钩所需的上方。log step 17 的 topdown 函数只改变绕世界竖轴的角度，log step 23、26、28 用该姿态从上方夹杯沿，再按固定杯柄偏移平移套钩；视频 7.5–10.25 s 杯仍近直立而未呈悬挂姿态，视频 10.5–11.5 s 松爪即落桌，白杯在视频 54–59 s 重复此问题。可行替代已由参考成功录像验证：oracle 视频 15 s、35 s 和51.9 s 分别可见杯柄在上、杯口转向侧面、杯身下垂的已挂杯；参考录像只用于说明该姿态可实现，不作为本次进度证据。"
+   }
+  ],
+  "gap_zh": "观察：本目录没有状态日志，run.json 评分器只给出整局失败，未报告逐杯高度、方向、钩距等原生指标。持杯接近低钩时杯柄部分被夹爪遮挡，无法量化相对位姿误差，也不能独立核实 log step 51 中 agent 自述的钩轴约6度估计误差和约2厘米抓点偏移；亮黄色杯脱落的具体摩擦、夹持力或跟踪原因亦无传感证据。进度依据可见杯身朝向、前后帧及最终落桌状态判为未达到，不从零分倒推。"
+ },
+ "summary_zh": "评分尝试依次抓取赭黄色杯、亮黄色杯和白色红柄杯，但没有一只形成杯柄在上、杯身垂在钩下的悬挂姿态，三个计数节点全程未达到，最终为0/3。首次赭黄色杯套钩释放时即在“第1只杯挂好”失败且未修复；后续还出现亮黄色杯搬运脱落，视频与脚本支持抓取及接触几何未适配挂杯姿态的归因。无状态日志和逐杯几何、接触力数据，无法精确分解误差或确定掉杯的力学原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频帧：赭黄杯在约10.5–13 s 落到底座右侧桌面，亮黄杯22.5 s 躺在桌面，白杯55–60 s 落桌，三杯全程未悬挂，0/3、断点 mugs_hung_1、位姿不准/没保持住/抓取和接触设计均与帧相符。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": "2026-10-29T09:23:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-hang-mugs-i00-standard--7g48thv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-hang-mugs-i00-standard--7g48thv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47f844d08c87048f22c4173364a5c9ba2d5993c4034fea8aedaea39000878d58",
+   "video_sha256": "989a4ce07e38d0581f6d86b441334257f95604796a6efcc3d58e98a2af658c3e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/hang_mugs_random/task_dag.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/hang_mugs_random",
+ "suite": "robodojo",
+ "base": "robodojo-hang-mugs-random-i00",
+ "title_zh": "杂物场景挂杯",
+ "summary_zh": "一只红杯与两只粉色南瓜杯通过杯柄挂在杯架上，同时满足高度、距离和方向要求，双臂回到初始位姿附近。",
+ "embodiment_zh": "两种模式均为桌边固定的两条 ARX X5 机械臂，左右臂各装平行二指夹爪，无移动底盘；有头部相机和左右腕部相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-hang-mugs-random-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "red_mug_hung",
+    "zh": "红杯挂上钩",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，红色白内壁杯离开桌面，杯柄孔套搭在木架任一钩处、杯身悬在钩下：杯心比初态升高 >0.045 m，杯柄功能点 z>0.9 m、到任一钩功能点的三维距离 <0.045 m，杯柄框架 z 与第一个钩框架 z 的夹角、杯柄框架 x 与该钩正负 x 中较小的夹角均在 60 度内；杯仍在桌上、仅举在钩外，或滑落及任何几何条件失效均不计。整体成功还须三只杯子同时达标且自行挂住，双臂末端各轴位置相对初态偏差均在 0.15 m 内、姿态偏差在 20 度内，夹爪无须张开，均只检查一个动作边界且无额外保持时间。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住红杯的杯沿或杯身，将杯柄套向木架钩；不限定使用哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:11 三只杯子通过杯柄挂架，之后机械臂归位",
+     "inputs/task/standard/instruction.md:28-59 功能点、抬升、高度、两组方向、钩距离及双臂归位阈值",
+     "inputs/task/standard/instruction.md:61-75 同一动作边界联合验收，无保持时间，无提前失败条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:363-371 重置后注册任务原生检查",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-443 原生终止与成功标志，逐动作执行检查",
+     "inputs/task/standard/instruction.md:17-20 红杯不同于两只相同的粉杯",
+     "inputs/task/standard/instruction.md:34-35 红杯杯柄框架 z、x 分别为杯体局部 +x、+y",
+     "inputs/task/standard/environment/sim/instance.json:957-967 红杯初态位置和朝向",
+     "inputs/oracle/replay.mp4 视频约 50-58 秒，末尾红杯在下层右钩、白色杯口朝向相机"
+    ],
+    "conf": 6,
+    "note_zh": "红杯与粉杯的外形及功能框架不同，独立建步；没有红杯与粉杯之间的先后边，也不固定目标钩。抬高与转向属于挂杯验收；单杯几何条件允许持杯时达标，故 freeze_held=false，松手与双臂归位作为整体成功验收。"
+   },
+   {
+    "id": "pink_mugs_hung_1",
+    "zh": "第1只粉杯挂钩",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，至少一只粉色南瓜杯离桌、杯柄套搭在木架钩处，杯身悬在钩下（参考成功视频中杯口向左的粉杯）；每只计入的粉杯均须杯心比初态升高 >0.045 m、杯柄功能点 z>0.9 m 且到任一钩功能点三维距离 <0.045 m，杯体局部 z 与第一个钩框架 z 的夹角、杯体局部 x 与该钩正负 x 中较小的夹角均在 60 度内，没有粉杯在钩处或唯一达标粉杯滑脱即不计。整体成功还须三只杯子同时达标且自行挂住，双臂末端各轴位置相对初态偏差均在 0.15 m 内、姿态偏差在 20 度内，夹爪无须张开，均只检查一个动作边界且无额外保持时间。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住一只粉色南瓜杯的杯沿或杯身，将杯柄套向木架钩；不限定使用哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:11 三只杯子通过杯柄挂架，之后机械臂归位",
+     "inputs/task/standard/instruction.md:28-59 功能点、抬升、高度、两组方向、钩距离及双臂归位阈值",
+     "inputs/task/standard/instruction.md:61-75 同一动作边界联合验收，无保持时间，无提前失败条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:363-371 重置后注册任务原生检查",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-443 原生终止与成功标志，逐动作执行检查",
+     "inputs/task/standard/instruction.md:17-20 两只粉色南瓜杯相同且初态都在桌上",
+     "inputs/task/standard/environment/sim/instance.json:70-97,128-155 两只粉杯均为模型14",
+     "inputs/task/standard/environment/sim/instance.json:1012-1022,1067-1077 两只粉杯的初态位置和朝向",
+     "inputs/oracle/replay.mp4 视频约 5-10 秒首只粉杯挂到下层左钩，末尾仍在架上"
+    ],
+    "conf": 6,
+    "note_zh": "按当前同时达标的粉杯数量至少为1计，不绑定 mug1 或 mug2；两个粉杯的杯柄框架均等于杯体框架。头部视角可见杯口向左、杯柄位于杯身右上侧是成功示例，不把该示例朝向、下层左钩或左臂写成必需策略；几何条件可在持杯时成立，freeze_held=false。"
+   },
+   {
+    "id": "pink_mugs_hung_2",
+    "zh": "第2只粉杯挂钩",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "pink_mugs_hung_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，两只粉色南瓜杯都离桌且杯柄各自套搭在木架钩处，画面同时能数出两只悬起的粉杯（参考成功视频的上、下层左侧）；每只计入的粉杯均须杯心比初态升高 >0.045 m、杯柄功能点 z>0.9 m 且到任一钩功能点三维距离 <0.045 m，杯体局部 z 与第一个钩框架 z 的夹角、杯体局部 x 与该钩正负 x 中较小的夹角均在 60 度内，只挂好一只或任一粉杯滑脱即失去本步。整体成功还须三只杯子同时达标且自行挂住，双臂末端各轴位置相对初态偏差均在 0.15 m 内、姿态偏差在 20 度内，夹爪无须张开，均只检查一个动作边界且无额外保持时间。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住一只粉色南瓜杯的杯沿或杯身，将杯柄套向木架钩；不限定使用哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:11 三只杯子通过杯柄挂架，之后机械臂归位",
+     "inputs/task/standard/instruction.md:28-59 功能点、抬升、高度、两组方向、钩距离及双臂归位阈值",
+     "inputs/task/standard/instruction.md:61-75 同一动作边界联合验收，无保持时间，无提前失败条件",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:363-371 重置后注册任务原生检查",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-443 原生终止与成功标志，逐动作执行检查",
+     "inputs/task/standard/instruction.md:55-57 任意钩位匹配，不要求不同杯使用不同钩",
+     "inputs/task/standard/environment/sim/instance.json:70-97,128-155 两只粉杯均为模型14",
+     "inputs/task/standard/environment/sim/instance.json:1012-1022,1067-1077 两只粉杯初态",
+     "inputs/oracle/replay.mp4 视频约 30-35 秒第二只粉杯挂到上层左钩，末尾可见两只粉杯"
+    ],
+    "conf": 6,
+    "note_zh": "这是至少2只粉杯同时满足同一组单杯条件的计数步；after 仅表示数量递增，不是某个实例必须先挂，也不限制与红杯的顺序。评分器不要求分占不同钩，不能增加固定钩位或不同钩约束；单杯几何条件可在持杯时成立，freeze_held=false。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "red_mug_hang_ok",
+    "level": "new_code",
+    "source": "dyn.mug0_hang_ok: log per-frame conjunction of is_lift(0.045), handle_z>0.9, handle-to-any-hook distance<0.045, both handle-axis tests at 60 deg; inputs/task/standard/instruction.md:28-57"
+   },
+   {
+    "atom": "pink_mug1_hang_ok",
+    "level": "new_code",
+    "source": "dyn.mug1_hang_ok: log the same per-mug geometric conjunction using mug1 handle frame; inputs/task/standard/instruction.md:28-57"
+   },
+   {
+    "atom": "pink_mug2_hang_ok",
+    "level": "new_code",
+    "source": "dyn.mug2_hang_ok: log the same per-mug geometric conjunction using mug2 handle frame; count at least 1 / 2 over mug1,mug2; inputs/task/standard/instruction.md:28-57"
+   },
+   {
+    "atom": "both_arms_home",
+    "level": "new_code",
+    "source": "dyn.both_arms_home: log all_robot_back_to_origin, each arm per-axis position tolerance 0.15 m and orientation tolerance 20 deg; inputs/task/standard/instruction.md:58-59"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better"
+  },
+  {
+   "name": "handle_world_z_each",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better"
+  },
+  {
+   "name": "handle_to_nearest_hook_distance_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_z_to_first_hook_z_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ee_home_position_error_each_axis_each_arm",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ee_home_orientation_error_each_arm",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空，成功示例也没有状态日志；按 P8 所有节点 when 与整体 success 均为 null，无法执行状态绑定或验证 success 与评分器逐帧一致，atoms 只列未来需记录的世界状态。",
+  "输入仅提供调用原生任务检查的封装，未包含 hang_mugs_random 任务模块及 reward_manager 检查函数体；数值阈值与单阶段验收来自两模式 instruction.md 的明确成功说明，方向角及归位边界是否含等号无法独立核实，不臆造精确比较式。",
+  "任务设计问题：方向检查始终参照第一个下层右钩而非实际承挂的钩，且红杯与粉杯使用不同杯柄框架，可能拒绝物理上挂稳但方向不同的结果；instruction.md:31-54、77-82 明述这一限制。本文件保留两组60度方向验收，不强制成功视频中的钩位。",
+  "两模式世界目标和冻结实例相同，但 privileged 由一次新进程回放决定结果（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:152-191），standard 由实时服务回合决定结果（inputs/grader/efe_robodojo-files/standard/tests/grade.py:1-15、39-42）；文件格式、基础设施和回放有效性不作为语义节点或世界状态原子。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "语义步骤、同类粉杯计数、无习惯顺序及穿绕类型均有文本和初态依据，成功视频58秒可见三杯自行挂住、双臂退回初始位置附近；但缺少状态日志及原生检查函数体，几何验收仅能据明确的任务说明与画面确认。按 DECISIONS.md S4(b) 保留三个挂杯节点，双臂归位作为整体成功验收；其各轴0.15 m、姿态20度的条件也无法自动核验，故 conf 维持6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "三杯挂架（红杯 + 两只粉杯按计数 1..2）的节点、无习惯边和 P8（无状态日志时 when/success 为 null）均合理；但任务文本明写的第二步“return the arm home”以及评分器的 all_robot_back_to_origin 完全没有对应节点，只是把归位条件重复塞进三个挂杯节点的 criterion_zh。应增加一个 final 的归位步骤并把归位条件从挂杯节点中移出。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个挂杯步骤（红杯＋粉杯计数1..2）齐全；归位按已决定的 S4(b) 默认不单列并写入整体成功说明，写者在上一轮的驳回有 DECISIONS/CASES 依据，成立。无状态日志，when/success 为 null 符合 P8；方向检查参照第一钩的任务设计问题已列入 open_questions_zh。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['red_mug_hung', 'pink_mugs_hung_1', 'pink_mugs_hung_2']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:21:34Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs_random/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs_random/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs_random/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/robodojo__hang_mugs_random/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "ca4f35cf4993b1b4f0b0a528219b8124b39c7e5e39f5515677ea7cbfea33efd2",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--gmating.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-hang-mugs-random-i00-privileged--gmating",
+ "taskKey": "robodojo/hang_mugs_random",
+ "dag_sha256": "2522cdd99bd63db64a0d220e0115a518099159ca006b4084de1a549603fa4469",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 12,
+   "sim_steps": 12,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 213.0,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-hang-mugs-random-i00-privileged--gmating/replay.mp4",
+  "duration_s": 0.583,
+  "fps": 12.0,
+  "frames": 7,
+  "sha256": "c50be10d44cea9e9229e9baabac7f963a380c5853aff2e40f6e183a34abbe08e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "red_mug_hung": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000、0.083、0.167、0.250、0.333、0.417、0.500 s 全部7帧中，红色白内壁杯始终直立在木架右侧桌面原处，未离桌、未到钩处，杯架上始终没有红杯。"
+     }
+    ]
+   },
+   "pink_mugs_hung_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 至 0.500 s 的全部7帧中，两只粉色南瓜杯分别留在桌面左前方、右前方原处；双臂仅在原位合拢夹爪，没有把任何粉杯抬起或送向木架，架上没有粉杯，故至少1只挂钩不成立。"
+     }
+    ]
+   },
+   "pink_mugs_hung_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000 至 0.500 s 的全部7帧中，两只粉杯均保持桌面原位，空木架清晰可见，没有两杯同时悬挂的状态；末帧视频 0.500 s 仍如此。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_world_z_each",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_to_nearest_hook_distance_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_z_to_first_hook_z_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ee_home_position_error_each_axis_each_arm",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ee_home_orientation_error_each_arm",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 0.0,
+   "log_step": 59,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.000–0.500 s 全部7帧中，机器人双臂保持在桌前原位，仅夹爪合拢，三杯均未离开桌面；log step 59 保存 np.zeros((12,14))，log step 60 再生成同样的全零动作文件，log step 61 确认最终形状为(12,14)。推断：评分尝试只包含基线动作，三条挂杯分支都未开始；视频不能指认其中唯一先失败的一步，故 ref 为 unknown。"
+  },
+  "unmet": {
+   "red_mug_hung": false,
+   "pink_mugs_hung_1": false,
+   "pink_mugs_hung_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 0.000–0.500 s 的全部7帧中，红杯和两只粉杯都在各自桌面原位，机器人没有伸向、抬起或挂放任何杯子；log step 59–61 的最终交付仅为12行全零关节及夹爪指令，log step 62 也自述交付为不能通过任务的基线。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：会话测试中，agent 自写脚本在 log step 38、39 的粉杯抓取目标及 log step 54 的红杯抬升目标收到 no IK solution；log step 43 的自测打印粉杯抓取前后 z 均为0.7995，尽管末端已升至0.95。随后 log step 59–61 只保存并确认全零动作基线，log step 62 承认任务未解决。推断：agent 未调通可交付的抓取与挂杯控制过程，遂交付未启动操作的基线；这些会话测试只支持控制根因，不作为评分回放中的接触或运动现象。"
+   }
+  ],
+  "gap_zh": "评分视频清晰显示三个节点均未达成，但三个挂杯分支没有必须的先后顺序，且评分尝试未操作任何一只杯子，无法选定唯一断点节点。没有状态日志；会话日志虽记录逆解失败与未抬起杯子的自测，但未独立验证其接触方案及替代轨迹可行性，故根因只标控制，不细分。评分器未报告DAG所列7项原生几何及归位指标，数值均留null。"
+ },
+ "summary_zh": "评分回放的全部7帧（视频 0.000–0.500 s）显示三杯始终留在桌面、杯架为空，三个挂杯节点最终均未达成。log step 59–61 确认交付仅有12行全零动作，因此失败发生在首步前，现象为没尝试；会话抓取测试及逆解报错支持控制根因。三个无强制先后的挂杯分支均未启动，无法确定唯一断点节点；没有状态日志及原生几何指标数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三杯在全部7帧中均留在桌面、杯架为空，节点均未达成；交付为12行全零动作，首步前/没尝试，根因控制由会话抓取失败（逆解失败、抓取未抬起）支持，符合 FAIL-22，三并行分支故 ref=unknown 合理。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": "2026-10-29T09:24:41Z",
+  "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/robodojo-hang-mugs-random-i00-privileged--gmating/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-hang-mugs-random-i00-privileged--gmating/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f99aefe6675880472f2cd86457c78a480edaf449f0f14044fc7f1167a792a8a2",
+   "video_sha256": "c50be10d44cea9e9229e9baabac7f963a380c5853aff2e40f6e183a34abbe08e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-standard--javoykk.json

@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-hang-mugs-random-i00-standard--javoykk",
+ "taskKey": "robodojo/hang_mugs_random",
+ "dag_sha256": "2522cdd99bd63db64a0d220e0115a518099159ca006b4084de1a549603fa4469",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1394,
+   "sim_steps": 1394,
+   "physics_steps": 13940,
+   "steps": 1394,
+   "elapsed_s": 2290.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-hang-mugs-random-i00-standard--javoykk/replay.mp4",
+  "duration_s": 58.167,
+  "fps": 12.0,
+  "frames": 698,
+  "sha256": "4818fa7d17308f4bab61803ca857205be9402ee3f770a99004840c7ed26a367e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "red_mug_hung": {
+    "method": "visual",
+    "intervals": [
+     [
+      53.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.0,
+      "log_step": 75,
+      "text_zh": "观察：视频 38.0–41.0 s，机器人右夹爪夹住中央红杯杯沿并抬起，红杯原中央桌面位置空出；视频 44.0–45.0 s，右夹爪退开，红杯已暂放到左侧桌面。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 86,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人左夹爪夹住暂放红杯的杯沿并抬起，红杯随夹爪离开暂放位置。"
+     },
+     {
+      "t": 53.5,
+      "log_step": 93,
+      "text_zh": "推断：视频 52.0–54.5 s，机器人左夹爪持红杯向下层右钩对齐并向架内滑入，杯柄局部被腕部遮挡；结合视频 55.0–57.5 s 松爪撤出后红杯仍悬在该钩，首次套入估为视频约 53.5 s，误差约 0.5 s。此处记允许持杯时成立的挂杯关系，未将松手另设为达标起点。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "观察：视频 57.167–58.083 s 逐帧可见红杯杯口朝向相机、杯柄搭在下层右钩，三只杯子同时留在架上；左夹爪与红杯分离并退回桌边，右臂也已在桌边。"
+     },
+     {
+      "t": 58.083,
+      "log_step": 101,
+      "text_zh": "观察：log step 101 的机器人服务状态返回 done=True、reason=success、control_steps=1394、resumes=0；评分器 reward.success=1、replay_success=1、deterministic=1、live_matches_replay=1。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "推断：末尾红杯的完整几何条件以及整体双臂归位验收由评分成功支持，画面直接支持三杯自行挂住；未从 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 38.0–44.0 s，机器人右臂二指夹爪夹住红杯杯沿，搬到左侧桌面并松开；视频 47.0–55.0 s，左夹爪重新夹住红杯杯沿、抬起并套向下层右钩，随后张开撤出。两夹爪顺序操作。"
+     }
+    ]
+   },
+   "pink_mugs_hung_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两只粉杯均在桌面上，杯架尚未挂杯。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 36,
+      "text_zh": "观察：视频 3.5–5.0 s，机器人左夹爪夹住初始左侧粉杯的杯沿并抬起，杯子随夹爪移动，原桌面位置空出。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 43,
+      "text_zh": "观察：视频 8.5–9.5 s，机器人左夹爪将粉杯杯柄向下层左钩套入，杯身离桌悬在钩下；视频 9.75–11.5 s 夹爪张开并退出后，粉杯仍留在该钩。首次套搭记为视频约 9.0 s，视觉估计误差约 0.5 s；节点允许持杯时达标。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–58.083 s 的所查画面中，下层左钩粉杯持续留在架上；视频 57.167–58.083 s 逐帧可见两只粉杯均悬挂，机器人夹爪已离开。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.success、live_success、replay_success 均为 1，且 live_matches_replay=1，支持末尾至少一只粉杯满足全部几何验收；画面不能逐项量测距离与方向阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.5–9.5 s，机器人左臂二指夹爪夹住初始左侧粉杯杯沿，抬起并将杯柄套到下层左钩，随后张开退出。"
+     }
+    ]
+   },
+   "pink_mugs_hung_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.0,
+      "log_step": 54,
+      "text_zh": "观察：视频 15.0–18.0 s，机器人右夹爪夹住初始右侧粉杯并将其抬离原位，随后搬向左侧；视频 22.0–23.0 s 右夹爪退开后，该杯留在左侧桌面，原右侧杯位空出。"
+     },
+     {
+      "t": 28.0,
+      "log_step": 60,
+      "text_zh": "观察：视频 25.0–28.0 s，机器人左夹爪夹住暂放桌面的第二只粉杯并抬起；原暂放位置空出，粉杯随左夹爪移动。"
+     },
+     {
+      "t": 31.5,
+      "log_step": 64,
+      "text_zh": "观察：视频 30.5–32.0 s，机器人左夹爪将第二只粉杯的杯柄向上层左钩套入，下层第一只粉杯仍悬挂；视频 32.75–35.0 s 夹爪张开退出后，上层粉杯自行留在架上。两只同时套搭的起点记为视频约 31.5 s，视觉估计误差约 0.5 s。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–58.083 s 的所查画面持续可见上、下层左侧两只粉杯，视频 57.167–58.083 s 逐帧未见滑脱。"
+     },
+     {
+      "t": 58.083,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.success、live_success、replay_success 均为 1，支持末尾两只粉杯同时满足全部挂杯条件；按达标数量计数，不依赖同类杯实例名称。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 15.0–22.0 s，机器人右夹爪夹住初始右侧粉杯杯沿，抬起、转向并暂放左侧桌面后松开；视频 25.0–33.0 s，左夹爪再夹住该杯杯沿并挂到上层左钩。两爪依次抓取，中间由桌面承接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "mug_center_rise_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_world_z_each",
+   "unit": "m",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "handle_to_nearest_hook_distance_each",
+   "unit": "m",
+   "threshold": 0.045,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_z_to_first_hook_z_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ee_home_position_error_each_axis_each_arm",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ee_home_orientation_error_each_arm",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先用左夹爪把第一只粉杯挂到下层左钩，再将另一只粉杯及红杯依次经右夹爪搬至左侧桌面、由左夹爪重新抓起，分别挂到上层左钩和下层右钩；三个节点首次达标约为视频 9.0 s、31.5 s、53.5 s。视频 57.167–58.083 s 可见三杯自行留在架上、双臂退回桌边，评分器实时与回放均成功，无失败断点。无状态日志，原生几何及归位指标均未报告，套柄起点为视觉估计且红杯柄局部被遮挡；最终完整阈值验收依据评分成功，本次没有独立参考成功视频。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点的首次达标时间（约 9.0/31.5/53.5 s）与帧一致，接触标签（夹爪抓握）合理，无失败断点；未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:25:33Z",
+  "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/robodojo-hang-mugs-random-i00-standard--javoykk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-hang-mugs-random-i00-standard--javoykk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b8e405835181836089d446c5f1e1c9c9a74f0ea965b13e12109f8fa44888ffb5",
+   "video_sha256": "4818fa7d17308f4bab61803ca857205be9402ee3f770a99004840c7ed26a367e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/insert_key/task_dag.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/insert_key",
+ "suite": "robodojo",
+ "base": "robodojo-insert-key-i00",
+ "title_zh": "插入并转动钥匙",
+ "summary_zh": "白色钥匙齿端朝下、圆环朝上地插入棕色孔块，深度大于2.5厘米、中心水平偏差小于7毫米、竖直误差小于7度，且齿向与孔块规定目标的三维夹角小于30度，四项在同一动作边界成立。",
+ "embodiment_zh": "两种模式均为桌面固定的双臂机器人，两条ARX X5机械臂各装平行二指夹爪，无移动底盘；头部相机与左右腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-insert-key-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "optional": false,
+    "verify_zh": null,
+    "id": "key_inserted",
+    "zh": "钥匙插入孔",
+    "criterion_zh": "头部相机中，白色钥匙的齿端向下进入棕色圆块顶部的短槽，圆环竖立在孔口上方；验收为块顶减钥匙最低点高度严格大于0.025米、钥匙圆环内根点与块中心的水平距离严格小于0.007米、钥匙本地正z轴与竖直向上的夹角严格小于7度，允许夹爪仍夹持。悬在孔上、插得太浅、偏离中心、倾斜超限或环朝下均未完成；已插入后拔出或失去上述任一条件即失去此步，最终须与转向条件在同一动作边界同时成立。",
+    "step": {
+     "cat": "关系",
+     "item": "插入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只二指夹爪夹住白色钥匙圆环或露出的柄部，令齿端向下插入棕色孔块；左右手均可，典型方案由右爪插入。",
+      "plan": 1
+     }
+    ],
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12",
+     "inputs/task/privileged/instruction.md:24-39",
+     "inputs/task/privileged/instruction.md:50-67",
+     "inputs/task/standard/instruction.md:26-32",
+     "inputs/task/privileged/environment/instance.json:260-280",
+     "inputs/task/privileged/environment/instance.json:324-375",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-441",
+     "inputs/oracle/replay.mp4:12.0-17.8s"
+    ],
+    "conf": 6,
+    "note_zh": "深度、居中和环朝上的直立方向共同验收插入，不另拆节点。拿起、搬运、换手及竖立是操作过程；无需松手或回初位。录像中夹爪遮挡部分钥匙，毫米级深度和角度不能仅从全景精确测量。"
+   },
+   {
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "optional": false,
+    "verify_zh": null,
+    "id": "key_turned",
+    "zh": "钥匙转到位",
+    "criterion_zh": "白色钥匙的平面方向相对棕色圆块顶部短槽转到目标方向：钥匙本地正x轴（齿伸出的方向）与孔块本地正x轴绕竖直轴顺时针转60度所得方向的三维夹角严格小于30度；本实例目标约为世界正x轴顺时针45度，竖立时齿大致朝画面右方且靠近机器人。仍沿入孔槽向、转向不足或过头使该夹角达到30度均未完成，达到后转离即失去此步；允许持钥匙，最终须与插入步同时成立，遮挡时不能仅凭手腕方向判定钥匙方向。",
+    "step": {
+     "cat": "位姿",
+     "item": "调整位姿"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只二指夹爪夹住白色钥匙圆环并带动钥匙转向；左右手均可，典型方案由右爪操作。",
+      "plan": 1
+     }
+    ],
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12",
+     "inputs/task/privileged/instruction.md:40-51",
+     "inputs/task/privileged/instruction.md:61-67",
+     "inputs/task/standard/instruction.md:33-44",
+     "inputs/task/privileged/environment/instance.json:8-72",
+     "inputs/task/privileged/environment/instance.json:75-138",
+     "inputs/oracle/replay.mp4:15.0-17.8s"
+    ],
+    "conf": 6,
+    "note_zh": "名称取自文本的转动，验收取原生最终轴向，不要求累计转过60度。受评对象是自由刚体钥匙的朝向，孔块为静态几何，输入未给出受评锁芯关节，故用位姿·调整位姿。转向判据独立于插入深度；无原生阶段顺序，不强加先插足再达方向阈值的边。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "key_depth_m",
+    "level": "new_code",
+    "source": "Log dyn.key_depth_m = world slot bbox top z - world key bbox bottom z; inputs/task/privileged/instruction.md:33-34."
+   },
+   {
+    "atom": "key_slot_xy_distance_m",
+    "level": "new_code",
+    "source": "Log dyn.key_slot_xy_distance_m between key and slot root positions; inputs/task/privileged/instruction.md:35-36."
+   },
+   {
+    "atom": "key_up_error_deg",
+    "level": "new_code",
+    "source": "Log dyn.key_up_error_deg between key local +z and world +z; inputs/task/privileged/instruction.md:37-39."
+   },
+   {
+    "atom": "key_turn_error_deg",
+    "level": "new_code",
+    "source": "Log dyn.key_turn_error_deg between key local +x and slot local +x rotated -60 deg about vertical, using the native 3D angle; inputs/task/privileged/instruction.md:40-48."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "key_depth_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "higher_better"
+  },
+  {
+   "name": "key_slot_xy_distance_m",
+   "unit": "m",
+   "threshold": 0.007,
+   "direction": "lower_better"
+  },
+  {
+   "name": "key_up_error_deg",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better"
+  },
+  {
+   "name": "key_turn_error_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "输入没有任何状态日志（inputs/states/index.json为空），依暂行规则P8，两个节点的when与全局success均为null；四个验收量列为待新增记录的世界状态，当前只能依据视频与原生成功记录判断，不能完成逐帧数值核验。",
+  "文本要求换手，但两模式指令明确说明换手不受检查（privileged第61行、standard第55行）；依D3及CASES.md OPEN-4的当前处理，不增设换手节点，也不强制左右手顺序。拿起钥匙属于操作过程，过程分中的抬高5厘米不构成独立成功步骤。",
+  "文本说先插入再转动；指令所述原生检查只有单阶段终态四项合取，不检查转动历史或阶段顺序。依S2、S10保留可暂停的插入与转到位两步，转到位按最终轴向接受，不把60度作为累计转角，也不强加达到插入深度阈值后才能达到方向阈值的边。",
+  "底层任务检查源码及完整奖励解析器未随输入提供；已读取评分入口、会话实现和服务调用，精确几何阈值依据两模式指令对原生检查的逐项说明，未直接独立核对缺失源码。成功录像中的夹爪遮挡钥匙，无法从全景精确测量7毫米和7度阈值。",
+  "转动的类型按自由刚体钥匙的最终轴向采用位姿·调整位姿：实例将钥匙定义为刚体、孔块定义为静态几何，没有锁芯关节转角判据；不把它解释为螺纹拧。",
+  "两模式物理成功条件相同，但privileged按一次新进程回放评分，standard按现场执行评分（两种grade.py）；该差异以及基础设施和交付有效性不转成世界状态节点。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "两个步骤直接来自文本，四个严格阈值由两模式指令明确给出，初态和成功录像支持几何解释；但无状态日志、底层任务检查源码缺失，录像遮挡使数值验收无法独立核验，换手与转动历史按现行暂行规则处理。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点（钥匙插入孔、钥匙转到位）覆盖指令的插入与转动；换手按D3/OPEN-4不设节点并已在open_questions_zh说明；四个验收量分配无重复无遗漏，无状态日志故when与success为null（P8）。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['key_inserted', 'key_turned']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:14:39Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__insert_key/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__insert_key/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "fe724af2f63020af1396ec1dda1783e43470110b12741c755f28b1b17490b2c2",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--es2ebwj.json

@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-insert-key-i00-privileged--es2ebwj",
+ "taskKey": "robodojo/insert_key",
+ "dag_sha256": "b1f4cec30f50c145af8a97f6fd548c8967406861faffa12cc343a9a2d94d397a",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 705,
+   "sim_steps": 606,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 179.5,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 8,
+   "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/robodojo-insert-key-i00-privileged--es2ebwj/replay.mp4",
+  "duration_s": 25.333,
+  "fps": 12.0,
+  "frames": 304,
+  "sha256": "a370f1febf40464b437e1fb50dcb305743e95265e167081a866ebed69861c56b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "key_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色钥匙平躺在桌面左侧，与右侧棕色孔块分离，插入条件尚未成立。"
+     },
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0–21.0 s 右爪夹持竖立钥匙持续向棕色孔块中心下降，露在孔口上的白色齿柄逐渐缩短，视频 20.5–21.0 s 接近此后保持的插入深度；将插入条件首次成立估在视频 20.5 s，误差约 0.5 s。夹爪遮挡圆环，不能从画面独立量出 2.5 厘米深度、7 毫米居中误差及7度竖直误差。"
+     },
+     {
+      "t": 25.25,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–25.25 s 钥匙一直保持在孔块内，右爪持钥匙转向而未拔出；末帧仍为持钥匙插入姿态。inputs/run.json 的评分器字段 success=1、replay_success=1、sim_steps=606，确认评分回放终态同时通过插入深度、居中、竖直和转向四项条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–12.0 s 机器人右侧二指夹爪夹住白色钥匙圆环附近，钥匙随爪抬离原桌面位置；视频 14.0–21.0 s 同一右爪将钥匙竖立、移到棕色孔块上方并下降插入。左爪保持在左侧，未协同夹持。"
+     }
+    ]
+   },
+   "key_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–25.25 s 机器人右爪在孔块上方绕近竖直轴转动，露在夹爪下方的白色钥匙随之转向，钥匙仍处于孔内；左爪没有接触钥匙。"
+     },
+     {
+      "t": 25.25,
+      "log_step": 153,
+      "text_zh": "推断：视频 25.25 s 为转动后的末帧，钥匙部分被右爪遮挡，不能单靠腕姿精确量出钥匙本地正x轴的三维角度；评分器 replay_success=1 确认末态转向误差小于30度。视频此前仍在逐渐转动，故将首次达标锚定于视频 25.25 s，约有 0.5 s 的视觉定时不确定性。log step 153 的新进程交付文件回放也报告 success=true、actions=606，仅作为交付及成功的旁证，未将 agent 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 22.0–25.25 s 机器人右侧二指夹爪持续夹住白色钥匙圆环附近，带动钥匙在棕色孔块内转向，全程没有松爪或换手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "key_depth_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_slot_xy_distance_m",
+   "unit": "m",
+   "threshold": 0.007,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_up_error_deg",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_turn_error_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用右爪直接抓起钥匙，约在视频 20.5 s 满足插入条件，在视频 25.25 s 的末态转向到位，评分回放成功，最终完成2/2个节点。任务设计问题：文本要求换手，但本次视频中左爪未参与，评分规则仅检查钥匙最终几何姿态而接受该方案，按既定DAG不另设换手节点。没有状态日志，钥匙又被夹爪局部遮挡，四项几何阈值无法逐帧独立量测；终态依据评分器成功记录，插入起点约有视频 0.5 s 的估计误差。",
+ "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，两个节点均达成；视频 14–25 s 帧显示右爪夹钥匙竖立、下降插入孔块并保持到末帧，插入起点 20.5 s 在约 1 s 内合理，contact_actual 与画面一致（右爪抓握，左爪未参与）。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": "2026-10-29T09:18:50Z",
+  "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/robodojo-insert-key-i00-privileged--es2ebwj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-insert-key-i00-privileged--es2ebwj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7bf005be51ef013eb04f8a65c750c68973f4b8e4f231278d9e73e6143a8ab791",
+   "video_sha256": "a370f1febf40464b437e1fb50dcb305743e95265e167081a866ebed69861c56b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-standard--wqqhqhb.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-insert-key-i00-standard--wqqhqhb",
+ "taskKey": "robodojo/insert_key",
+ "dag_sha256": "b1f4cec30f50c145af8a97f6fd548c8967406861faffa12cc343a9a2d94d397a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1302,
+   "sim_steps": 1302,
+   "physics_steps": 13020,
+   "steps": 447,
+   "elapsed_s": 1043.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-insert-key-i00-standard--wqqhqhb/replay.mp4",
+  "duration_s": 54.333,
+  "fps": 12.0,
+  "frames": 652,
+  "sha256": "7436ca1a1fd576277dc88ebbcfcac8c2041e98f42a47c1e662870c2341475687"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "key_inserted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色钥匙平放在棕色孔块左侧桌面；视频 0.0–50.75 s 的全程粗采样中，右臂运动、检查孔块，钥匙一直留在该处。"
+     },
+     {
+      "t": 53.333,
+      "log_step": 67,
+      "text_zh": "观察：视频 52.25–53.50 s 逐帧检查显示，左爪在钥匙处下降、闭合后抬起，白色钥匙仍平放在原处附近，没有随爪离桌；视频 54.25 s 最后一帧中钥匙仍在孔块左侧，未到孔口。log step 67 的抬爪调用返回左夹爪关节值 0.0。"
+     },
+     {
+      "t": 54.25,
+      "log_step": 72,
+      "text_zh": "观察：log step 72 服务状态为 control_steps=1302、done=False；评分器 live_success=0、replay_success=0、live_matches_replay=1，且无重置或恢复。视频中的空夹、再次下探与日志末段动作一致；本节点未达成的依据是钥匙留在桌上、未进入孔口，而非仅凭零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 52.25–53.50 s 左夹爪在白色钥匙圆环附近下降并闭合，抬爪后钥匙仍在桌面；爪体遮挡接触区域，不能确认是否擦碰或推到钥匙边缘，也未见形成对向夹持，故不记抓握。"
+     }
+    ]
+   },
+   "key_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 8,
+      "text_zh": "推断：视频 0.0 s 放大图中的钥匙平放、齿朝画面右侧。按 log step 8 的头相机标定，将可见柄轴在桌面上的方向作近似透视校正，齿向接近世界正x轴，与 DAG 所述世界正x顺时针45度目标约差35–40度，未进入小于30度窗口；这里独立判断转向条件，不以未插入代替转向判定。"
+     },
+     {
+      "t": 54.25,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–50.75 s 钥匙保持初始朝向；视频 52.25–53.75 s 逐帧检查及视频 54.25 s 放大图中，露出的钥匙柄和齿端仍近似初始方向，没有可见的目标斜向转动。视频 53.33 s 抬爪后钥匙平放且齿向仍朝右，结合遮挡前后姿态判断转向节点全程未达成；遮挡期间不能精确量出瞬时角度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "key_depth_m",
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "key_slot_xy_distance_m",
+   "unit": "m",
+   "threshold": 0.007,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_up_error_deg",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "key_turn_error_deg",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "key_inserted",
+   "t": 52.8,
+   "log_step": 62,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 52.8 s 左爪为插入步骤拿取钥匙而闭合，视频 53.33 s 抬爪后钥匙仍平放在桌上。机器人随后再次下探，但视频 54.25 s 结束时钥匙仍未离桌或到达孔块；第一次拿取失败始终未修复，因此断点为钥匙插入孔。"
+  },
+  "unmet": {
+   "key_inserted": false,
+   "key_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 53.333,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 52.75–53.33 s 左爪闭合后上抬，钥匙没有随爪移动，仍平放在孔块左侧；log step 67 抬爪后关节值为 0.0。未见先形成夹持再滑落的过程，失败的是拿取所需的夹持接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 71,
+    "evidence_zh": "推断：log step 61–62 的控制脚本在钥匙头部附近逐步收爪，log step 67 发出上抬后，视频 53.33 s 显示空爪上抬而钥匙留桌，表明拿取控制未建立夹持。最后一次补救在 log step 71 再次因 s.refresh().proprio_now() 调用抛出 AttributeError，代码中的后续抬高指令没有执行；log step 72 确认左臂仍停在低位，视频 54.25 s 与之相符。接触细节不足以进一步区分握法几何与闭合控制。",
+    "source_zh": "日志、视频",
+    "note_zh": "控制脚本异常：脚本把 refresh() 返回的 Result 当作 Session 调用 proprio_now()，使最后一次补救在闭合后中断；不是服务或评测框架崩溃。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 71,
+    "evidence_zh": "推断：log step 71 的重抓代码把头相机像素深度直接加到世界平移，仅计算 y=(v-cy)*depth/fy+camera_y，遗漏 log step 8 标定中相机朝下倾斜的旋转，得到钥匙 y=-0.3278 m 并据此下探。视频 53.33 s 与视频 54.25 s 钥匙仍在原处附近，而末次左爪移向更靠近机器人的桌面；log step 72 返回左末端 y=-0.327 m。该错误位置估计使重抓目标偏离钥匙，未修复首次空夹。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无状态日志，评分器未报告四项原生几何数值；视频仅有头部视角，左爪遮住了闭合瞬间的钥匙局部，无法确认是否有轻微擦碰、精确接触力或瞬时角度。因此实际接触方式记未知，转向阈值依据遮挡前后的可见方向近似推断。agent 在 log step 74 自述“时间用完”，但 run.json 的 wall_s=1114、time_limit_s=3600；不把该自述作为外部中断或失败根因。"
+ },
+ "summary_zh": "本次右臂主要检查孔块，左爪在视频约 52.8 s 尝试拿取钥匙，但抬爪后钥匙仍平放在桌面；钥匙插入孔与钥匙转到位均未达成，最终为0/2。断点在钥匙插入孔的拿取过程中，表现为未建立夹持；末次重抓又受错误相机坐标变换及控制脚本异常影响而未修复。无状态日志，夹爪遮挡使实际触碰方式和精确转向角存在证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点未达成、0/2、断点为 key_inserted（第一次左爪拿取落空）均与视频和日志相符：视频 52.5–54.25 s 钥匙始终留在原处，log step 67 抬爪后左夹爪关节值 0.0（夹空）。接触现象没建立接触有依据；根因控制（不细分子类）和感知（log step 71 估计 y=-0.3278 与此前 -0.203/-0.224 不符）有日志证据，step 71 在 s.refresh().proprio_now() 处抛 AttributeError、抬起指令未执行也与日志一致。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": "2026-10-29T09:22:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-insert-key-i00-standard--wqqhqhb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-insert-key-i00-standard--wqqhqhb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d735f62f5108a70f824fe62121598eb010d9a304e9601aaefa6281f2098513e7",
+   "video_sha256": "7436ca1a1fd576277dc88ebbcfcac8c2041e98f42a47c1e662870c2341475687",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/make_kong/task_dag.json

@@ -0,0 +1,388 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/make_kong",
+ "suite": "robodojo",
+ "base": "robodojo-make-kong-i00",
+ "title_zh": "翻牌开杠并补牌",
+ "summary_zh": "三张与对手弃牌同图案的手牌面朝上、其余九张手牌直立，先通过补牌保留初始朝向的阶段，再于更晚动作边界把补牌竖放到牌列右端并张开双夹爪。",
+ "embodiment_zh": "两个模式均为固定桌面上的两条 ARX X5 机械臂，左、右臂各装平行二指夹爪，无移动底盘；远侧白色对手支援臂按脚本弃牌，不受机器人控制。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-make-kong-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "mode": "state",
+    "when": null,
+    "hold_s": 0,
+    "goal": true,
+    "optional": false,
+    "freeze_held": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "matching_face_up_1",
+    "zh": "第1张匹配牌朝上",
+    "after": [],
+    "criterion_zh": "对照对手弃牌的图案，原手牌中同图案的三张里至少1张已呈白色图案面朝上（每张局部 +z 与世界向上夹角严格小于30°，落点不限）；头部或腕部视角应见图案面由竖直转成朝上，合格数量少于1张即未完成或失去。",
+    "step": {
+     "cat": "位姿",
+     "item": "调整位姿"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "左或右夹爪推同图案手牌的上部，使该牌向桌子远侧倾倒，牌面朝上。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左或右二指夹爪夹住同图案手牌，将该牌转至图案面朝上；不要求固定使用哪只手。"
+     }
+    ],
+    "sources": [
+     "inputs/task/standard/instruction.md:11-13",
+     "inputs/task/standard/instruction.md:31-42",
+     "inputs/task/standard/instruction.md:37-58",
+     "inputs/task/standard/instruction.md:85-92",
+     "inputs/task/privileged/environment/instance.json:1507-2165",
+     "inputs/oracle/run.json:1 steps[id=25,30]"
+    ],
+    "note_zh": "三张相同手牌按满足条件的数量计数，不按实例编号或推倒的左右顺序计数；计数边只表达数量递增，state 不受 after 门控。文本称翻牌，但此处从竖立到牌面朝上通常是约90°倾倒，按验收结果标调整位姿，不强加180°翻面；允许持牌时姿态达标，因此关闭持物冻结。"
+   },
+   {
+    "mode": "state",
+    "when": null,
+    "hold_s": 0,
+    "goal": true,
+    "optional": false,
+    "freeze_held": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "matching_face_up_2",
+    "zh": "第2张匹配牌朝上",
+    "after": [
+     "matching_face_up_1"
+    ],
+    "criterion_zh": "对照对手弃牌的图案，原手牌中同图案的三张里至少2张已呈白色图案面朝上（每张局部 +z 与世界向上夹角严格小于30°，落点不限）；头部或腕部视角应见图案面由竖直转成朝上，合格数量少于2张即未完成或失去。",
+    "step": {
+     "cat": "位姿",
+     "item": "调整位姿"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "左或右夹爪推同图案手牌的上部，使该牌向桌子远侧倾倒，牌面朝上。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左或右二指夹爪夹住同图案手牌，将该牌转至图案面朝上；不要求固定使用哪只手。"
+     }
+    ],
+    "sources": [
+     "inputs/task/standard/instruction.md:11-13",
+     "inputs/task/standard/instruction.md:31-42",
+     "inputs/task/standard/instruction.md:37-58",
+     "inputs/task/standard/instruction.md:85-92",
+     "inputs/task/privileged/environment/instance.json:1507-2165",
+     "inputs/oracle/run.json:1 steps[id=25,30]"
+    ],
+    "note_zh": "三张相同手牌按满足条件的数量计数，不按实例编号或推倒的左右顺序计数；计数边只表达数量递增，state 不受 after 门控。文本称翻牌，但此处从竖立到牌面朝上通常是约90°倾倒，按验收结果标调整位姿，不强加180°翻面；允许持牌时姿态达标，因此关闭持物冻结。"
+   },
+   {
+    "mode": "state",
+    "when": null,
+    "hold_s": 0,
+    "goal": true,
+    "optional": false,
+    "freeze_held": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "matching_face_up_3",
+    "zh": "第3张匹配牌朝上",
+    "after": [
+     "matching_face_up_2"
+    ],
+    "criterion_zh": "对照对手弃牌的图案，原手牌中同图案的三张均已呈白色图案面朝上（每张局部 +z 与世界向上夹角严格小于30°，落点不限），且原手牌前四组三张牌中排除匹配组后的其余九张均仍以短端直立、原来的上端��上（每张局部 +y 与世界向上夹角严格小于7°）；头部或腕部视角应见三张图案面由竖直转成朝上、其余九张长边竖立而非平躺。三张朝上或九张直立任一项不满足即未完成或失去，恢复后可重新成立。三张朝上与九张直立须在第一阶段同补牌仍为原始朝向共同成立，随后在第二阶段继续同时成立；共同阶段条件详见补牌排尾节点。",
+    "step": {
+     "cat": "位姿",
+     "item": "调整位姿"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "左或右夹爪推同图案手牌的上部，使该牌向桌子远侧倾倒，牌面朝上。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左或右二指夹爪夹住同图案手牌，将该牌转至图案面朝上；不要求固定使用哪只手。"
+     }
+    ],
+    "sources": [
+     "inputs/task/standard/instruction.md:11-13",
+     "inputs/task/standard/instruction.md:31-42",
+     "inputs/task/standard/instruction.md:37-58",
+     "inputs/task/standard/instruction.md:85-92",
+     "inputs/task/privileged/environment/instance.json:1507-2165",
+     "inputs/oracle/run.json:1 steps[id=25,30]"
+    ],
+    "note_zh": "三张相同手牌按满足条件的数量计数，不按实例编号或推倒的左右顺序计数；计数边只表达数量递增，state 不受 after 门控。文本称翻牌，但此处从竖立到牌面朝上通常是约90°倾倒，按验收结果标调整位姿，不强加180°翻面；允许持牌时姿态达标，因此关闭持物冻结。 其余九张不被碰倒是翻牌的质量验收，按 Step 3.2、3.3(a) 的 how-well 例外并入本节点，不单独计数；这一初始成立条件仍保留在两个阶段的合取中。"
+   },
+   {
+    "mode": "state",
+    "when": null,
+    "hold_s": 0,
+    "goal": true,
+    "optional": false,
+    "freeze_held": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "replacement_at_row_end",
+    "zh": "补牌竖放排尾",
+    "after": [
+     "matching_face_up_3"
+    ],
+    "criterion_zh": "左侧较近一叠原先绿背朝上的顶牌 mahjong9_0 已移到手牌最右端双牌旁的下一牌位，其中心到世界坐标 (0.319,-0.15) 的水平距离严格小于0.015米，原先朝右的一端向上（局部 +y 与向上夹角严格小于7°），两夹爪开度均至少为全开的0.6；头部及腕部视角应见补牌在排尾竖起、夹爪张开，横躺、明显偏离排尾或夹爪未张够均未完成，离开这些条件即失去。须先在某一动作边界同时满足三张匹配牌面朝上、其余九张均直立（排除匹配组后另三组共九张，每张局部 +y 与世界向上夹角严格小于7°）、补牌相对参考四元数 (0,0.707,0.707,0) 的旋转误差严格小于7°，再在更晚动作边界满足此排尾状态且三张朝上和九张直立仍成立；每阶段只需一个动作边界，不另要求静置、接触桌面或实际离手。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左或右二指夹爪抓住补牌 mahjong9_0，转正后移放到手牌最右端；另一夹爪最终也须张开。"
+     }
+    ],
+    "sources": [
+     "inputs/task/standard/instruction.md:26-29",
+     "inputs/task/standard/instruction.md:37-58",
+     "inputs/task/standard/instruction.md:82-92",
+     "inputs/task/privileged/environment/instance.json:2662-2673",
+     "inputs/oracle/run.json:1 steps[id=33,38,41,44,46]"
+    ],
+    "note_zh": "同一张补牌从堆顶到排尾是一项放置步骤；竖起是放置验收，途中暂放、再抓、换手都不是必经步骤。第一阶段和第二阶段的历史次序属于联合验收，不额外建阶段节点；after 只记录最后达成的阶段次序，不禁止第一阶段前移动仍保留原朝向的补牌。张开阈值不是无接触判据，checker 未要求离手或静止，关闭持物冻结。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "arms_out_with_opponent",
+    "zh": "对手出臂时越界",
+    "never": null,
+    "criterion_zh": "同一动作边界，我方左臂或右臂末端相对各自初位的任一坐标偏移大于0.3米或旋转角大于30°，且对手支援臂末端相对其初位任一坐标偏移大于0.3米或旋转角大于40°，任务立即失败；常见画面是远侧白臂尚在伸出时我方臂也远离开局姿态，精确阈值须依据末端位姿计算。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/standard/instruction.md:59-63",
+     "inputs/task/privileged/instruction.md:67-74",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-425"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "matching_face_up_count_ge_1",
+    "level": "new_code",
+    "source": "Log task.matching_group and task.matching_face_up_count (local +z angle <30 deg), or all mahjong0_*..mahjong3_* world quaternions; inputs/task/standard/instruction.md:31-42. No state logs supplied."
+   },
+   {
+    "atom": "matching_face_up_count_ge_2",
+    "level": "new_code",
+    "source": "Log task.matching_group and task.matching_face_up_count (local +z angle <30 deg), or all mahjong0_*..mahjong3_* world quaternions; inputs/task/standard/instruction.md:31-42. No state logs supplied."
+   },
+   {
+    "atom": "matching_face_up_count_ge_3",
+    "level": "new_code",
+    "source": "Log task.matching_group and task.matching_face_up_count (local +z angle <30 deg), or all mahjong0_*..mahjong3_* world quaternions; inputs/task/standard/instruction.md:31-42. No state logs supplied."
+   },
+   {
+    "atom": "replacement_at_row_end",
+    "level": "new_code",
+    "source": "Log objects.mahjong9_0.p and .q, or task.replacement_up_angle_deg and task.replacement_xy_error_m; inputs/task/standard/instruction.md:51-55. No state logs supplied."
+   },
+   {
+    "atom": "ordered_kong_stage_acceptance",
+    "level": "new_code",
+    "source": "Log task.kong_stage and task.replacement_reference_rotation_error_deg at every action boundary with the original checker semantics (stage 1 then stage 2 on a later action); inputs/task/standard/instruction.md:37-58. These field names are proposed, not available bindings. Both stages must jointly require all three matching tiles face up (local +z angle <30 deg) and all nine tiles in the other three groups upright (local +y angle <7 deg); log their quaternions and the selected matching group, or the native common-stage predicate."
+   },
+   {
+    "atom": "both_grippers_open",
+    "level": "new_code",
+    "source": "Log both checker-normalized gripper openings and task.min_gripper_opening; inputs/task/standard/instruction.md:54-55. No state logs supplied."
+   },
+   {
+    "atom": "simultaneous_arm_excursion",
+    "level": "new_code",
+    "source": "Log ee.left_arm, ee.right_arm, ee.support_arm0 poses and their reset poses, or the original per-frame task arm-excursion predicates; inputs/task/standard/instruction.md:59-63. No state logs supplied."
+   },
+   {
+    "atom": "kong_checker_success",
+    "level": "new_code",
+    "source": "Log flags.success from the native RoboDojo checker, not the external delivery verdict; inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-420."
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "matching_tile_face_up_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:39-42"
+   ]
+  },
+  {
+   "name": "nonmatching_tile_up_angle",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:43-45"
+   ]
+  },
+  {
+   "name": "replacement_reference_rotation_error",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:47-50"
+   ]
+  },
+  {
+   "name": "replacement_up_angle",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:51-52"
+   ]
+  },
+  {
+   "name": "replacement_xy_distance",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:53-54"
+   ]
+  },
+  {
+   "name": "minimum_gripper_opening",
+   "unit": "ratio",
+   "threshold": 0.6,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/standard/instruction.md:54-55"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的 logs 为空；按暂行 P8，全部4个节点 when、约束 never 及 success 均为 null，不从实例初态或成功记录伪造逐帧绑定。atoms 列出未来应记录的字段，当前字段名不代表已可用；状态证据检查分母为0。",
+  "成功样例 inputs/oracle/oracle.json 指向 am7csze，但 video_kind=none、has_state_log=false；仅能阅读 run.json 的服务输出和操作记录，无法直接核对摄像机画面。判据的白色图案、绿色牌背和站立形状来自任务说明；成功记录步骤46及 reward 确认直播成功，不把中途自测或代理叙述当成逐帧状态事实（N2、N8、N9）。",
+  "输入只包含评分入口、Session 封装和场景实例，未提供实际 make_kong 任务模块及 reward_manager 实现；入口确实调用原生任务检查，但具体阈值、严格不等号、两阶段顺序以及失败合取只能引用 instruction.md 的明确评分说明，无法独立逐行核对底层实现。",
+  "任务设计问题：文本与评分说明存在强弱差异，standard/instruction.md:91 要求另外九张全程直立，而:37-58 只在两个阶段的验收边界检查，唯一明示立即失败项是:59-63 的同时出臂。另九张不倒是翻牌和补牌的质量验收，按 Step 3.2、3.3(a) 的 how-well 例外并入 matching_face_up_3 与 replacement_at_row_end 的 criterion_zh，保留九张各自局部 +y 与向上夹角严格小于7°的完整合取，不再拆成九个节点或计数边；不臆造倒牌即永久失败的约束，恢复直立后可重新满足验收。全图只计三张匹配牌朝上和一次补牌放置，共4个节点，初始不因九张未被碰倒而取得步骤进度。",
+  "计数角色随弃牌而定：匹配组从对手弃牌图案识别；排除该组后，另外三组共九张全部纳入共同直立验收，不按图案组或单张另建节点。成功记录使用 mahjong2_* 只说明一种实例执行，不据此固定所有运行的匹配牌身份。",
+  "第一阶段的补牌原始朝向和共同验收、第二阶段必须在更晚动作边界通过，属于四个操作步骤的阶段验收，写在补牌节点并在第3张匹配牌判据交代；没有额外阶段或等待节点（N1）。等待对手出牌由脚本和同时出臂约束表达，识别图案没有独立受评的信息步骤。",
+  "两个模式实例 JSON 完全一致，调用同一原生任务 success；标准模式评分本次直播且无重放，特权模式评分冻结初态新进程的一次轨迹重放。文件有效性、基础设施和冻结实例一致性是交付条件，不是物理语义节点；标准入口见 grade.py:39-47，特权入口见 grade.py:128-181。",
+  "所给评分说明仅要求两夹爪开度至少0.6，不要求补牌静止、触桌或与夹爪完全脱离；不增加保持窗口，hold_s=0。三个匹配牌的朝上及九张牌的直立也可在持牌时满足，所有 state 节点设置 freeze_held=false（D17）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "操作步骤、计数、初态和阶段顺序有明确文本及冻结实例支持，成功记录与这一做法相符；无视频、无状态日志且底层任务检查源码未提供，条件均不可绑定，九张直立的全程要求与阶段验收有差异，因此保守记6分。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "匹配牌三步、补牌放置、同时出臂约束及 success=null（无状态日志，P8）均与文本和评分说明一致。主要问题是九个“其余牌直立”节点：文本任务行只描述翻三张和放补牌，“其余九张不倒”只是翻牌的质量条件，不是人会列出的步骤；9 个节点还把初始进度抬到 9/13，淹没真实进度。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（三张匹配牌计数 1..3 + 补牌竖放排尾）与任务文本一致；九张直立已按上一轮并入判据，不单列；两阶段、阈值（30°/7°/7°/0.015 m/0.6）与出臂失败约束（立即终止）均与评分说明一致；无状态日志故 when/never/success 为 null 符合 P8，开放问题已写入 open_questions_zh。未发现需要改动内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['matching_face_up_1', 'matching_face_up_2', 'matching_face_up_3', 'replacement_at_row_end']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:22:31Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_kong/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_kong/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_kong/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_kong/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "d344efaa0aa7db14bb51c8f66a1110ad2bb8d8477c4e2358beace5a981c25e44",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-privileged--pqsn7f7.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-make-kong-i00-privileged--pqsn7f7",
+ "taskKey": "robodojo/make_kong",
+ "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 2904,
+   "sim_steps": 2904,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 493.3,
+   "replay_timeout_s": 2361.6,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 10,
+   "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/robodojo-make-kong-i00-privileged--pqsn7f7/replay.mp4",
+  "duration_s": 121.083,
+  "fps": 12.0,
+  "frames": 1453,
+  "sha256": "1eb8113605f1215997e530b78a248abf47406f1bb3e5c13e277c4fddc05a0608"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "matching_face_up_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "推断：视频17.5–19.5 s，机器人左夹爪完成对中央匹配组左侧牌的前推，牌被夹爪局部遮挡；视频21.0 s夹爪回撤后可见该二筒牌平躺、白色图案面朝上，与远侧脚本对手支援臂弃出的二筒牌相同。首次达标约视频19.0 s，遮挡造成约1–2 s的不确定性。"
+     },
+     {
+      "t": 121.0,
+      "log_step": null,
+      "text_zh": "观察：视频28.0 s可见两张匹配牌朝上，视频35.0–121.0 s抽查中三张均保持朝上；未见已倒牌重新竖起。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频17.5–21.0 s，机器人左夹爪以合拢的指端推原手牌中第一张匹配牌，使其向远侧倾倒；未见两指夹持该牌。"
+     }
+    ]
+   },
+   "matching_face_up_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–27.5 s，机器人左夹爪前推第二张匹配牌，视频27.5–28.0 s可见并排两张二筒牌白色图案面朝上，第一张仍平躺；按满足条件的数量计第2张。"
+     },
+     {
+      "t": 121.0,
+      "log_step": null,
+      "text_zh": "观察：视频33.5–121.0 s抽查中三张匹配牌均保持朝上，未见其中两张条件丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频26.0–27.5 s，机器人左夹爪指端推第二张二筒牌上部使其倾倒，没有夹持或搬运该牌。"
+     }
+    ]
+   },
+   "matching_face_up_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频32.0–33.5 s，机器人左夹爪推动第三张匹配牌；视频33.5–35.0 s三张二筒牌均已平躺朝上，左右其余手牌仍直立，左侧补牌仍绿背朝上放在原叠顶。"
+     },
+     {
+      "t": 121.0,
+      "log_step": null,
+      "text_zh": "推断：视频36.0–121.0 s抽查可见三张匹配牌持续朝上、其余九张保持直立；run.json的reward.replay_success=1、all_success=1确认终态通过三张朝上与九张直立的联合角度验收，画面未见矛盾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频32.0–33.5 s，机器人左夹爪以指端推第三张二筒牌，使其向远侧倾倒；其余两张已朝上的匹配牌未被夹起。"
+     }
+    ]
+   },
+   "replacement_at_row_end": {
+    "method": "visual",
+    "intervals": [
+     [
+      121.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频42.0–46.0 s，机器人左二指夹爪��合在左侧近处叠顶补牌两侧，将绿背朝上的牌提离原叠；视频50.0–57.0 s把它搬到牌列前方暂放，视频58.0–60.0 s左夹爪离开而牌留在桌面。"
+     },
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频64.0–69.0 s，机器人右二指夹爪包夹前方暂放的补牌并将其提起，原暂放位置空出；视频72.0–92.0 s右臂调整后把补牌放回前方，视频96.0–116.0 s重新夹起、转成立姿并送向牌列右端。"
+     },
+     {
+      "t": 121.0,
+      "log_step": null,
+      "text_zh": "观察：视频117.0–121.0 s，补牌逐渐降至手牌最右端双牌旁，白色牌面竖起、绿色背面为窄条；末尾左夹爪已张开，右夹爪仍贴近补牌两侧并开始张开，视频121.0 s为最后可见帧。"
+     },
+     {
+      "t": 121.0,
+      "log_step": 94,
+      "text_zh": "推断：视频121.0 s补牌在排尾竖直，run.json的reward.replay_success=1、all_success=1，且log step 94新进程重放服务返回2904个动作后success=true、done=true。结合视频33.5–44.0 s三张朝上且补牌仍保持原始朝向的画面，判定两阶段顺序、补牌水平距离和朝向、双夹爪开度均通过验收；最终达标锚点约视频121.0 s，精确阈值边界不能由画面独立测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频42.0–57.0 s左二指夹爪夹住补牌并搬至桌面前方；视频64.0–69.0 s右二指夹爪再夹起，随后暂放再抓、转正并移至排尾。两臂通过桌面先后接力，未见两夹爪同时握牌。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "matching_tile_face_up_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "nonmatching_tile_up_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better"
+  },
+  {
+   "name": "replacement_reference_rotation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better"
+  },
+  {
+   "name": "replacement_up_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better"
+  },
+  {
+   "name": "replacement_xy_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_gripper_opening",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.6,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人左夹爪依次推倒三张与对手弃牌相同的二筒牌，随后左、右夹爪通过桌面暂放先后搬运补牌，右臂调整抓取后将其竖放到排尾；评分重放成功，四个节点终态均成立。首次翻牌被夹爪短时遮挡，时间约视频19.0 s；无状态日志及参考视频，精确角度、距离、两阶段边界和末尾夹爪开度依靠本次成功评分补充确认，各原生指标未报告数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，四个节点终态与帧一致：17.5–35 s左夹爪推倒三张二筒，117–121 s补牌在排尾竖起、夹爪张开；接触标注与实际相符，评分重放成功支撑终态。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": "2026-10-29T09:26:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-make-kong-i00-privileged--pqsn7f7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-kong-i00-privileged--pqsn7f7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7abc1826c1043e9121bce4895bc36013f5a4e6e8f1da75ae4c38da9588f50e15",
+   "video_sha256": "1eb8113605f1215997e530b78a248abf47406f1bb3e5c13e277c4fddc05a0608",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-privileged--ysmrkrt.json

@@ -0,0 +1,338 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-make-kong-i00-privileged--ysmrkrt",
+ "taskKey": "robodojo/make_kong",
+ "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 675,
+   "sim_steps": 675,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 202.9,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 8,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-make-kong-i00-privileged--ysmrkrt/replay.mp4",
+  "duration_s": 28.167,
+  "fps": 12.0,
+  "frames": 338,
+  "sha256": "71d90b475b6bbeecf3c5c0fa5cdb98ee83f2389f4b790e3db7c402375f444b59"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "matching_face_up_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 5.50 s，右夹爪推动后已有1张原手牌的白色双圆图案面朝上，与远侧脚本支援臂弃下的牌图案相同；此前这些牌竖立。到达时刻按翻倒前后画面估计，误差约0.25 s。"
+     },
+     {
+      "t": 28.083,
+      "log_step": null,
+      "text_zh": "观察：视频 27.25–28.08 s 的末段逐帧画面中，三张双圆图案牌仍平躺朝上。视频 12.0 s、16.5–23.25 s 及28.08 s 可见左侧六张、右侧三张原非匹配牌仍竖立；右侧三张虽被后续夹爪挤向左侧，未倒成平躺。更右端双牌中的一张被移走，不属于本节点要求的其余九张。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪从近侧推第1张匹配手牌上部，使其向远侧倾倒；夹爪未合拢夹持该牌。三张相同牌按朝上数量计数。"
+     }
+    ]
+   },
+   "matching_face_up_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.75,
+      "log_step": null,
+      "text_zh": "观察：视频约 7.75 s，右夹爪推动后已有2张原手牌的白色双圆图案面朝上，与远侧脚本支援臂弃下的牌图案相同；此前这些牌竖立。到达时刻按翻倒前后画面估计，误差约0.25 s。"
+     },
+     {
+      "t": 28.083,
+      "log_step": null,
+      "text_zh": "观察：视频 27.25–28.08 s 的末段逐帧画面中，三张双圆图案牌仍平躺朝上。视频 12.0 s、16.5–23.25 s 及28.08 s 可见左侧六张、右侧三张原非匹配牌仍竖立；右侧三张虽被后续夹爪挤向左侧，未倒成平躺。更右端双牌中的一张被移走，不属于本节点要求的其余九张。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪从近侧推第2张匹配手牌上部，使其向远侧倾倒；夹爪未合拢夹持该牌。三张相同牌按朝上数量计数。"
+     }
+    ]
+   },
+   "matching_face_up_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 10.50 s，右夹爪推动后已有3张原手牌的白色双圆图案面朝上，与远侧脚本支援臂弃下的牌图案相同；此前这些牌竖立。到达时刻按翻倒前后画面估计，误差约0.25 s。"
+     },
+     {
+      "t": 28.083,
+      "log_step": null,
+      "text_zh": "观察：视频 27.25–28.08 s 的末段逐帧画面中，三张双圆图案牌仍平躺朝上。视频 12.0 s、16.5–23.25 s 及28.08 s 可见左侧六张、右侧三张原非匹配牌仍竖立；右侧三张虽被后续夹爪挤向左侧，未倒成平躺。更右端双牌中的一张被移走，不属于本节点要求的其余九张。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹���",
+      "how": "推/扫",
+      "note_zh": "右夹爪从近侧推第3张匹配手牌上部，使其向远侧倾倒；夹爪未合拢夹持该牌。三张相同牌按朝上数量计数。"
+     }
+    ]
+   },
+   "replacement_at_row_end": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.33,
+      "log_step": 149,
+      "text_zh": "观察：视频 13.75–15.67 s，左夹爪下降并合拢时碰乱左侧绿背牌堆；牌堆上部的牌被拨转、散开，左夹爪随后抬起却未带走补牌。log step 149 的脚本规定在补牌中心偏左0.025米处下夹，再直接抬起并移往交接位。"
+     },
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–20.75 s，左夹爪空手移到桌面中央，右夹爪仍执行靠拢、闭合及后续动作；左侧散开的牌未随任一夹爪到达排尾。视频 21.25–26.33 s，右夹爪带离的是原牌列最右端附近的一张牌，最后落在桌面近侧，并非从左侧牌堆取来的补牌。"
+     },
+     {
+      "t": 28.083,
+      "log_step": 168,
+      "text_zh": "观察：视频 28.08 s，左侧牌堆散乱，排尾未出现从左侧运来的竖直补牌。log step 168 记载本次675动作的录制已保存，success=False；该脚本输出补牌仍位于左侧，未随所谓搬运移动。这与视频一致，节点判定以视频为准，不用会话中其他测试代替评分轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约14.3–15.1 s，左夹爪在补牌及其牌堆边缘推拨，牌堆散开；没有观察到左夹爪以对向接触夹稳补牌。后续两臂空手进行预定交接；右夹爪又夹带原牌列更右端的另一张牌并把它移到近侧桌面，不能记作补牌的成功抓握或双臂持牌协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "matching_tile_face_up_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "nonmatching_tile_up_angle",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "replacement_reference_rotation_error",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "replacement_up_angle",
+   "unit": "deg",
+   "threshold": 7,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "replacement_xy_distance",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_gripper_opening",
+   "unit": "ratio",
+   "threshold": 0.6,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "replacement_at_row_end",
+   "t": 14.33,
+   "log_step": 149,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约14.3 s，左夹爪为补牌排尾步骤下降并闭合时拨乱牌堆；视频15.1–17.0 s，夹爪抬起并移向交接位，补牌未随行。此前视频约10.5 s已完成三张匹配牌朝上；此后直到视频28.08 s结束都未把补牌送到右侧排尾，因此这是最早未修复的操作失败。"
+  },
+  "unmet": {
+   "matching_face_up_1": true,
+   "matching_face_up_2": true,
+   "matching_face_up_3": true,
+   "replacement_at_row_end": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.33,
+    "log_step": null,
+    "evidence_zh": "观察：视频13.75–15.67 s，左夹爪靠近补牌并闭合后仅推散牌堆，未形成能带走补牌的夹持；视频16.0–20.75 s，两臂在中央继续预定交接，补牌仍留在左侧。这里缺失的是有效抓握接触，并非已持稳后在搬运中滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志 / 成功参考元数据",
+    "evidence_zh": "推断：视频13.75–15.67 s显示左夹爪从牌堆偏左边缘下降、闭合时推乱叠牌，未包夹补牌两侧，说明这次接触几何未能建立有效抓握。log step 149 明确把抓取位置设为补牌中心偏左0.025米、末端高度0.9595米，并在合爪后直接抬起和搬运；视频16.0–20.75 s验证其空手继续动作的结果。inputs/oracle/oracle.json:2–8 记录同任务参考运行 robodojo-make-kong-i00-standard--am7csze 的 success=1，据此推断存在能完成补牌排尾的可行替代方案，故 alt_feasible 记“已验证有”。该参考没有视频或状态日志，本目录也未提供其 run.json；此证据只支持替代方案存在，不确定其具体抓取几何或动作步骤。"
+   }
+  ],
+  "gap_zh": "无状态日志，且inputs/oracle/oracle.json说明成功参考没有视频；因此翻倒时刻及九张牌的直立由本次单一视角近似判断，不能精测30°/7°角度���夹爪开度。抓取处短暂受夹爪遮挡，但前后画面显示未带走补牌；无法确定具体指面、法向力或精确几何误差。评分器未报告DAG列出的六项原生指标，均填null；不将log step 168中的脚本自测角度和距离当作评分器指标。 成功参考的 success=1 支持可行替代方案存在，但缺少其视频、状态日志及 run.json，无法核实具体替代抓法。"
+ },
+ "summary_zh": "评分轨迹在视频约5.5、7.75、10.5 s依次把三张匹配牌推至图案面朝上，终态保有3/4个节点。视频约14.3 s左夹爪抓补牌时推散牌堆，未夹稳补牌却继续空手交接和放置，补牌排尾始终未完成；接触几何不适配是有视频及脚本支持的根因。无状态日志及成功参考视频，精确角度、接触力和六项原生指标无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（补牌排尾，视频约14.3 s左夹爪推散牌堆）与现象均有画面支持；仅根因的 alt_feasible 记“未知”偏保守：同任务的成功参考运行说明存在可行的补牌抓法。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个匹配牌节点（约5.5/7.75/10.5 s）、补牌排尾未达成、断点（补牌步骤约14.3 s左夹爪推散牌堆）与现象/根因（没建立接触 + 抓取和接触设计，alt_feasible 已验证有）均与帧一致；末段右侧三张八万仍竖立，被移走的是排尾双牌之一，不属于九张，node3 终态为真成立。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": "2026-10-29T09:30:51Z",
+  "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/robodojo-make-kong-i00-privileged--ysmrkrt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-kong-i00-privileged--ysmrkrt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-kong-i00-privileged--ysmrkrt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robodojo-make-kong-i00-privileged--ysmrkrt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5f7603028d7c58824e1c658f5aaba858794df95c7f54e740e98aea051ad2b41d",
+   "video_sha256": "71d90b475b6bbeecf3c5c0fa5cdb98ee83f2389f4b790e3db7c402375f444b59",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/make_toast/task_dag.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/make_toast",
+ "suite": "robodojo",
+ "base": "robodojo-make-toast-i00",
+ "title_zh": "面包入槽并压杆",
+ "summary_zh": "两片可互换面包分别在烤面包机两槽内达到规定深度，四片面包均立在边缘上、架内恰剩两片，压杆超过全行程百分之八十五且双臂同时回到起始位姿容差内。",
+ "embodiment_zh": "两模式均为固定在桌边的两条六关节机械臂，各配二指夹爪，型号为 ARX X5，无移动底盘；头部固定相机与左右腕部相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-make-toast-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "bread_in_slots_1",
+    "zh": "第1片面包入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部视角中，右侧灰色烤面包机的任一槽内至少有一片面包立在边缘上，其中心投影落在该槽功能矩形内（容差为百万分之一米），且中心严格高于该槽功能平面三至六点五厘米；面包片局部正负横轴或正负纵轴至少一向与竖直向上相差不超过三十度，仅悬在槽上或横躺机顶不算，唯一合格片离槽或倒平即失去本步。最终还须另一槽有片、四片均符合直立判据、左侧白色金属架内恰剩两片、压杆处于下位且双臂同时回到初始容差内；无需脱手或静置。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "典型方案中左夹爪从面包架夹住一片面包，交接时右夹爪夹住同片面包的另一处、两臂共同持片；随后左爪松开，右夹爪把面包放入烤面包机槽。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-17 task and initial bread shelf",
+     "inputs/task/privileged/instruction.md:32-47 slot geometry, upright acceptance and shelf count",
+     "inputs/task/privileged/instruction.md:51-56 simultaneous acceptance and arm return",
+     "inputs/task/standard/instruction.md:29-48 same world-state checks",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374 native run_reward registration",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native success and action-boundary evaluation",
+     "inputs/oracle/replay.mp4:0-151.25 visual reference only"
+    ],
+    "conf": 6,
+    "note_zh": "四片面包可互换，按放入不同槽的合格面包数量建立两个计数节点；第二个计数仅要求第一个计数已达到，不规定先左槽还是先右槽。中心入槽与直立是同一步的验收，取片、抬片、换手、释放均不另建节点；典型双臂交接不是每种成功策略的必经动作。评分未要求放片时脱手，故关闭持物冻结；双臂回位、架内余数及四片整体姿态作为共同终态验收归入成功条件。"
+   },
+   {
+    "id": "bread_in_slots_2",
+    "zh": "第2片面包入槽",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "bread_in_slots_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部视角中，右侧灰色烤面包机两个并列槽各有至少一片不同的面包，按已占不同槽计数且不区分面包身份；每片中心投影须在对应槽功能矩形内（容差为百万分之一米）、中心严格高于功能平面三至六点五厘米，片内正负横轴或正负纵轴至少一向距竖直向上不超过三十度，同槽两片或机顶横躺不算，任一槽失去合格片即失去本步。最终四片均须符合直立判据，左侧白色金属架内恰剩两片（中心投影在架轮廓内并高于底面），并与压杆下位及双臂回到初始容差内同时成立；无需脱手或静置。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "典型方案中左夹爪从面包架夹住一片面包，交接时右夹爪夹住同片面包的另一处、两臂共同持片；随后左爪松开，右夹爪把面包放入烤面包机槽。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-17 task and initial bread shelf",
+     "inputs/task/privileged/instruction.md:32-47 slot geometry, upright acceptance and shelf count",
+     "inputs/task/privileged/instruction.md:51-56 simultaneous acceptance and arm return",
+     "inputs/task/standard/instruction.md:29-48 same world-state checks",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374 native run_reward registration",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native success and action-boundary evaluation",
+     "inputs/oracle/replay.mp4:0-151.25 visual reference only"
+    ],
+    "conf": 6,
+    "note_zh": "四片面包可互换，按放入不同槽的合格面包数量建立两个计数节点；第二个计数仅要求第一个计数已达到，不规定先左槽还是先右槽。中心入槽与直立是同一步的验收，取片、抬片、换手、释放均不另建节点；典型双臂交接不是每种成功策略的必经动作。评分未要求放片时脱手，故关闭持物冻结；双臂回位、架内余数及四片整体姿态作为共同终态验收归入成功条件。"
+   },
+   {
+    "id": "toaster_lever_down",
+    "zh": "压下烤机压杆",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部视角中，右侧灰色烤面包机朝向机器人的前面压杆移到导槽下部，对应压杆关节的当前位置减下限后占全行程的比例严格大于百分之八十五；压杆未降到该范围或回弹出该范围即未完成或失去本步，夹爪遮挡时须结合动作前后画面，不能只凭手臂下移判断。最终该下位须与两槽各有一片合格面包、四片直立、架内恰剩两片及双臂回位同时成立，双臂末端各坐标距起点在十五厘米内、朝向距起始朝向在二十度内，夹爪可继续压住压杆且无需张开。",
+    "step": {
+     "cat": "机构",
+     "item": "按压"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "plan": 1,
+      "note_zh": "一只夹爪的指部从上方向下压烤面包机前侧压杆，典型方案使用右夹爪。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一只夹爪夹住烤面包机前侧压杆并将其带到下位，可持续夹持以维持下位。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:48-56 current lever ratio and single simultaneous stage",
+     "inputs/task/privileged/instruction.md:64-71 arm return can coincide with continued lever contact",
+     "inputs/task/standard/instruction.md:40-48 identical lever and arm thresholds",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:411-447 native checker result",
+     "inputs/oracle/run.json:steps[18].out.text initial lever position and limits",
+     "inputs/oracle/run.json:steps[136].out.text successful final lever and TCP poses",
+     "inputs/oracle/replay.mp4:143-151.25 lever press and final pose"
+    ],
+    "conf": 6,
+    "note_zh": "评分只验收压杆机械行程，不验收热源开启或面包变热，故类型采用机构的按压，不另加烘烤步骤。压杆下位是实时终态而非一次触发事件；指令说明只有一组联合检查，未证明压杆必须在装片后才可下压，故不加放片至压杆的顺序边。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "occupied_slot_count",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:32-42; log dyn.occupied_slot_count using bread centers, toaster toast_slot1/2 functional rectangles, XY tolerance 1e-6 m, strict 0.03 < center_dz_m < 0.065, distinct slices per occupied slot"
+   },
+   {
+    "atom": "bread_edge_upright",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:43-45; log dyn.bread_edge_upright per bread_0..bread_3 using local +/-x or +/-y within 30 deg of world +z"
+   },
+   {
+    "atom": "shelf_bread_count",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:46-47; log dyn.shelf_bread_count using native is_A_in_B center-in-XY and above-shelf-bottom tests; final count == 2"
+   },
+   {
+    "atom": "lever_down",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:48-50; log dyn.lever_ratio from toast_botton parent joint and joint limits; ratio > 0.85"
+   },
+   {
+    "atom": "arms_home",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:51-52; log dyn.arms_home using native all_robot_back_to_origin, per-coordinate position tolerance 0.15 m and orientation tolerance 20 deg for both arms"
+   },
+   {
+    "atom": "simultaneous_success",
+    "level": "new_code",
+    "source": "inputs/task/privileged/instruction.md:37-56; log native per-action world-state checker conjunction: both slots occupied AND all four breads edge-upright AND shelf count == 2 AND lever ratio > 0.85 AND both arms home; no release or hold requirement"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "lever_joint_ratio",
+   "unit": "1",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "sources": [
+    "inputs/task/privileged/instruction.md:48-50 strict greater-than threshold"
+   ]
+  },
+  {
+   "name": "bread_center_height_above_slot",
+   "unit": "m",
+   "threshold": [
+    0.03,
+    0.065
+   ],
+   "direction": "target",
+   "sources": [
+    "inputs/task/privileged/instruction.md:38-42 both bounds strict"
+   ]
+  },
+  {
+   "name": "bread_min_edge_to_up_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/instruction.md:43-45 minimum over local +/-x and +/-y, all four slices"
+   ]
+  },
+  {
+   "name": "arm_max_coordinate_start_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/instruction.md:51-52 both arms, coordinatewise tolerance"
+   ]
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "sources": [
+    "inputs/task/privileged/instruction.md:51-52 both arms"
+   ]
+  }
+ ],
+ "open_questions_zh": [
+  "缺少状态日志：输入的状态索引为空，按暂行规则所有节点的完成条件与成功条件均为空，不能核对日志字段或进行逐帧验收；待增加的日志字段在原子清单中列出，成功视频只提供视觉判据，不据此拟合阈值。",
+  "本地仅含评分入口、仿真服务及会话包装，未提供动态导入的原生任务模块及奖励管理器完整代码；槽深、直立、架内计数、压杆和回位阈值引用两模式指令逐项列明的原生检查说明，尚不能从本地原生源码独立逐行核实。",
+  "任务设计问题：指令既称任何面包平躺即失败、不得留下平躺，又明确所有条件仅在同一动作边界联合验收且没有提前失败；成功视频约一百至一百二十秒可见第二片横躺机顶后被恢复，最后仍通过。本文件按可恢复的当前态姿态验收处理直立要求，不把这段文字解释成评分器未体现的历史否决约束；此处文本与通过行为有冲突。",
+  "按回位规则的默认做法，文本中的双臂回到起点作为共同成功条件，不另建从初态就计分的节点；夹爪不必张开且可继续压住压杆，不能额外要求离开烤面包机。",
+  "两模式的世界状态验收说明一致且冻结实例完全相同；特权模式评分入口回放所交轨迹，标准模式按服务记录的现场结果评分。交付和基础设施有效性不作为世界状态节点；标准模式没有可用成功视频或状态日志作进一步核对。",
+  "面包片相同且可任意对应两个槽，按暂行计数规则使用第一个和第二个入槽节点，第二个要求占据不同槽；不固定物体身份或槽的先后。压杆检查是当前位置且没有独立阶段，故未添加装片先于压杆的边。",
+  "任务名称虽为制作吐司，任务文本和验收只要求装片、压杆与回位，没有烘烤温度、烤制时长或取出成品条件，因此没有增加加热或取出步骤。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "步骤来自两模式相同的任务文本，几何阈值由指令的评分说明给出，冻结实例一致，成功视频支持三个结果及回位可持续压杆；但没有状态日志、原生任务检查源码未随输入提供，且不得平躺的文字与可恢复的成功行为冲突，不能给予高置信度。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（两片入槽、压杆）与指令步骤一致；双臂回位按默认规则放入验收条件而非单独节点；无状态日志故 when 全为 null，符合 P8；任务设计问题（平躺即失败 vs 可恢复）已列入 open_questions。压杆节点 plan1/plan2 的接触标签合理。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['bread_in_slots_1', 'bread_in_slots_2', 'toaster_lever_down']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:15:29Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_toast/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__make_toast/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "59edac66d6b88b6e4c08492fa23e3c506635d580c582ff1e8b892cb804ed66b9",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--vh2n7me.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-make-toast-i00-privileged--vh2n7me",
+ "taskKey": "robodojo/make_toast",
+ "dag_sha256": "029a0b495e963da1b3fa7f391649927caddf75d92adcf122d10be8f7571c1aee",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "n_actions": 3629,
+   "sim_steps": 3629,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 1350.9,
+   "replay_timeout_s": 2651.6,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-make-toast-i00-privileged--vh2n7me/replay.mp4",
+  "duration_s": 151.25,
+  "fps": 12.0,
+  "frames": 1815,
+  "sha256": "739fe37a69ab461872ef03851c6e49448872acb4e3fd1e4023f4a950e323a796"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "bread_in_slots_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四片面包都在左侧白色架内，右侧烤面包机两槽为空。"
+     },
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–13.0 s 左夹爪将第一片从架内提离；视频 22.0–27.0 s 两夹爪同时夹持该片，视频 29.0–36.0 s 左爪退开后面包仍由右爪持住。"
+     },
+     {
+      "t": 47.5,
+      "log_step": null,
+      "text_zh": "推断：视频 45.0–47.5 s 右夹爪将第一片竖直降入画面左侧槽，视频 47.5 s 已接近随后稳定的入槽深度，故将达到时刻估为视频 47.5 s（约有 0.5 s 误差）；不要求先松手。视频 50.5–56.0 s 右爪退开，面包留在槽内，后续检查至视频 151.17 s 未见该片离槽或倒平。"
+     },
+     {
+      "t": 151.17,
+      "log_step": null,
+      "text_zh": "推断：视频 151.17 s 仍可见该槽内面包立起；inputs/run.json 的 reward.success=1、deterministic=1 支持终态满足槽内位置、深度及联合验收，具体几何阈值不能仅凭单目画面测定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.0–27.0 s 左夹爪夹住第一片上部、右夹爪夹住其另一处共同持片完成交接；此前左爪从面包架取片，此后左爪释放退回，右爪单独夹持并降入烤面包机画面左侧槽，最后松开。"
+     }
+    ]
+   },
+   "bread_in_slots_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      137.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "观察：视频 67.0–71.0 s 左夹爪将第二片从架内取走，架内留下两片；视频 81.0–84.0 s 两夹爪同时夹住第二片，视频 86.0–92.0 s 左爪退开后右爪继续持片。"
+     },
+     {
+      "t": 107,
+      "log_step": null,
+      "text_zh": "观察：视频 99.0–107.0 s 第二片倾斜并横跨烤面包机顶边，未在另一槽内竖直就位；第一片仍在原槽。视频 112.0–118.0 s 右夹爪重新夹住第二片并提离机顶，视频 120.0–124.0 s 将其转回直立。"
+     },
+     {
+      "t": 137.0,
+      "log_step": null,
+      "text_zh": "观察：视频 126.0–136.75 s 第二片仍高出另一槽，右爪调整朝向和对齐；视频 136.75–137.0 s 面包明显向下落入画面右侧槽，视频 137.0 s 起两片均在不同槽内立起。视频 139.0–142.0 s 右爪退开，视频 150.0–151.17 s 两片仍留在槽内。"
+     },
+     {
+      "t": 151.17,
+      "log_step": null,
+      "text_zh": "推断：结合视频 137.0 s 的落槽和末帧两槽占据、架内两片的外观，以及 inputs/run.json 的 reward.success=1，第二个入槽节点最终为真；深度和三十度姿态容差由通过的联合验收支持，视觉到达时刻约有 0.3 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 81.0–84.0 s 左右二指夹爪同时夹住第二片的不同部位交接；左爪随后松开���回，右爪独自搬运。视频 112.0–118.0 s 右爪重新夹住机顶上的该片并提起，旋正、对齐后在视频 137.0 s 附近松开使其落入另一槽。"
+     }
+    ]
+   },
+   "toaster_lever_down": {
+    "method": "visual",
+    "intervals": [
+     [
+      151.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 144.0,
+      "log_step": null,
+      "text_zh": "观察：视频 142.0–145.5 s 两片已留在槽内，右爪退出放片位置并转向烤面包机前侧压杆；左臂保持初始附近姿态。"
+     },
+     {
+      "t": 151.17,
+      "log_step": null,
+      "text_zh": "观察：视频 147.0–151.17 s 右夹爪以指部抵住前侧压杆并继续向下压，压杆随之向导槽下部移动，末帧右爪仍贴住压杆；两片面包保持在不同槽内，白色架内留下两片。"
+     },
+     {
+      "t": 151.1,
+      "log_step": null,
+      "text_zh": "推断：视频 150.0–151.17 s 末段下压最终达到验收下位，取视频 151.1 s 为完成锚点（约有 0.2 s 误差）。inputs/run.json 的 reward.success=1、all_success=1、deterministic=1 支持压杆超过百分之八十五且双臂同时在回位容差内；遮挡和像素分辨率不足以单独确定首次跨阈值的精确帧。"
+     },
+     {
+      "t": null,
+      "log_step": 182,
+      "text_zh": "观察：log step 142 的仿真服务最终状态为 success=True、done=True、actions=3629，log step 143 保存 3629 行动作，log step 182 的两次新进程回放均成功且终态散列一致；这些记录支持交付已包含恢复和最终压杆动作，不把会话中的早期失败当作最终结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 147.0–151.17 s 右夹爪收拢后的指部从上方向下压烤面包机前侧压杆，并在终态继续抵住；未见两指相对夹住压杆，故按按压接触记录。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lever_joint_ratio",
+   "unit": "1",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bread_center_height_above_slot",
+   "unit": "m",
+   "threshold": [
+    0.03,
+    0.065
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "bread_min_edge_to_up_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_max_coordinate_start_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人经双臂交接分别装片：第一片约在视频 47.5 s 入槽，第二片在视频 137.0 s 恢复后落入另一槽，右夹爪在视频 151.1 s 附近压杆到位，三个节点最终均完成，评分器记录成功且确定性回放一致。任务设计问题：DAG 所列“面包不得倒平”的过程措辞与视频 99.0–112.0 s 第二片横跨机顶后仍可恢复并通过的行为存在冲突，本标注按实际终态联合验收处理，不将已修复偏差标为失败。没有状态日志，单目画面不能精测槽深、姿态和压杆比例的首次跨阈值帧，时刻为视觉近似且终态由成功判定支持；评分器未报告五项原生指标数值，均留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点终态均为真，时间锚点与帧一致（第一片约 47.5 s 入槽，第二片约 137 s 落入另一槽，压杆在末帧向下移动到下位），接触标签与画面相符，无失败层，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:21:19Z",
+  "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/robodojo-make-toast-i00-privileged--vh2n7me/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-toast-i00-privileged--vh2n7me/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "525860f939fdd061320cc8be4131e9d827b90251d6f163eaeac08d8224264590",
+   "video_sha256": "739fe37a69ab461872ef03851c6e49448872acb4e3fd1e4023f4a950e323a796",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-standard--vzqnhyb.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-make-toast-i00-standard--vzqnhyb",
+ "taskKey": "robodojo/make_toast",
+ "dag_sha256": "029a0b495e963da1b3fa7f391649927caddf75d92adcf122d10be8f7571c1aee",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 579,
+   "sim_steps": 579,
+   "physics_steps": 5790,
+   "steps": 140,
+   "elapsed_s": 2533.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-make-toast-i00-standard--vzqnhyb/replay.mp4",
+  "duration_s": 24.167,
+  "fps": 12.0,
+  "frames": 290,
+  "sha256": "18a0869fc8081a977f213b0b668c478e2eb1ac0d9b3690fff52a1f0287385f23"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bread_in_slots_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": 165,
+      "text_zh": "观察：视频 10.75–11.5 s 左夹爪在白色面包架处合拢，随后一片面包离开原位并随左夹爪抬起；视频 12.75–14.42 s 该片仍随左夹爪移动。取片成立，但尚未入槽。"
+     },
+     {
+      "t": 15.17,
+      "log_step": 175,
+      "text_zh": "观察：视频 14.5–15.17 s 双臂大幅摆动，面包脱离左夹爪后出现在桌面靠机器人一侧；视频 20.75 s 及 23.67–24.08 s 该片仍在桌面，烤面包机两槽均为空，第一片入槽始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11–14.42 s 左二指夹爪夹住一片面包上缘并将其搬离面包架。右夹爪张开接近准备接片，未见夹紧面包或完成交接，故不记双臂共同抓握。"
+     }
+    ]
+   },
+   "bread_in_slots_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.08,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.08 s 只见左夹爪取出一片面包，掉落后没有再取第二片；视频 20.75 s 及 23.67–24.08 s 两槽清晰可见且均为空。成功参考视频 140–151.17 s 的两槽各有一片直立面包的外观，在本次视频中从未出现。"
+     }
+    ]
+   },
+   "toaster_lever_down": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": 181,
+      "text_zh": "观察：视频 16.5–19 s 右夹爪移到烤面包机前上方，压杆区域被夹爪和手腕遮挡；log step 181 的机器人服务回报该下压序列多个目标位姿未达到，位置误差约 0.129–0.156 m。"
+     },
+     {
+      "t": 24.08,
+      "log_step": 189,
+      "text_zh": "观察：视频 21.5–23.58 s 右臂再次接近烤面包机前方后撤回；视频 23.67–24.08 s 前面白色压杆重新可见，位置与视频 0 s、20.75 s 基本相同，未见成功参考视频 150–151.17 s 的更低压杆位置。"
+     },
+     {
+      "t": 24.08,
+      "log_step": 193,
+      "text_zh": "推断：结合两轮动作前后压杆未见持续下移、最终压杆外观仍与初态一致，判定压杆下位未达到。log step 193 服务状态仍为 done=False；该总结果只作旁证，不单独用于判定本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 16.5–19 s、21.5–23.58 s 右夹爪在压杆附近执行尝试，但压杆与指部可能相交处被手腕遮挡，无法确认是否实际触及压杆及具体接触方式；不能由下压指令直接记为压/擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lever_joint_ratio",
+   "unit": "1",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bread_center_height_above_slot",
+   "unit": "m",
+   "threshold": [
+    0.03,
+    0.065
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "bread_min_edge_to_up_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_max_coordinate_start_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bread_in_slots_1",
+   "t": 14.5,
+   "log_step": 175,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.5–14.42 s 第一片面包已离架并随左夹爪移动；视频约 14.5–15.17 s 交接移动时掉出，随后一直留在桌面，两槽到视频 24.08 s 仍为空。log step 175 是双臂交接移动调用，log step 180 中 agent 随后自述面包掉落并改做压杆和回位；第一片入槽这一步未被修复。"
+  },
+  "unmet": {
+   "bread_in_slots_1": false,
+   "bread_in_slots_2": false,
+   "toaster_lever_down": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 14.5,
+    "log_step": 175,
+    "evidence_zh": "观察：视频 12.75–14.42 s 左夹爪确实夹持面包，视频 14.5–15.17 s 双臂快速转动后面包脱离夹爪，出现在桌面靠机器人一侧；视频 20.75 s 和 24.08 s 仍留在该处，没有完成入槽或重新抓取。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 14.5,
+    "log_step": 175,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 175 中机器人 IK 服务返回的两臂目标位置残差分别为 4.55e-5 m 和 1.55e-6 m，不能据此把失败归为逆解未求准；agent 脚本将当前关节到所选关节解的线性插值分成 14 行，以 dt=0.08 s 提交 joint_position，指令序列时长为 1.12 s。该调用结束时，服务回报左末端位置为 (0.119,-0.439,1.236)，偏离目标 (-0.05,-0.28,1.30)；log step 177 读回保存的同一末端值。视频 14.5–15.17 s 可见双臂大幅摆动、面包脱离左夹爪后留在桌面，结合日志支持交接移动执行阶段的控制问题。log step 196 的“忽略分支连续性”仅为 agent 事后自述，未作为已观测的致因；现有证据不能区分轨迹生成与反馈跟踪问题，也不能确定夹力或碰撞各自对脱落的贡献，故不指定控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有评分器报告的五项原生指标数值。视频约 14.5–14.92 s 双臂遮挡了面包脱离的具体接触瞬间，不能分辨夹力、惯性与碰撞的各自贡献；两次压杆尝试的接触点也被遮挡，无法排除遮挡中出现过短暂的压杆位移，未将其记为已达成。log step 175 只给出 IK 目标位置残差和动作后的末端读数，缺少逐时刻目标与实测关节、末端轨迹及控制误差，不能区分轨迹生成与反馈跟踪问题；log step 196 的分支连续性解释未经独立验证。"
+ },
+ "summary_zh": "机器人夹起一片面包，但在视频约 14.5–15.17 s 的交接移动中失去夹持，面包落在桌面后未恢复，两槽始终为空，最终三个节点均未完成，断点为第1片面包入槽、现象为没保持住。log step 175 的 IK 目标位置残差很小，但 1.12 s 关节插值序列执行后实测末端偏离目标，结合视频中的大幅摆臂与失片，仅支持执行阶段的控制问题。缺少状态日志及逐时刻控制记录，无法区分轨迹生成与反馈跟踪，也不能精确核实脱落机制和压杆遮挡期间的短暂位移，因此 conf 从 7 降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "三个节点未达成、断点（第1片入槽，操作中，没保持住）与视频一致：10.5–14.2 s 左夹爪持片，14.6–15 s 片掉到桌面，20.75/24 s 两槽空、压杆外观同 0 s。问题在根因证据：log step 175 显示 IK 误差仅 4.55e-5 m（目标关节解本身是对的），实测终点偏离出现在执行阶段，不是“只按位置误差选解/逆解出错”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三节点未达成、断点（第1片入槽，操作中，没保持住）和根因停在控制与视频、log 一致；上一轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:24:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-make-toast-i00-standard--vzqnhyb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-toast-i00-standard--vzqnhyb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-make-toast-i00-standard--vzqnhyb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robodojo-make-toast-i00-standard--vzqnhyb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "73aafff2e1c7034af099ed52ee1115b031d36b7c081c77301a7f5428262f5d93",
+   "video_sha256": "18a0869fc8081a977f213b0b668c478e2eb1ac0d9b3690fff52a1f0287385f23",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/pack_objects_into_box/task_dag.json

@@ -0,0 +1,351 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/pack_objects_into_box",
+ "suite": "robodojo",
+ "base": "robodojo-pack-objects-into-box-i00",
+ "title_zh": "四件物品朝左装箱",
+ "summary_zh": "玩具车、电动牙刷、锤子和鞋子的中心投影均进入纸箱底部验收区域、长轴沿箱体长边且前端朝左，纸箱正放对齐，双臂同时回到初始位姿容差内。",
+ "embodiment_zh": "特权与标准模式均为桌面固定式双臂机器人，两条ARX X5六关节机械臂各配平行二指夹爪，无移动底盘；头部相机及两腕相机提供视图。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-pack-objects-into-box-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "car_in_box_left",
+    "zh": "玩具车入箱",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，银色黑顶玩具车的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且车头（按初态朝右的那一端认定，不按外观猜测）朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住车身，搬入纸箱并调整朝向。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:42-55",
+     "inputs/task/privileged/instruction.md:63-68",
+     "inputs/task/privileged/instruction.md:79-88",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 21.0-24.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
+   },
+   {
+    "id": "electric_toothbrush_in_box_left",
+    "zh": "电动牙刷入箱",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，白色电动牙刷的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且刷头朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住牙刷柄，搬入纸箱并调整朝向。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:42-55",
+     "inputs/task/privileged/instruction.md:63-68",
+     "inputs/task/privileged/instruction.md:79-88",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 9.0-12.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
+   },
+   {
+    "id": "hammer_in_box_left",
+    "zh": "锤子入箱",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，木柄金属头锤子的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且锤头朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住锤柄，搬入纸箱并调整朝向。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:42-55",
+     "inputs/task/privileged/instruction.md:63-68",
+     "inputs/task/privileged/instruction.md:79-88",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 3.0-6.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
+   },
+   {
+    "id": "shoe_in_box_left",
+    "zh": "鞋子入箱",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部俯视画面中，带三条黑纹的白色运动鞋的中心水平投影进入纸箱底部功能区域（box_bottom 四角围成，覆盖前后全深、左右仅中间约19.5至20厘米，边界容差为0.000001米），长轴在水平面内与箱体长边夹角小于45度，且鞋尖朝世界左方（与负x方向夹角小于60度）；只查中心的水平位置及投影朝向，不要求物体整体在箱内、特定高度、离手或静止，中心出界或任一方向超限即未完成或失去。总成功还需四件物品、箱体姿态及双臂返回同时在同一动作结束时达标：两臂末端相对初位的x、y、z各轴位置偏差均在0.15米内、姿态偏差小于20度，夹爪不必张开。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住鞋身，搬入纸箱并调整朝向。",
+      "plan": 1
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:42-55",
+     "inputs/task/privileged/instruction.md:63-68",
+     "inputs/task/privileged/instruction.md:79-88",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-374",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:422-446",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 32.0-35.0 s"
+    ],
+    "conf": 6,
+    "note_zh": "入箱与朝向共同构成一次放入的验收，不拆抓取、抬升、转向、换手或松手节点；可用任一臂，逐次换手不等于同时双臂协作，四件不同物品的入箱彼此无先后边。箱体正放另按可保留的初始目标状态计一次；允许持物达标，关闭持物冻结。"
+   },
+   {
+    "id": "box_upright_aligned",
+    "zh": "纸箱保持正放",
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部画面中，敞口棕色纸箱底部平放、开口向上、两块外翻箱盖立在左右两侧，箱体长边大致沿画面左右方向；验收要求箱体局部正z轴与世界竖直方向的三维夹角小于15度，局部正y或负y长轴与世界正x方向的三维夹角小于40度。开局即成立且四件入箱时可一直保持，倾斜或转向超限便失去，扶正或转回后恢复；它是末态姿态要求，没有历史违规否决或保持时窗。",
+    "step": {
+     "cat": "位姿",
+     "item": "调整位姿"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "正常装箱时机械臂夹爪无需接触纸箱，保留纸箱已成立的正放姿态；箱底与桌面的静态背景支承不另标。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "需要纠正偏航时，任一臂夹爪推纸箱侧壁，使纸箱长边回到左右方向。",
+      "plan": 2
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "需要扶正或调整时，任一臂二指夹爪夹住纸箱边缘，恢复箱体姿态。",
+      "plan": 3
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:56-68",
+     "inputs/task/privileged/environment/instance.json:234-279",
+     "inputs/task/privileged/environment/instance.json:641-652",
+     "inputs/oracle/replay.mp4 @ 0.0 s, 35.0 s"
+    ],
+    "conf": 7,
+    "note_zh": "按S4(a)，文本明确要求且合法路线不必破坏的箱体目标姿态，从初态计为独立状态；直立及长边对齐是同一箱体正放步骤的联合验收，不拆成两步，不为其他入箱步骤设前置边。该状态可以无接触保持；若需纠正，按自由箱体的调整位姿标型，而非机构旋转。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "car_in_box_left",
+    "level": "new_code",
+    "source": "dyn.car_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(car,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
+   },
+   {
+    "atom": "electric_toothbrush_in_box_left",
+    "level": "new_code",
+    "source": "dyn.electric_toothbrush_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(electric_toothbrush,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
+   },
+   {
+    "atom": "hammer_in_box_left",
+    "level": "new_code",
+    "source": "dyn.hammer_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(hammer,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
+   },
+   {
+    "atom": "shoe_in_box_left",
+    "level": "new_code",
+    "source": "dyn.shoe_in_box_left: log the native conjunction of is_pointA_in_B_functional_bbox(shoe,box,box_bottom), item-to-box long-axis alignment <45deg in xy, and item front toward world -x <60deg in xy; inputs/task/privileged/instruction.md:42-55,79-87"
+   },
+   {
+    "atom": "box_upright_aligned",
+    "level": "new_code",
+    "source": "dyn.box_upright_aligned: log is_axis_up(box,+z)<15deg AND is_axis_aligned(box,+/-y,world +x)<40deg in 3D; inputs/task/privileged/instruction.md:56-63"
+   },
+   {
+    "atom": "both_arms_home",
+    "level": "new_code",
+    "source": "dyn.both_arms_home: log all_robot_back_to_origin using per-axis translation tolerance 0.15m and rotation <20deg; inputs/task/privileged/instruction.md:60-63"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "item_box_long_axis_error_xy",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better"
+  },
+  {
+   "name": "item_front_left_error_xy",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "box_up_axis_error_3d",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "box_long_axis_error_3d",
+   "unit": "deg",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_start_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有任何状态日志（inputs/states/index.json的logs为空），按P8所有节点的when及总success均为null；这里只能给出视频判据和待记录的原生检查量，不能进行状态回放的达成率或判决一致性验证。",
+  "输入提供了评分入口、会话封装与服务代码，但未提供底层任务检查、功能点和奖励管理器的实现；封装在重置时调用原生任务检查、每次动作后查询结束标志。各几何阈值及功能坐标的物理含义来自两种模式instruction.md的明确说明，尚不能逐行核对底层实现，箱底精确功能四角也不能从外观包围盒替代。",
+  "文本与验收的范围差异：装入箱子实际仅检查中心的水平投影，不检查高度、整体容纳、离手或静止；侧躺、越过箱沿或仍被夹持都可能通过。按N1采用文本的入箱语义命名，并在视频判据中按说明明示的原生检查判定，不添加整体入箱或松手要求；玩具车前端还须按初态朝右的资产端认定，不能只凭造型猜车头。",
+  "按S4(a)将开局已成立、每条合法路线都可保留的纸箱正放且对齐作为一个独立state，从初态计入进度；它是文本明确指定的箱体目标姿态，没有历史否决，不拆直立与对齐两个验收角度。按S4(b)双臂回初位默认放入总成功条件，不单列步骤，其数值容差已在各入箱节点的判据中说明。",
+  "模式共用同一物理任务检查且instance.json完全一致，但交付评分方式不同：特权模式一次新进程轨迹回放成功，标准模式实时回合成功且无基础设施错误。交付文件、回放初态哈希和服务健康不作为世界状态节点；无可绑定日志时总success保留null。",
+  "成功视频展示了先锤子、后牙刷、再车、最后鞋子的可行策略；该顺序以及车和鞋的换手过程均非任务必需。箱体姿态保持成立，最终部分物品被鞋遮挡；精确夹角及隐藏物体不能单凭末帧重新测得，需结合全过程和原生成功记录，不虚构视频测量阈值。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "文本明确给出四件入箱及姿态验收，初态文件和成功视频支持该分解，四件物品无必需顺序；但没有状态日志，底层任务检查实现也未随输入提供，阈值仅能引用任务说明，无法完成机器条件绑定及回放一致性核验。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四件物品入箱（各一步，朝左、沿长边、中心投影入箱底区域）加开局成立的箱体正放对齐state，双臂回初位放入总success，符合文本、S4与评分器；无状态日志故when/success为null并已在open_questions_zh说明，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['car_in_box_left', 'electric_toothbrush_in_box_left', 'hammer_in_box_left', 'shoe_in_box_left', 'box_upright_aligned']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:15:41Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__pack_objects_into_box/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__pack_objects_into_box/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "2ff39fc3fb9885f5f0f7d5745f0691cddcd4530da0ca1460a1f3d4ee0a5a6405",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-privileged--7dputps.json

@@ -0,0 +1,346 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-pack-objects-into-box-i00-privileged--7dputps",
+ "taskKey": "robodojo/pack_objects_into_box",
+ "dag_sha256": "f27cc6f200e87a6073d3129beea155d5ecadc584b55145f7148fc4bec2fcd4bd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "n_actions": 3712,
+   "sim_steps": 3712,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 1084.3,
+   "replay_timeout_s": 2684.8,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 1,
+   "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/robodojo-pack-objects-into-box-i00-privileged--7dputps/replay.mp4",
+  "duration_s": 154.75,
+  "fps": 12.0,
+  "frames": 1857,
+  "sha256": "9c269e86d6e659f1c9d5cd4aa684d991e2f5e0f90e0d0a5e3f7f232065f22551"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "car_in_box_left": {
+    "method": "visual",
+    "intervals": [
+     [
+      94.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 62.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.0 s 右夹爪已夹住并提起玩具车；视频约 76.0–80.0 s 车被放在桌面中部，右臂撤回，视频 88.0 s 左夹爪再夹起车。两臂先后工作，没有同时夹持车。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：视频 93.0–96.0 s 左夹爪将车送入纸箱前部，中心水平投影约在视频 94.5 s 进入箱底区域，长轴沿左右方向；按初态朝右的资产端跟踪，转向后的车头朝左。首次时刻估计误差约 1 s。"
+     },
+     {
+      "t": 116.0,
+      "log_step": null,
+      "text_zh": "观察：视频 116.0 s 车已离手，银色车身和黑顶留在箱内前部，原始桌面位置及中部交接位置均无车。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "推断：视频 153.5–154.667 s 车被鞋遮住；结合连续搬运过程未见其离箱，且评分器 reward.success=1、all_success=1，车末态位置及方向仍达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪先夹住车身、转向并把车放到桌面中部；右臂撤回后，左夹爪再夹住车身搬入纸箱。视频 62.0 s、视频 76.0–88.0 s 及视频 94.5–100.0 s 支持先后单夹爪抓握。"
+     }
+    ]
+   },
+   "electric_toothbrush_in_box_left": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0 s 左夹爪夹住白色牙刷柄并抬离原来位于箱左侧的桌面位置，随后在空中转向；视频 40.0 s 刷头已朝左、长轴近似沿箱体左右方向。"
+     },
+     {
+      "t": 43.5,
+      "log_step": null,
+      "text_zh": "推断：视频 42.0–45.0 s 左夹爪把牙刷送过箱前沿，中心水平投影约在视频 43.5 s 进入箱底区域；该任务允许仍夹持时达标。首次时刻因透视及夹爪遮挡估计误差约 1 s。"
+     },
+     {
+      "t": 62.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.0 s 牙刷已离手，白色刷柄横放在箱内前部，细刷头在左，原来箱左侧桌面位置已空。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "推断：视频 153.5–154.667 s 牙刷被鞋遮住；结合先前可见的入箱、未见取出以及评分器 reward.success=1，末态保持达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住牙刷柄，在空中转向并从箱前方送入后松开；视频 32.0 s 和视频 40.0–49.5 s 可见夹持与放置。"
+     }
+    ]
+   },
+   "hammer_in_box_left": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 左夹爪闭合夹住锤柄，视频 10.0–13.5 s 锤子��开桌面随夹爪转向，锤头由初态朝右转为朝左。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "推断：视频 14.0–16.0 s 左夹爪把横向锤子送过箱前沿，中心水平投影约在视频 14.5 s 进入箱底区域，锤头朝左；持物也计达标。受夹爪遮挡及透视影响，首次达标估计误差约 1 s。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0 s 左夹爪已转去抓牙刷，锤子留在箱内左前部；此后搬运车和鞋时未见锤子被取出。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "推断：视频 153.5–154.667 s 鞋遮住锤子，但全过程未见其出箱；inputs/run.json 的 reward.success=1、all_success=1、deterministic=1 支持锤子末态位置及朝向仍达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂平行二指夹爪夹住锤柄，抬起、转向并送入纸箱后张开；视频 6.0–19.5 s 可见这一单夹爪搬运过程。"
+     }
+    ]
+   },
+   "shoe_in_box_left": {
+    "method": "visual",
+    "intervals": [
+     [
+      146.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 116.0,
+      "log_step": null,
+      "text_zh": "观察：视频 116.0 s 右夹爪夹住鞋身并抬起，视频约 128.0 s 鞋留在桌面中部而右臂已撤开；视频 138.0 s 左夹爪再次夹起鞋。"
+     },
+     {
+      "t": 146.0,
+      "log_step": null,
+      "text_zh": "推断：视频 144.5–147.5 s 左夹爪把鞋从箱前沿向内送，中心水平投影约在视频 146.0 s 进入箱底区域，鞋尖朝左、长轴沿箱体长边；持物阶段可达标，首次时刻估计误差约 1 s。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "观察：视频 149.0 s 左夹爪已经张开并开始撤离；视频 153.5–154.667 s 鞋以鞋底朝上的姿态留在箱内前部、鞋尖朝左，两臂撤向起始位置。"
+     },
+     {
+      "t": 154.667,
+      "log_step": 124,
+      "text_zh": "推断：评分器 reward.success=1 且 log step 124 中两次独立回放均在同一 3,712 动作文件上成功；鞋的水平位置和朝向及双臂回初位通过原生验收。鞋底朝上不违反本 DAG 仅检查中心水平投影及水平朝向的条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪先夹鞋身，将鞋移到桌面中部并松开；右臂撤离后左夹爪再夹鞋身，抬起送入纸箱并张开。视频 116.0 s、视频 128.0–138.0 s、视频 144.5–149.0 s 可见这一先后抓握过程。"
+     }
+    ]
+   },
+   "box_upright_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 纸箱底部平放在桌面上，开口向上、左右两块外翻箱盖立起，箱体长边沿画面左右方向。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "观察：从全片粗采样及四次入箱密集帧到视频 154.667 s，纸箱始终开口向上、底部贴桌，长边保持左右方向；只见装箱时轻微平移，未见翻倒或显著偏航，也未见机器人专门扶箱或调整箱体。"
+     },
+     {
+      "t": 154.667,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.success=1 支持末态箱体竖直及长轴夹角同时在验收阈值内；因此保留初态起连续成立的区间，不将轻微平移判为姿态丢失。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "item_box_long_axis_error_xy",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "item_front_left_error_xy",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "box_up_axis_error_3d",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "box_long_axis_error_3d",
+   "unit": "deg",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "交付视频中机器人依次将锤子、牙刷、玩具车和鞋子朝左装箱，纸箱从初态持续正放，最终 5/5 节点成立；车与鞋经桌面中部中转，由两臂先后抓取，末段双臂撤回并获评分器成功判决。没有状态日志，四次首次达标时刻由视频估计、约有 1 s 误差��鞋在末段遮住其余物品，末态结合此前连续搬运及原生成功判决确认，六项原生数值指标均未由评分器报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个节点均为 true、box_upright_aligned 从 0 起算；抽查视频 13/16/42/46/93/97/144/148/154.5 s 与标签的入箱时刻（约 14.5/43.5/94.5/146 s）及先后单臂抓握一致，末帧鞋、其余物品在箱内，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": "2026-10-29T09:22:51Z",
+  "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/robodojo-pack-objects-into-box-i00-privileged--7dputps/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-pack-objects-into-box-i00-privileged--7dputps/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8d8589dedeb423ed9e65e31d15c0bf2882ee8265c8d8b14f0980144f209306f0",
+   "video_sha256": "9c269e86d6e659f1c9d5cd4aa684d991e2f5e0f90e0d0a5e3f7f232065f22551",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-standard--befg3kd.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-pack-objects-into-box-i00-standard--befg3kd",
+ "taskKey": "robodojo/pack_objects_into_box",
+ "dag_sha256": "f27cc6f200e87a6073d3129beea155d5ecadc584b55145f7148fc4bec2fcd4bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3906,
+   "sim_steps": 3906,
+   "physics_steps": 39060,
+   "steps": 1375,
+   "elapsed_s": 1575.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-pack-objects-into-box-i00-standard--befg3kd/replay.mp4",
+  "duration_s": 162.833,
+  "fps": 12.0,
+  "frames": 1954,
+  "sha256": "5cf8eb97e5d65102b9bd2d046daa76644efa87b5b97fa23b8351fc68f114590e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "car_in_box_left": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 玩具车位于纸箱右侧桌面；全片粗查及视频 128.0–162.75 s 的末段检查中，车一直留在箱外，没有随夹爪搬入。"
+     },
+     {
+      "t": 162.75,
+      "log_step": null,
+      "text_zh": "观察：视频 162.75 s 银色黑顶玩具车仍完整可见于纸箱右侧，中心投影明显在箱底区域之外。"
+     }
+    ]
+   },
+   "electric_toothbrush_in_box_left": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 131.0,
+      "log_step": null,
+      "text_zh": "观察：视频 130.5–133.5 s 左臂夹爪下降到箱左侧牙刷附近，碰拨牙刷后闭爪上抬，牙刷仍留在桌面，未随夹爪离开；没有搬至箱底投影区域。"
+     },
+     {
+      "t": 161.5,
+      "log_step": null,
+      "text_zh": "观察：视频 140.0–141.5 s、152.0–162.75 s 左臂反复在牙刷附近下降、闭爪，牙刷始终在箱外左侧；视频 162.0–162.75 s 的尾段亦无入箱。"
+     },
+     {
+      "t": null,
+      "log_step": 81,
+      "text_zh": "观察：log step 81 的脚本执行牙刷下降、闭爪和抬升，输出 opening L=0.185；log step 112、117 的再次下降闭爪输出均为 GRASP None。这些日志与视频中牙刷仍在桌面相符，不把闭爪读数或脚本中的搬运分支当作实际抓起。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 130.5–131.5 s 左臂二指夹爪下降时碰拨白色牙刷，牙刷在桌面小幅滑动；随后夹爪闭合、上抬，牙刷未被两指夹持带起。后续还有多次空夹，不记为已建立抓握。"
+     }
+    ]
+   },
+   "hammer_in_box_left": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 锤子横放在纸箱前方桌面；视频 2.0–17.5 s 纸箱受右臂碰动时锤子也发生位移，但没有被夹爪抓取搬入。"
+     },
+     {
+      "t": 162.75,
+      "log_step": null,
+      "text_zh": "观察：视频 162.75 s 木柄金属头锤子仍在纸箱前方桌面，中心明显不在箱底区域内。"
+     }
+    ]
+   },
+   "shoe_in_box_left": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色三黑纹运动鞋在纸箱右侧桌面；视频全片右臂虽多次在其附近运动，未见鞋随夹爪离桌或向箱内搬运。"
+     },
+     {
+      "t": 162.75,
+      "log_step": null,
+      "text_zh": "观察：视频 162.75 s 鞋仍在纸箱右侧箱外，中心投影未进入箱底区域。"
+     }
+    ]
+   },
+   "box_upright_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      10.8
+     ],
+     [
+      127.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 纸箱底部平放，开口向上，左右箱盖竖起，长边沿画面左右方向；视频 0.0–10.5 s 虽被推动平移、小幅转向，仍保持大致正放。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.75–11.5 s 右臂夹爪及腕部撞入纸箱一侧，箱体显著翻起并转向；视频 17.5 s 箱底已斜立，随后直到视频 126.5 s 的检查帧仍未正放。失去时刻按画面估计为视频约 10.8 s。"
+     },
+     {
+      "t": 127.5,
+      "log_step": null,
+      "text_zh": "观察：视频 126.5–127.5 s 左臂从纸箱左侧运动，碰动箱体后纸箱翻回底部着桌、开口向上；视频 128.0–162.75 s 一直保持该姿态，长边仅小幅偏离画面左右方向。恢复时刻取视频约 127.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.0–4.0 s、10.75–17.0 s 右臂夹爪及腕部先后碰推箱沿、箱壁并使箱体翻歪；视频 126.5–127.5 s 左臂夹爪从左侧碰动箱体，箱体随后翻回正放。两臂作用先后发生，未见合爪夹持纸箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "item_box_long_axis_error_xy",
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "item_front_left_error_xy",
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "box_up_axis_error_3d",
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "box_long_axis_error_3d",
+   "unit": "deg",
+   "threshold": 40,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_start_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "electric_toothbrush_in_box_left",
+   "t": 131.0,
+   "log_step": 81,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 130.5–133.5 s 左臂在箱外牙刷附近下降、碰拨、闭爪并抬起，牙刷没有随爪离桌；视频 140.0–162.75 s 的重试也未抓起或入箱。log step 81 记录首次牙刷下降闭爪抬升，log step 112、117 记录后续失败。较早被碰翻的纸箱在视频约 127.5 s 已恢复正放，牙刷入箱则始终未修复。"
+  },
+  "unmet": {
+   "car_in_box_left": false,
+   "electric_toothbrush_in_box_left": false,
+   "hammer_in_box_left": false,
+   "shoe_in_box_left": false,
+   "box_upright_aligned": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 131.0,
+    "log_step": 81,
+    "evidence_zh": "观察：视频 130.5–133.5 s 左臂夹爪接近并碰拨牙刷，但闭爪上抬时牙刷仍在桌面原区域；视频 140.0–141.5 s、152.0–162.75 s 再次开合夹爪仍未形成带起物体的夹持。这里缺少的是搬运所需的对向夹持接触，不能把单侧碰拨算作已抓住后掉落。"
+   }
+  ],
+  "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：抓取指向与指尖落点设计不适配是未能夹住牙刷的候选解释，但现有证据不能区分它与姿态执行偏差的贡献，不能将失败全部归于抓取设计。观察：log step 19 的 topdown_quat 将 tool-z 设为向下，log step 81 按指尖偏移 OFF=0.098 设置下降高度；视频 130.5–133.5 s 左臂夹爪侧向靠近、碰拨牙刷后空抬。agent 在 log step 88 自述开合轴选错，在 log step 98 改称指尖沿 tool-x 伸出并改写姿态；这些自述不单独证明几何错误。观察：log step 42、47 的 verify_reached 将 proprio 末端四元数与目标四元数比较；log step 110–112 的该脚本校验反复输出 dang=20.2deg MISMATCH，log step 112 最后两次下降为 21.4°、22.6°，对应位置误差增至 11.9 mm、23.3 mm，闭爪 opening 均为 0.185，最终 GRASP None。观察：log step 116 的白色点云筛选质心为 (-0.446,-0.109) 米，此前 log step 110–112 使用抓取点 (-0.49,-0.155) 米；log step 117 改用该质心后闭爪仍全部为 opening=0.185、GRASP None。推断：这两个平面点相差约 6.4 厘米，提示抓取落点也需核查；但抓取点原本选在柄端，点云质心又不是独立测得的物体真值，不能仅凭此距离证明抓取点已在牙刷外。姿态校验偏差提示轨迹/逆解或执行方面也可能参与失败，尚不能确认具体子类或其因果贡献。观察：oracle 视频约 6.0–12.0 s 左臂夹起牙刷并搬入箱内，仅验证存在可行替代抓法，不作为本次达成证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志，箱体姿态阈值的越界与恢复时刻由可见翻转估计，精度约半秒，无法给出原生角度或箱底功能点的精确数值；评分字段也未报告六项原生误差。牙刷附近部分指面被腕部遮挡，但前后帧足以确认未形成搬运夹持；日志中的具体指尖偏移、点云质心及姿态模型缺少独立几何测量；log step 110–112 的约 20°–22.6° 姿态校验偏差与抓取落点问题并存，不能区分抓取设计与姿态执行偏差对失败的贡献，也未排除轨迹或逆解、反馈控制方面的问题。agent 在 log step 118 自述“时间用完”，但 inputs/run.json 的 time_limit_s=3600、wall_s=1660，不能据此认定实际耗尽时限。"
+ },
+ "summary_zh": "观察：本次视频中四件物品均未入箱，纸箱正放从开局成立，在视频约 10.8 s 被右臂碰翻，又于视频约 127.5 s 恢复，最终节点为 1/5。推断：未修复的断点是牙刷入箱，左臂多次闭爪未建立可搬运的夹持；抓取设计仍是候选根因，但 log step 110–112 的约 20°–22.6° 姿态校验偏差及 log step 116–117 的落点调整使抓取设计与姿态执行偏差的贡献无法区分，因此 conf 从 7 降为 5。观察：无状态日志及原生几何误差，纸箱阈值时刻为目视估计；本任务按实时回合评分，log step 113 写出的脚本不等于另一次已执行成功的交付。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（节点值、纸箱 10.8 s 失去/127.5 s 恢复、牙刷断点）与视频一致，未发现节点/断点错误；只有根因证据没有处理 log 中同样明确的 20° 姿态执行偏差，且把 112 的读数都归入抓取设计，置信度偏高。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第 2 轮复核：节点值（仅箱体正放 1/5）、纸箱失去/恢复时刻、牙刷断点与视频一致；根因已按上轮意见改为带推断边界的候选解释，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:26:50Z",
+  "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/robodojo-pack-objects-into-box-i00-standard--befg3kd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-pack-objects-into-box-i00-standard--befg3kd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-pack-objects-into-box-i00-standard--befg3kd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robodojo-pack-objects-into-box-i00-standard--befg3kd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ccb7d7de23d11a80baa92a38b5a172e7360f2c8b2075aeea6b5cf9e0edad474a",
+   "video_sha256": "5cf8eb97e5d65102b9bd2d046daa76644efa87b5b97fa23b8351fc68f114590e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_laptop_and_headphones/task_dag.json

@@ -0,0 +1,281 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/store_laptop_and_headphones",
+ "suite": "robodojo",
+ "base": "robodojo-store-laptop-and-headphones-i00",
+ "title_zh": "收纳笔记本和耳机",
+ "summary_zh": "耳机按规定朝向挂在耳机架上，笔记本闭合并以前缘朝下、铰链朝上的姿态竖在收纳架内，同时双臂回到起始位姿容差内。",
+ "embodiment_zh": "两个模式均为桌面固定的双ARX X5六自由度机械臂，左右臂各装平行二指夹爪，无移动底盘；头部固定相机和左右腕部相机观察操作区。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-store-laptop-and-headphones-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "headphones_on_stand",
+    "zh": "耳机挂上架",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见黑色耳机头带拱在最左侧木色横梁上，两个耳罩向下分居横梁两端且左右不对调：头带中央内侧功能点与横梁承托点的三维距离小于0.05米、功能点朝向差小于30度，持握时满足这两项也计完成；头带偏离横梁、耳机平躺或反向即不成立或失去。整体成功还要求三个物体步骤在同一动作边界同时成立，且双臂末端各轴距起始位置不超过0.15米、朝向距起始朝向不超过20度；夹爪无需张开。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住耳机耳罩或头带，将头带移到木色横梁处。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪同时分别夹住耳机两侧，协同将头带挂到耳机架横梁。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:39-47",
+     "inputs/task/privileged/instruction.md:60-65",
+     "inputs/task/privileged/instruction.md:76-80",
+     "inputs/oracle/run.json:1，步骤202的CHECKS与功能点输出",
+     "inputs/oracle/replay.mp4:20s、137s"
+    ],
+    "conf": 6,
+    "note_zh": "悬挂用穿绕；搬运、转正和松手不另设节点。夹爪可仍夹住耳机，故关闭持物冻结；不把真实承托接触或静置时间加到点位与朝向检查上。"
+   },
+   {
+    "id": "laptop_closed",
+    "zh": "合上笔记本",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中银色屏幕盖合向键盘，打开的屏幕和键盘夹角消失或仅剩小缝：laptop_hinge的归一化关节位置严格大于0.85，即距完全闭合小于约16.5度；只压低一部分仍未完成，搬运时盖子重新张开到阈值外则失去。整体成功还要求三个物体步骤在同一动作边界同时成立，且双臂末端各轴距起始位置不超过0.15米、朝向距起始朝向不超过20度；夹爪无需张开。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "任一机械臂的夹爪或指面向下压笔记本屏幕盖，使盖子沿铰链合拢。",
+      "plan": 1
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住笔记本屏幕盖外缘，沿铰链转动盖子使其闭合。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:15",
+     "inputs/task/privileged/instruction.md:48-50",
+     "inputs/task/privileged/instruction.md:60-65",
+     "inputs/oracle/run.json:1，步骤202的HINGE及is_joint_position_above_ratio输出",
+     "inputs/oracle/replay.mp4:0s、40s"
+    ],
+    "conf": 6,
+    "note_zh": "初始屏幕打开，闭合是可暂停的独立机构状态，不能并入入架步骤。操作盖子或持着整机均可通过闭合检查，故关闭持物冻结。"
+   },
+   {
+    "id": "laptop_in_rack",
+    "zh": "笔记本竖直入架",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见银色笔记本竖在右侧小型收纳架的两块竖板之间，前缘朝下、铰链在上：机身局部正y轴距世界竖直向上方向在10度以内，前缘下侧的bottom功能点落入收纳架自身坐标系包围盒（长约13.7厘米、宽约5.3厘米、高约4.9厘米，边界容差0.000001米）；仅悬在架子上方、落在架外���平放或铰链朝下均未完成，偏离任一条件即失去，持握不妨碍判定。整体成功还要求三个物体步骤在同一动作边界同时成立，且双臂末端各轴距起始位置不超过0.15米、朝向距起始朝向不超过20度；夹爪无需张开。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "任一机械臂的二指夹爪夹住笔记本边缘，将整机竖起并将前缘降入收纳架。",
+      "plan": 1
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右二指夹爪同时夹住笔记本不同边缘，协同保持机身朝向并放入收纳架。",
+      "plan": 2
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:33-35",
+     "inputs/task/privileged/instruction.md:51-61",
+     "inputs/task/privileged/instruction.md:76-82",
+     "inputs/task/privileged/environment/instance.json:602-655",
+     "inputs/oracle/run.json:1，步骤202的is_axis_up与is_A_functional_point_in_B_bbox输出",
+     "inputs/oracle/replay.mp4:120s、137s"
+    ],
+    "conf": 6,
+    "note_zh": "竖直、铰链朝上和功能点入框是一次放入的验收，不另建翻转或对齐节点；闭合由laptop_closed单独计数。双臂换握只是可选策略中的连续操作，写入接触方案而不另建节点；无松手或静置检查，关闭持物冻结。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "headphones_on_stand",
+    "level": "new_code",
+    "source": "需逐帧记录dyn.headphones_on_stand：原生is_A_functional_point_close_to_B_functional_point(headset,stand,headband_bridge,support_cradle,threshold=0.05,is_align_qpos=True,align_qpos_threshold=30)；inputs/task/privileged/instruction.md:39-47"
+   },
+   {
+    "atom": "laptop_closed",
+    "level": "new_code",
+    "source": "需逐帧记录dyn.laptop_closed：原生is_joint_position_above_ratio(laptop,tag=laptop_hinge,percentage=0.85)；inputs/task/privileged/instruction.md:48-50"
+   },
+   {
+    "atom": "laptop_axis_up",
+    "level": "new_code",
+    "source": "需逐帧记录dyn.laptop_axis_up：原生is_axis_up(laptop,axis=[0,1,0],threshold=10)；inputs/task/privileged/instruction.md:51-54"
+   },
+   {
+    "atom": "laptop_bottom_in_rack",
+    "level": "new_code",
+    "source": "需逐帧记录dyn.laptop_bottom_in_rack：原生is_A_functional_point_in_B_bbox(laptop,vertical_laptop_storage_rack,bottom)；inputs/task/privileged/instruction.md:55-59"
+   },
+   {
+    "atom": "both_arms_home",
+    "level": "new_code",
+    "source": "需逐帧记录dyn.both_arms_home：原生all_robot_back_to_origin；inputs/task/privileged/instruction.md:60-61；仅参与整体成功，不建立节点"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "headband_bridge_to_support_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "headset_stand_frame_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "laptop_hinge_normalized_position",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "laptop_positive_y_to_world_up_angle",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "each_arm_origin_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "each_arm_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空，没有可安全绑定的逐帧字段；按DECISIONS.md P8，全部when及success为null，atoms的new_code只说明未来需记录的世界状态检查，不声称现有日志已含这些字段。",
+  "底层RoboDojo任务模块和完整功能检查实现未作为独立源码提供：包装器在inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:315-327动态加载外部任务，在364-371注册run_reward；当前阈值依据instruction.md:38-65的原生检查说明，并由oracle/run.json步骤202的五项CHECKS及成功奖励交叉核对，不能逐行复核未提供的实现。",
+  "文本先后表述与评分的边界（DECISIONS.md N1）：文本要求合盖后入架并最终归位，原生检查却只有同一动作边界的五项合取，没有阶段顺序或历史记忆；三个物体节点不添加文本列举顺序的边，闭合与入架分别计其结果，整体成功要求同时成立。",
+  "双臂返回初位按DECISIONS.md S4(b)放入整体成功，不设初始即可计分的节点；由于success为null，三个目标的criterion_zh均明确共同终态及归位容差。",
+  "验收与可见悬挂的边界：耳机只检查功能点距离与朝向，笔记本只检查关��、机身轴向和一个入框点，不检查真实承托、整个外形完全入槽、松手或静置；按原生检查接受持物状态，全部节点freeze_held=false，视频中的松手不升级为要求。",
+  "两个模式的物理成功核心相同，但特权模式由新进程重放所交轨迹判定（privileged/tests/grade.py:151-178），标准模式由服务实时回合的success且无基础设施故障和模拟错误判定（standard/tests/grade.py:39-47）；交付与基础设施有效性不构造世界状态节点或约束。",
+  "原生20分耳机、80分笔记本的部分分另要求夹爪张开，但instruction.md:81-82明确它不决定成功；不将该部分分或开爪条件写入节点和约束。",
+  "唯一可用oracle也是待标注运行（oracle.json的is_labelled_run=true，DECISIONS.md N2），没有独立状态重放证据；仅以其视频核对可见终态，不据其左臂先挂耳机、双臂换握等动作增加节点或边。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三个语义步骤由两模式相同文本明确给出，初始开盖及目标几何在场景和成功视频中相符，五项原生检查在oracle步骤202全部通过；但没有状态日志，且底层任务及检查器完整源码缺失，无法验证逐帧绑定和精确边界实现。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点（耳机挂架、合盖、笔记本竖入收纳架）与指令步骤一致；阈值与grader描述一致；双臂归位放入成功条件（success为null因无日志字段）；无状态日志，when为null且criterion_zh已写明；标签合理，开放问题已列出。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['headphones_on_stand', 'laptop_closed', 'laptop_in_rack']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:14:41Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_laptop_and_headphones/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_laptop_and_headphones/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "6b2e9bc7fe69197f153d5facc2fa93d94cf95b5a5da011b364c5dc1dd2987c9f",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--3rrpwj5.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-laptop-and-headphones-i00-privileged--3rrpwj5",
+ "taskKey": "robodojo/store_laptop_and_headphones",
+ "dag_sha256": "6810fe9937d83e8a2fa33772b2858d3768946876b27aad6ec003a1345c615c91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 3294,
+   "sim_steps": 3294,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 525.2,
+   "replay_timeout_s": 2517.6,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 1,
+   "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/robodojo-store-laptop-and-headphones-i00-privileged--3rrpwj5/replay.mp4",
+  "duration_s": 137.333,
+  "fps": 12.0,
+  "frames": 1648,
+  "sha256": "d892af650bda63d8559e14b48941371168a7a691c913ff074e97ad7aac362299"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "headphones_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色耳机平放在桌面中央偏前，最左侧木色耳机架为空。"
+     },
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "推断：视频 15.5–17.5 s，左臂夹住一侧耳罩，将头带中央降低到木色横梁上方很近处，耳罩朝下分居横梁两侧；约视频 16.5 s 进入目标距离与朝向范围，时间误差约半秒。此节点允许持握时达标。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–24.0 s，左夹爪松开并撤离，耳机留在木色横梁上；之后的全片粗查及视频 136.0–137.25 s 逐帧检查均见同一悬挂姿态，没有再被操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住耳机一侧耳罩，将耳机从桌面提起、转正并降向木色横梁，随后张爪撤离；右臂未参与挂耳机。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，笔记本屏幕立起，键盘可见；视频 30.0–39.5 s，右爪夹屏幕侧缘转动后，屏幕仍与键盘分开，尚未合盖。"
+     },
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "推断：视频 42.5–45.0 s 的密集帧显示右夹爪下压屏幕，视频 44.33–44.83 s 盖子接近键盘，只剩小缝；以视频 44.5 s 作为闭合阈值首次达到的近似时刻，误差约半秒。"
+     },
+     {
+      "t": 137.25,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0–93.0 s，笔记本保持合盖，右爪最终将整机提离黑色支架；视频 98.0–113.0 s 双臂换握及视频 116.0–137.25 s 翻转、入架和撤爪过程中，未见盖子重新张开。评分记录 reward.success=1、replay_success=1，支持闭合终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住屏幕右侧边缘，沿铰链方向转动盖子；这次边缘抓握只使屏幕部分折下。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右爪松开屏幕边缘后改变姿态，以夹爪指面向下按压屏幕盖，完成合拢。"
+     }
+    ]
+   },
+   "laptop_in_rack": {
+    "method": "visual",
+    "intervals": [
+     [
+      126.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 93.0,
+      "log_step": null,
+      "text_zh": "观察：视频 88.0–93.0 s，右夹爪抓住闭合笔记本边角，整机离开原来的黑色支架；视频 98.0–100.0 s 两爪同时夹持，视频 103.0–106.0 s 左爪单独保持，视频 109.0–111.0 s 右爪改抓另一边缘，随后左���松开。"
+     },
+     {
+      "t": 126.0,
+      "log_step": null,
+      "text_zh": "推断：视频 116.0–120.0 s，右爪把笔记本转为前缘向下、铰链在上的竖直姿态，随后移到右侧收纳架上方；视频 124.5–127.0 s 密集帧显示其前缘下降到两块竖板之间。约视频 126.0 s 下缘进入架内的验收范围，仍持握也可计完成；首次达标时间误差约半秒。"
+     },
+     {
+      "t": 137.25,
+      "log_step": null,
+      "text_zh": "观察：视频 128.0–132.0 s，笔记本进一步落座、右爪张开；视频 136.0–137.25 s 逐帧可见右爪已与笔记本分离并回撤，笔记本保持闭合且竖在收纳架内，耳机也保持挂架。评分记录 reward.all_success=1、replay_success=1。"
+     },
+     {
+      "t": null,
+      "log_step": 227,
+      "text_zh": "观察：log step 205 启动所交 trajectory.npz 的新进程重放，log step 227 返回 n_actions=3294、instance_exact=true、all_success=true，重放 end_reason 为 success；这是所交动作文件的验证结果，未用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 76.0–83.0 s，右夹爪的指部接触笔记本边缘并使机身在黑色支架上转动，为后续抓取露出边角。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住笔记本边角并提离支架；换握时左二指夹爪曾独自夹持前缘，随后右爪夹住靠铰链的边缘，独自将整机竖起、移到右侧收纳架并下降入架，最后松开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 98.0–100.0 s 和视频 109.0–111.0 s，两臂的二指夹爪分别夹住笔记本不同边缘，同时保持整机以完成换握；每个夹爪各自夹住边缘，并非双臂从外侧挤压。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "headband_bridge_to_support_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "headset_stand_frame_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "laptop_hinge_normalized_position",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "laptop_positive_y_to_world_up_angle",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "each_arm_origin_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "each_arm_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付重放成功：左爪将耳机挂架，右爪折盖后按压闭合笔记本，再经双臂换握将整机竖直放入右侧收纳架，三个节点分别约在视频 16.5 s、44.5 s、126.0 s 达到并保持至结束。视频 136.0–137.25 s 可见放置后的稳定终态和右臂回撤，评分器确认重放成功。无状态日志且参考视频就是本次运行，功能点与角度阈值的首次越界时间只能由画面近似判断；评分字段未报告六项原生指标的数值，因此均保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点的时间（约16.5/44.5/126 s）与抽查帧一致，接触标签合理，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": "2026-10-29T09:20:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--3rrpwj5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--3rrpwj5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4c3d6b3382c0987895270928b89b1a9007f727e5a09c93ce750e186e3ae70af",
+   "video_sha256": "d892af650bda63d8559e14b48941371168a7a691c913ff074e97ad7aac362299",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--vtnpkzy.json

@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-laptop-and-headphones-i00-privileged--vtnpkzy",
+ "taskKey": "robodojo/store_laptop_and_headphones",
+ "dag_sha256": "6810fe9937d83e8a2fa33772b2858d3768946876b27aad6ec003a1345c615c91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 30,
+   "sim_steps": 30,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 105.5,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-store-laptop-and-headphones-i00-privileged--vtnpkzy/replay.mp4",
+  "duration_s": 1.333,
+  "fps": 12.0,
+  "frames": 16,
+  "sha256": "7de79722909da9b6feb674700d80820b74235d73389a24585dd01bafbf0b121a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "headphones_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.25,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.000–1.250 s 的全部16帧，黑色耳机始终平躺在桌面前右侧，最左侧木色横梁始终空着；双臂夹爪未接近或拿起耳机。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.25,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000–1.250 s 的全部16帧中，中央银色笔记本始终留在黑色支架上，屏幕明显张开，屏幕与键盘的夹角未消失；双臂未接触屏幕盖。"
+     }
+    ]
+   },
+   "laptop_in_rack": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.25,
+      "log_step": null,
+      "text_zh": "观察：视频 0.000–1.250 s 的全部16帧中，笔记本始终平放在中央黑色支架上，右侧小型收纳架的两块竖板之间始终为空，没有竖起或搬运笔记本的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "headband_bridge_to_support_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "headset_stand_frame_angle",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "laptop_hinge_normalized_position",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "laptop_positive_y_to_world_up_angle",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "each_arm_origin_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "each_arm_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "headphones_on_stand",
+   "t": 0.0,
+   "log_step": 39,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.000–1.250 s 全部16帧中，双臂维持初始位姿，耳机未离开桌面；log step 39 明确写入30行备用动作，所有臂关节目标为0、两个夹爪目标为张开，评分器报告 n_actions=30。推断：评分重放的是这条保持初态的备用轨迹，任务首先要求的挂耳机操作从未启动。"
+  },
+  "unmet": {
+   "headphones_on_stand": false,
+   "laptop_closed": false,
+   "laptop_in_rack": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 39,
+    "evidence_zh": "观察：视频 0.000–1.250 s 中机器人双臂始终停在初始位置，未伸向耳机或执行抓取，耳机一直在桌面原处；log step 39 保存的备用文件仅含30行保持初始关节目标的动作。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本运行没有状态日志，评分器未报告DAG所列六项原生几何指标。log step 42 ��录会话中的挂耳机脚本在首次 set_gripper 调用处因 p 为 Prim 对象而抛出 TypeError；log step 44 随后写入重新取得 primitives 的修正版，但截至最后的 log step 45 没有其执行结果或新轨迹保存确认，亦无最终文字报告。推断：可以确认评分轨迹没有启动操作，但不能把会话中的已修改脚本异常直接认定为最终备用轨迹未被替换的根因，故根因层留空；会话计划与脚本不计入节点进度。"
+ },
+ "summary_zh": "评分轨迹始终保持初始场景，耳机未挂架、笔记本未合盖且未竖直入架，最终进度为0/3。断点为“耳机挂上架”的首步前，现象为没尝试；log step 39 写出的30步备用轨迹与视频 0.000–1.250 s 的静止画面一致。会话曾有控制脚本异常，后续修正版没有执行或保存结果，无法确定最终未替换备用轨迹的根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分轨迹为30行全零备用动作，视频 0–1.25 s 画面静止，三个节点均未达成，进度 0/3；断点首步前 + 没尝试，根因层留空并写明 gap（会话脚本 log step 42 的 TypeError 与 step 44/45 未验证的修正均与文件所述一致），符合 03 的“因 agent 侧原因未交付则留空”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": "2026-10-29T09:17:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--vtnpkzy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--vtnpkzy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8eaa1bf59f3a6514efea5dd98371c3e18613e23600b02184b5472dd7335637a",
+   "video_sha256": "7de79722909da9b6feb674700d80820b74235d73389a24585dd01bafbf0b121a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_laptop_and_headphones_random/task_dag.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/store_laptop_and_headphones_random",
+ "suite": "robodojo",
+ "base": "robodojo-store-laptop-and-headphones-random-i00",
+ "title_zh": "收纳电脑与耳机",
+ "summary_zh": "耳机按指定朝向挂在耳机架上、电脑合盖且以前缘朝下铰链朝上竖放入收纳架，并在同一动作边界双臂末端回到起始位姿容差内。",
+ "embodiment_zh": "两种模式均为桌边固定基座的两条 ARX X5 六关节机械臂，左右臂各装平行二指夹爪，无移动底盘；提供头部相机和左右腕部相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-store-laptop-and-headphones-random-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "optional": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "headset_on_stand",
+    "zh": "耳机挂上架",
+    "criterion_zh": "头部相机中，左侧木色弧形挂杆位于红色耳机头梁内侧中央，头梁朝上、两耳罩分挂两端且左右不颠倒；验收为 headband_bridge 到 support_cradle 的三维距离小于 0.05 m，耳机与架的整体朝向误差在 30 度内。耳机仍平躺、反挂、偏离挂杆或方向超限均未完成或失去本步；最终须与电脑合盖、竖放入架及双臂归位同时成立。",
+    "step": {
+     "cat": "关系",
+     "item": "穿绕"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪夹住耳机头梁或耳罩，将头梁移到耳机架挂杆上。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左右二指夹爪分别抓住耳机两侧，配合调整头梁方向并挂到挂杆上。"
+     }
+    ],
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12",
+     "inputs/task/privileged/instruction.md:28-49",
+     "inputs/task/privileged/instruction.md:65-84",
+     "inputs/task/privileged/environment/instance.json:666-720"
+    ],
+    "note_zh": "挂在弧形挂杆上按关系·穿绕标注；抓取、抬起和转向属于挂放过程。检查不要求实际接触、离手、静止或额外保持时间，持物状态也可满足几何条件，故关闭持物冻结。"
+   },
+   {
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "optional": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "laptop_closed",
+    "zh": "合上电脑",
+    "criterion_zh": "中央黑色托架上的深灰色电脑屏幕向键盘合拢，盖与底座夹角小于约 16.5 度，准确验收为 laptop_hinge 从全开到全闭的归一化位置大于 0.85。盖仍明显张开即未完成，再张开越过阈值即失去；最终须与耳机挂好、电脑竖放入架及双臂归位同时成立。",
+    "step": {
+     "cat": "机构",
+     "item": "关上"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "一侧夹爪抵住电脑屏幕盖外侧，推动盖绕铰链合拢。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "一侧二指夹爪抓住电脑盖边缘，带动盖绕铰链合拢。"
+     }
+    ],
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-15",
+     "inputs/task/privileged/instruction.md:50-52",
+     "inputs/task/privileged/instruction.md:65-84"
+    ],
+    "note_zh": "初始铰链比例约 0.01，合盖是一项可停留后继续操作的独立机构状态；不与入架步骤重复绑定。夹爪仍接触盖时也能完成合盖，故关闭持物冻结。"
+   },
+   {
+    "level": "semantic",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "optional": false,
+    "verify_zh": null,
+    "conf": 6,
+    "id": "laptop_upright_in_rack",
+    "zh": "电脑竖放入架",
+    "criterion_zh": "右侧窄架中可见电脑以前缘朝下、铰链朝上站立：电脑局部 +y 轴距世界竖直向上在 10 度内，底面前缘中央 bottom 功能点落入架自身坐标系包围盒（沿长边距中心不超过约 6.85 cm、横向约 2.65 cm、高度在桌面至约 4.9 cm，容差 1e-6 m，以实际包围盒为准）。电脑躺放、铰链朝下或该点离开架盒即未完成或失去；整体成功还须耳机挂好、电脑合盖，并在同一动作边界两臂末端各轴距初始位置不超过 0.15 m、朝向差在 20 度内，夹爪无须张开，且不另要求静止或保持。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一侧二指夹爪抓住电脑边缘，竖起电脑并把前缘放进右侧收纳架。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左右二指夹爪分别抓住电脑两侧，协作竖起电脑并把前缘放进收纳架。"
+     }
+    ],
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-17",
+     "inputs/task/privileged/instruction.md:35-37",
+     "inputs/task/privileged/instruction.md:53-84",
+     "inputs/task/privileged/environment/instance.json:831-885"
+    ],
+    "note_zh": "竖起、朝向和入槽深度共同接受这一步，不另建调整位姿节点；合盖条件由 laptop_closed 单独承担。检查只看轴向与一个功能点入盒，不要求整机轮廓落入架内，也不检查键盘面朝左还是朝右；允许持物满足条件，故关闭持物冻结。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "headset_on_stand",
+    "level": "new_code",
+    "source": "需按动作边界记录 dyn.headset_bridge_cradle_distance_m 与 dyn.headset_stand_rotation_error_deg；原生检查名见 inputs/task/privileged/instruction.md:41-49。"
+   },
+   {
+    "atom": "laptop_closed",
+    "level": "new_code",
+    "source": "需记录 dyn.laptop_hinge_ratio（从全开到全闭）；原生 is_joint_position_above_ratio 的说明见 inputs/task/privileged/instruction.md:50-52。"
+   },
+   {
+    "atom": "laptop_upright_in_rack",
+    "level": "new_code",
+    "source": "需记录 dyn.laptop_y_up_error_deg 与 dyn.laptop_bottom_in_rack_bbox，或功能点与架实际包围盒；原生 is_axis_up 和 is_A_functional_point_in_B_bbox 的说明见 inputs/task/privileged/instruction.md:53-61。"
+   },
+   {
+    "atom": "arms_at_origin",
+    "level": "new_code",
+    "source": "需记录每臂末端相对起始位置的各轴误差和朝向误差，或原生 all_robot_back_to_origin 布尔值；见 inputs/task/privileged/instruction.md:62-67。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "headset_bridge_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "headset_stand_rotation_error",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "laptop_hinge_ratio",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "laptop_y_up_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_origin_max_coordinate_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_origin_rotation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "没有成功示范：inputs/oracle_none.txt 说明 16 次目录运行均未成功，且无参考解脚本；本 DAG 依据任务文本、冻结初始实例与评分封装规划，视觉线索来自说明中的物体描述而非成功视频（暂行：DECISIONS.md N2、N8）。",
+  "inputs/states/index.json 的 logs 为空；所有节点 when 及整体 success 均为 null，尚不能检验成功覆盖或与评分器逐帧一致性，atoms 仅列需补记的世界状态（暂行：DECISIONS.md P8）。",
+  "评分源码缺口：输入中的 rcb_robodojo.py:316-341 动态加载上游任务与奖励管理器，但输入未附 store_laptop_and_headphones_random 任务模块或奖励检查实现；距离、角度、功能点、包围盒与归位阈值引用两模式 instruction.md 的成功说明，未能独立核对具体边界比较符和铰链初值。README.md 的 Verification 说明这些成功描述来自上游代码。",
+  "文本顺序与验收差异：任务说先挂耳机、合盖再把合上的电脑入架；两模式说明均指五个条件在单一阶段同时检查，无历史顺序。耳机与电脑操作独立，输入也不能证明入架前必须合盖，故不增加强制顺序边；合盖与入架保持各自独立状态，避免把一个有效路线排除（规则 4；inputs/task/privileged/instruction.md:65-82）。",
+  "双臂回起始位姿按 DECISIONS.md S4(b) 放在整体成功验收，不单列节点；成功还要求两臂每个位置坐标误差不超过 0.15 m 且朝向差在 20 度内，这些条件已在入架节点视频判据与摘要中列明。",
+  "两模式任务几何验收相同且冻结 instance.json 内容一致；privileged 评分交付轨迹的一次新进程回放，standard 评分服务的实时单回合。交付格式、实例匹配与基础设施有效性不作为语义节点或世界状态条件（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:94-98,132-178；inputs/grader/efe_robodojo-files/standard/tests/grade.py:1-15,39-42）。",
+  "部分分数（耳机 20、合盖且竖放入架的电脑 80，均另看夹爪张开）不决定成功，因此不把分数或张爪要求加入节点、success 或约束；说明未给保持或静置窗口，hold_s 设为 0（inputs/task/privileged/instruction.md:65-84）。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "三个语义步骤与两模式任务描述一致，初始物体位姿和共同验收说明明确；但无成功视频、无状态日志，且缺上游任务和检查函数源码，所有绑定与精确边界均无法独立验证。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点（耳机挂架、合盖、竖放入架）与任务文本及评分说明一致；双臂归位按 S4(b) 放入整体成功，无习惯边，freeze_held 已关闭，无日志时 when 为 null 符合规则，open_questions_zh 已记录评分源码缺口和无示范。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['headset_on_stand', 'laptop_closed', 'laptop_upright_in_rack']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:14:42Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_laptop_and_headphones_random/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_laptop_and_headphones_random/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "17ac52986a45e6e7ebc124a17f0e93263772ed0d87ab1dabcfced48e1139642e",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--woc2dvk.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-laptop-and-headphones-random-i00-privileged--woc2dvk",
+ "taskKey": "robodojo/store_laptop_and_headphones_random",
+ "dag_sha256": "80a660120ae97c94687e51083f563bb48dfee18b1c8ce5f644769bc5fc767884",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 755,
+   "sim_steps": 755,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 258.9,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 2,
+   "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/robodojo-store-laptop-and-headphones-random-i00-privileged--woc2dvk/replay.mp4",
+  "duration_s": 31.5,
+  "fps": 12.0,
+  "frames": 378,
+  "sha256": "90ba7af8ea5eb01da4c8733393dce868977645b77c519f9c9cf78bf48482b8ae"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "headset_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色耳机在桌面中央，左侧木色挂杆上没有耳机。"
+     },
+     {
+      "t": 7.33,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–6.25 s，左夹爪夹住耳机头梁并将其抬离桌面；视频 6.5–7.25 s，耳机侧转悬在挂杆附近，两耳罩上下相对，头梁未朝上套正挂杆。视频 7.33–7.58 s，左夹爪松开后耳机落到架右侧。"
+     },
+     {
+      "t": 31.417,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–31.42 s，耳机留在挂杆右侧的桌面上，机器人未重新抓取；末帧挂杆没有位于头梁内侧中央。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住红色耳机头梁，抬起并转动耳机，随后在未挂正时松开；右臂没有参与此步。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，电脑在中央黑色托架上，屏幕与键盘明显张开。"
+     },
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.75–16.5 s，右夹爪抵碰电脑并使整机翻转、向右移动，屏幕与键盘始终明显分开，没有合拢到近乎贴合的状态。"
+     },
+     {
+      "t": 31.417,
+      "log_step": null,
+      "text_zh": "观察：视频 19.5–23.5 s 及视频 29.5–31.42 s，电脑的屏幕和键盘均清楚可见，仍呈明显张开的夹角；未见达到合盖判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右侧夹爪抵碰电脑，推动并翻动整机；此段未见二指夹住电脑盖边缘。"
+     }
+    ]
+   },
+   "laptop_upright_in_rack": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，电脑平放在中央黑色托架上，右侧窄收纳架为空。"
+     },
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–23.5 s，右夹爪在电脑左前方执行闭合和抬升动作，电脑仍停在右侧原处，没有随夹爪抬起；不能据脚本的抓取动作认定已抓住电脑。"
+     },
+     {
+      "t": 25.25,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–25.25 s，右夹爪转向窄架时又抵碰电脑，电脑被推转到架旁；视频 25.25–29.0 s，键盘底座仍明显倾斜，没有以前缘朝下、铰链朝上竖直站入窄架。"
+     },
+     {
+      "t": 31.417,
+      "log_step": null,
+      "text_zh": "观察：视频 29.5–31.42 s，右夹爪退回后，电脑保持张开并斜靠在窄架旁，未呈现前缘入槽且机身竖直的姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右侧夹爪先在电脑左前方空夹并抬升，随后转向窄架时抵碰、推转张开的电脑；未观察到夹住并搬起电脑的抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "headset_bridge_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "headset_stand_rotation_error",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "laptop_hinge_ratio",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "laptop_y_up_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_origin_max_coordinate_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_origin_rotation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "headset_on_stand",
+   "t": 7.33,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.17–7.58 s，左夹爪在耳机侧转、头梁未对正木色挂杆时松开，耳机掉落到架右侧桌面；视频 8.0–31.42 s 再无耳机补救动作。这是机器人最先尝试而始终没有完成的节点。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.33,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.5–7.25 s，左夹爪中的耳机两耳罩上下相对，头梁未朝上套正挂杆；视频 7.33–7.58 s，耳机在此偏位姿态脱离夹爪并落到架右侧。推断：松手前挂放位置和朝向尚未满足目标，属于位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 3.5–6.25 s 显示左夹爪已能夹住并抬起耳机，但视频 6.5–7.58 s 的挂放动作未将头梁转正、对准挂杆，仍在偏位状态松开，说明挂放动作的位姿控制未实现目标；证据只支持控制这一层级。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范；头部视角可判定三个节点均未达成，但不能量出功能点距离、精确姿态角和入架包围盒坐标。日志中的交付生成脚本（log step 347）中段被截短，缺少该段的逐步逆解误差、目标与实测位姿，无法进一步区分抓取几何、逆解或跟踪问题；log step 423 中后续独立诊断的合盖成功不属于本次评分视频。评分器未报告 DAG 所列的六项原生指标数值。",
+  "unmet": {
+   "headset_on_stand": false,
+   "laptop_closed": false,
+   "laptop_upright_in_rack": false
+  }
+ },
+ "summary_zh": "评分轨迹中，机器人夹起并转动耳机，但在视频约 7.33 s 未对正挂杆便松开，耳机落到架旁且未再补救；首个失败节点为耳机挂上架，现象是位姿不准，根因保留到控制层级。右夹爪随后推动电脑，合盖未完成，入架阶段空夹后又推碰电脑，末尾电脑仍张开斜靠架旁，最终三个节点均未达成。没有状态日志，精确几何误差与控制子类无法确认；后续会话诊断未作为评分轨迹进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频帧：耳机被左夹爪抬起、约 7.3 s 在偏位姿态松开落在桌面，之后无补救；电脑全程张开，三个节点均未达成，与标注一致。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": "2026-10-29T09:20:27Z",
+  "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/robodojo-store-laptop-and-headphones-random-i00-privileged--woc2dvk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-privileged--woc2dvk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e8a6571746d536498b647dccc79b816434d21810e061a2c4e2bb2b06fde5cae",
+   "video_sha256": "90ba7af8ea5eb01da4c8733393dce868977645b77c519f9c9cf78bf48482b8ae",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-standard--cs2dfbq.json

@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-laptop-and-headphones-random-i00-standard--cs2dfbq",
+ "taskKey": "robodojo/store_laptop_and_headphones_random",
+ "dag_sha256": "80a660120ae97c94687e51083f563bb48dfee18b1c8ce5f644769bc5fc767884",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "state_identical": 0,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3216,
+   "sim_steps": 3216,
+   "physics_steps": 32160,
+   "steps": 3054,
+   "elapsed_s": 2030.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "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/robodojo-store-laptop-and-headphones-random-i00-standard--cs2dfbq/replay.mp4",
+  "duration_s": 134.083,
+  "fps": 12.0,
+  "frames": 1609,
+  "sha256": "52da287a0f5569acf1eb987b2b8147bd2d338ca5dd5ed45f1305d4311465c04c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "headset_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": 24,
+      "text_zh": "观察：视频 2.5–4.5 s，机器人左夹爪夹住耳机头梁一侧并将整副耳机提离桌面，原处已空；这是实际抓握。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5–10.5 s，左夹爪带耳机下放到木色挂杆处，耳罩抵在挂杆上方，头梁未套在挂杆中央，两耳罩也未分挂两端；视频 10.75–12.0 s，松爪后的耳机翻落至电脑前方桌面。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–22.0 s，机器人左夹爪再次下探并抬起、转向，但红色耳机始终留在电脑前方桌面；视频 30–69 s 的后续动作也未把耳机带上架。"
+     },
+     {
+      "t": 134.0,
+      "log_step": null,
+      "text_zh": "观察：视频 133.0–134.0 s，耳机仍在电脑原托架前方，左侧挂杆为空；全片未见满足头梁居中、耳罩分挂两端的挂放姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.5–10.5 s，机器人左侧二指夹爪夹住耳机头梁一侧，提起、旋转并下放至耳机架；随后张爪，耳机翻落。后续空夹动作未形成新的有效抓握。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      100.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，电脑在中央黑色托架上明显开盖，屏幕与键盘均可见。"
+     },
+     {
+      "t": 100.0,
+      "log_step": null,
+      "text_zh": "观察：视频 94.0–100.0 s，机器人右夹爪继续推动屏幕向键盘合拢；视频约 100.0 s 起可见带黑色标记的灰色盖面贴近底座，屏幕内侧不再朝向相机，视频 102.5 s 右臂退出后仍合盖。合盖阈值的视觉定位误差约 0.5 s。"
+     },
+     {
+      "t": 134.0,
+      "log_step": null,
+      "text_zh": "观察：视频 118.0–134.0 s，电脑虽被推移、转动并滑离原托架，盖与底座仍贴合；视频 134.0 s 末帧保持合盖。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 72–100 s，机器人右夹爪指端从屏幕后侧抵住盖缘，反复沿弧线推动电脑盖合拢，未见两指夹住屏幕形成抓握。"
+     }
+    ]
+   },
+   "laptop_upright_in_rack": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 105.0,
+      "log_step": null,
+      "text_zh": "观察：视频 105–118 s，机器人右夹爪推动合盖电脑向机器人一侧滑出中央黑色托架；电脑保持接近平躺，���侧木色窄收纳架未装入电脑。"
+     },
+     {
+      "t": 129.5,
+      "log_step": null,
+      "text_zh": "观察：视频 120–126.5 s，右夹爪在电脑前缘附近反复闭合；视频 127.5–130.0 s 电脑被带动转斜、滑到桌上，未被搬至右侧收纳架。"
+     },
+     {
+      "t": 134.0,
+      "log_step": null,
+      "text_zh": "观察：视频 133.0–134.0 s，两臂退出至桌前，合盖电脑斜躺在耳机前方桌面，右侧窄架为空；未形成前缘向下、铰链朝上的竖直入架姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 105–118 s，机器人右夹爪指端将合盖电脑推向桌前；视频 120–130 s 夹爪在前缘闭合并带动电脑转斜、滑移，未见稳定的对向夹持和离桌搬运，实际可确认的接触为推移。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "headset_bridge_cradle_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "headset_stand_rotation_error",
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "laptop_hinge_ratio",
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "laptop_y_up_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_origin_max_coordinate_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_origin_rotation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "headset_on_stand",
+   "t": 9.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.5–10.5 s，机器人左夹爪下放耳机时，耳罩抵住木色挂杆上面，头梁未套到挂杆中央；视频 10.75–12.0 s，耳机翻落桌面。机器人后续重试未将其重新挂好，视频 134.0 s 挂杆仍为空，这是最早发生且一直未修复的步骤失败。"
+  },
+  "unmet": {
+   "headset_on_stand": false,
+   "laptop_closed": true,
+   "laptop_upright_in_rack": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 9.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.5–10.5 s，机器人左夹爪向下放耳机时，较低的耳罩先抵在木色挂杆顶面，耳机随继续下放发生偏转，头梁没有越过挂杆形成挂放；视频 10.75–12.0 s 松爪后整副耳机翻落桌面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 3.5–4.5 s 显示机器人左夹爪只夹持头梁一侧，视频 8.5–10.5 s 的持物朝向使耳罩先于头梁内侧接触挂杆，阻碍挂杆进入头梁中央；该夹持与挂放接触布局未适配目标几何。视频未验证另一种握法能成功，故可行替代为未知。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整视频和运行日志，但无状态日志与成功参考视频；评分器未报告 DAG 列出的六项原生几何指标，无法数值核对距离、角度及铰链阈值。run.json 的 deterministic=0、live_matches_replay=0；agent 在 log step 101 自述后续曾再次持起耳机，但视频 15.5–69 s 显示耳机留在桌面，故节点与失败现象以视频为准，不从日志中的实时尝试补记进度。"
+ },
+ "summary_zh": "观察：评分视频中仅“合上电脑”完成，约在视频 100.0 s 达标并保持到视频 134.0 s；耳机未挂好，电脑也未竖放入架，最终为 1/3。推断：最早未修复的断点为“耳机挂上架”，单侧持物的挂放布局使耳罩先抵住挂杆，松爪后耳机翻落。观察：无状态日志且 live_matches_replay=0，实时日志自述与视频不一致处均按视频标注，几何阈值只能视觉估计。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点的取值、时间与视频一致：合盖约 100 s 达成并保持，耳机未挂上（约 10.75 s 翻落桌面）、电脑未入架；断点在耳机挂架，现象“被挡/碰撞”有挂杆顶住耳罩的画面支持，根因为推断且已标注替代未知。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": "2026-10-29T09:20:04Z",
+  "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/robodojo-store-laptop-and-headphones-random-i00-standard--cs2dfbq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-standard--cs2dfbq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bea241e39330bb7a849131caa388dc41d5f20be745811623b01b749734e61172",
+   "video_sha256": "52da287a0f5569acf1eb987b2b8147bd2d338ca5dd5ed45f1305d4311465c04c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_tools_in_toolbox/task_dag.json

@@ -0,0 +1,424 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/store_tools_in_toolbox",
+ "suite": "robodojo",
+ "base": "robodojo-store-tools-in-toolbox-i00",
+ "title_zh": "工具收入工具箱",
+ "summary_zh": "锤子、钳子、卷尺和扳手分别以规定朝向完整位于工具箱各自槽位内，且双臂末端同时回到起始位姿容差范围。",
+ "embodiment_zh": "两种模式均为桌边固定安装的双ARX X5六关节机械臂，每臂末端为平行二指夹爪，无移动底盘；工具箱固定，左右臂可按可达性操作工具。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-store-tools-in-toolbox-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "hammer_in_slot",
+    "zh": "锤子入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见银色羊角锤、深色手柄落在青绿色工具箱的箱内左侧长凹槽，锤头朝远端、手柄朝机器人，保持初始面朝上；其被测中心到对应hammer_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一只可达机械臂的二指夹爪夹住锤子本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位",
+     "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收",
+     "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向",
+     "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口",
+     "inputs/task/privileged/environment/instance.json:401-455 工具初态在箱外",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查",
+     "inputs/oracle/replay.mp4 @ 40、60 s 槽位及可见完成形态"
+    ],
+    "conf": 6,
+    "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。"
+   },
+   {
+    "id": "pliers_in_slot",
+    "zh": "钳子入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见黄黑柄钳子落在青绿色工具箱的箱内右侧、卷尺前方的凹槽，钳口朝远端、双柄朝机器人；允许初始面或绕长轴翻转180°后的另一面朝上；其被测中心到对应pliers_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一只可达机械臂的二指夹爪夹住钳子本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位",
+     "inputs/task/privileged/instruction.md:55-59,65-68 槽点距离、姿态及箱体包容验收",
+     "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向",
+     "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口",
+     "inputs/task/privileged/environment/instance.json:456-510 工具初态在箱外",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查",
+     "inputs/oracle/replay.mp4 @ 200、220、236.2 s 槽位及可见完成形态"
+    ],
+    "conf": 6,
+    "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬���不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。"
+   },
+   {
+    "id": "tape_measure_in_slot",
+    "zh": "卷尺入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见黄色圆形卷尺落在青绿色工具箱的箱内右后角的凹槽，保持与初态相同的圆面朝上及转向；其被测中心到对应tape_measure_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一只可达机械臂的二指夹爪夹住卷尺本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位",
+     "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收",
+     "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向",
+     "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口",
+     "inputs/task/privileged/environment/instance.json:511-565 工具初态在箱外",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查",
+     "inputs/oracle/replay.mp4 @ 140、160 s 槽位及可见完成形态"
+    ],
+    "conf": 6,
+    "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。"
+   },
+   {
+    "id": "wrench_in_slot",
+    "zh": "扳手入槽",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机可见黑柄活动扳手落在青绿色工具箱的箱内中间长凹槽，扳手钳口朝远端、手柄朝机器人，保持初始面朝上；其被测中心到对应wrench_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "一只可达机械臂的二指夹爪夹住扳手本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位",
+     "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收",
+     "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向",
+     "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口",
+     "inputs/task/privileged/environment/instance.json:566-620 工具初态在箱外",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查",
+     "inputs/oracle/replay.mp4 @ 20、40 s 槽位及可见完成形态"
+    ],
+    "conf": 6,
+    "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。"
+   },
+   {
+    "id": "arms_home",
+    "zh": "双臂回初位",
+    "mode": "final",
+    "when": null,
+    "after": [
+     "hammer_in_slot",
+     "pliers_in_slot",
+     "tape_measure_in_slot",
+     "wrench_in_slot"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "四件工具均已按各自入槽判据达标后，头部相机可见两只机械臂末端退回桌面两侧的起始区域；以开局位姿为参照，每臂末端在x、y、z各轴的位置偏差均在0.15米以内、三维姿态误差在20°以内，夹爪不必张开，四件工具须在同一动作边界仍同时达标。任一臂未回到上述容差范围即未完成；开局归位或工具尚未全部达标时经过初位不计本步，已达成后任一臂再次超出容差则失去本步。",
+    "step": {
+     "cat": "其他",
+     "item": "机械臂归位"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "plan": 1,
+      "note_zh": "左右机械臂各自将末端移回起始区域，此步无需夹爪与工具或工具箱建立目标接触。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/standard/instruction.md:11-13 明确要求工具入槽后机械臂复位",
+     "inputs/task/privileged/instruction.md:10-12,69-75 双臂末端归位容差及同一动作边界联合验收",
+     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册原生检查并在动作边界报告成功",
+     "inputs/oracle/replay.mp4 @ 0、236、236.25 s 起始区域参照、四件工具在槽内及末端回撤形态",
+     "inputs/oracle/run.json:reward.success=1,reward.replay_success=1,reward.instance_exact=1；steps[id=181].out.text 原生重放报告success=true、end_reason=success",
+     "docs/01_task_dag.md:214-218；docs/DECISIONS.md:S4(b) 归位若独立保留则为工作步骤之后的final节点"
+    ],
+    "conf": 6,
+    "note_zh": "依S4(b)采用允许的独立归位步骤，final由四个入槽步骤门控，从0计入，避免开局和途中经过初位被计为归位；未要求额外保持窗口。现有taxonomy没有机械臂回初位类型；本体·保持要求停留一段时间，位姿·调整位姿用于被操作的自由物体，均不准确，故依DECISIONS.md D16(d)暂用其他，候选名为机械臂归位。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "dyn.hammer_in_slot",
+    "level": "new_code",
+    "source": "需增加逐帧日志字段 dyn.hammer_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,hammer) 的合取。依据 inputs/task/privileged/instruction.md:55-68。"
+   },
+   {
+    "atom": "dyn.pliers_in_slot",
+    "level": "new_code",
+    "source": "需增加逐帧日志字段 dyn.pliers_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,pliers) 的合取；钳子匹配采用center或center_flip的析取。依据 inputs/task/privileged/instruction.md:55-68。"
+   },
+   {
+    "atom": "dyn.tape_measure_in_slot",
+    "level": "new_code",
+    "source": "需增加逐帧日志字段 dyn.tape_measure_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,tape_measure) 的合取。依据 inputs/task/privileged/instruction.md:55-68。"
+   },
+   {
+    "atom": "dyn.wrench_in_slot",
+    "level": "new_code",
+    "source": "需增加逐帧日志字段 dyn.wrench_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,wrench) 的合取。依据 inputs/task/privileged/instruction.md:55-68。"
+   },
+   {
+    "atom": "dyn.arms_home",
+    "level": "new_code",
+    "source": "需记录逐帧字段 dyn.arms_home，即原生 all_robot_back_to_origin 的结果；双臂各轴位置误差0.15米以内、姿态误差20°以内，依据 inputs/task/privileged/instruction.md:69-70。"
+   },
+   {
+    "atom": "flags.success",
+    "level": "new_code",
+    "source": "需记录每个动作边界的原生成功状态 flags.success，即 Session.success()；依据 inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-413。"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "hammer_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hammer_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pliers_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pliers_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tape_measure_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tape_measure_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrench_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrench_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "left_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "left_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "left_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "left_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  },
+  {
+   "name": "right_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "right_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "right_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "right_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json 的logs为空，没有逐帧状态日志；依P8五个节点的when及联合success均为null，不能用状态日志核对5厘米、10°和归位容差，视频判断应同时参考原生成功结果。atoms列出未来需增加的日志字段，不是现有字段。",
+  "输入未包含RoboDojo原生任务模块、任务配置及完整reward_manager源码；评分器只委托这些原生检查。槽点距离严格小于0.05米、姿态10°以内、箱体包容和双臂归位阈值均引用两种模式instruction的Success段；oracle/run.json步骤17的源码片段佐证包容检查为俯视contains、B_z_max < A_z_max、B_z_min > A_z_min - 0.03，完整匹配与归位函数的边界比较仍无法独立核实。",
+  "模式差异：两种模式实例文件完全相同、文字验收条件相同；privileged按独立新进程重放的原生成功结果评分（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:152-178），standard按现场单回合结果评分并要求记录完整且无基础设施错误（inputs/grader/efe_robodojo-files/standard/tests/grade.py:3-7,39-42）。这些交付和基础设施条件不作为世界状态节点或约束；当前仅有privileged成功视频，不能独立核对standard执行过程。",
+  "机械臂归位的步骤类型仍是词汇缺口（DECISIONS.md D16(d)、CASES.md OPEN-24）；依当前处理使用其他并给出候选名机械臂归位及理由，不新增taxonomy正式类别。归位节点按已决定的S4(b)保留为四个入槽步骤之后的final。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "四个工具入槽步骤和最后归位直接来自两种模式一致的文字，初态、成功视频和原生重放成功结果支持，验收阈值有指令出处；归位依S4(b)设为四个入槽步骤之后的final。但没有状态日志、完整原生任务检查器缺失，视频只能显示大致归位区域，细小姿态与边界仍需依文字及原生成功结果确认，归位类型暂用其他，因此整体与节点置信度为6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "四个工具入槽节点基本正确，但文字明确要求的最后一步“让机械臂回到起始位姿”在 DAG 中完全缺失：success 为 null，也没有 final 节点，归位只被写进四个工具节点的 criterion 文字里，导致归位这一步无法被标注或统计，并污染四个节点的判定标准。另有 atoms 文字复制粘贴错误。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个入槽节点加归位 final 节点与文字和评分器一致；阈值、翻转钳子的析取、盒内包容、归位 final 与 freeze_held=false 均正确；无状态日志故 when 为 null 合理，开放问题已列出。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['hammer_in_slot', 'pliers_in_slot', 'tape_measure_in_slot', 'wrench_in_slot', 'arms_home']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:18:47Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_tools_in_toolbox/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_tools_in_toolbox/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_tools_in_toolbox/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/robodojo__store_tools_in_toolbox/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "c10e16514d27e5aad51977436c8925077a985697c1c9eb53d3ea09625440bc78",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--5yd9wbv.json

@@ -0,0 +1,417 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-tools-in-toolbox-i00-privileged--5yd9wbv",
+ "taskKey": "robodojo/store_tools_in_toolbox",
+ "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 5671,
+   "sim_steps": 5671,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 800.6,
+   "replay_timeout_s": 3468.4,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-store-tools-in-toolbox-i00-privileged--5yd9wbv/replay.mp4",
+  "duration_s": 236.333,
+  "fps": 12.0,
+  "frames": 2836,
+  "sha256": "18409add31fd5dbd64157cbfdbb82baca8883f0db712ea9b981e4e27964c5fcd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "hammer_in_slot": {
+    "method": "visual",
+    "intervals": [
+     [
+      51.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0 s 左夹爪夹住锤柄，视频 40.0 s 羊角锤随夹爪抬离左侧桌面，原放置位置已空。"
+     },
+     {
+      "t": 51.5,
+      "log_step": null,
+      "text_zh": "观察：视频 50.5–53.5 s 锤子从夹爪下落至工具箱左侧长槽，锤头朝远端、柄朝机器人；视频 51.5 s 已呈槽内平躺形态，左夹爪随后上撤。首次达标时间约有0.5秒不确定性。"
+     },
+     {
+      "t": 236.25,
+      "log_step": 181,
+      "text_zh": "推断：视频 56.0–236.25 s 所查画面中锤子保持左槽内，终态与 log step 181 的独立重放成功报告及评分字段 replay_success=1 一致，支持其满足精确姿态和包容容差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹持锤柄，抬升后搬入左侧槽并松开；视频 38.0、40.0、51.5 s 可见，另一只手未参与锤子的搬运。"
+     }
+    ]
+   },
+   "pliers_in_slot": {
+    "method": "visual",
+    "intervals": [
+     [
+      233.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 185,
+      "log_step": null,
+      "text_zh": "观察：视频 168.0 s 右夹爪空撤，钳子仍留在右侧桌面；视频 181.0–185.0 s 右夹爪重新夹住钳柄后将钳子提离桌面。"
+     },
+     {
+      "t": 222,
+      "log_step": null,
+      "text_zh": "观察：视频 200.0–208.0 s 右臂将钳子送入箱右侧，钳子侧立；视频 213.0–218.5 s 右夹爪拨动后，视频 222.0 s 钳子仍倾斜靠在槽边，未达平放姿态。"
+     },
+     {
+      "t": 233.0,
+      "log_step": null,
+      "text_zh": "观察：视频 228.0–232.5 s 右夹爪向下压钳子抬起的柄部，视频 233.0–234.5 s 夹爪抬离时钳子已平躺于右侧槽、双柄朝机器人；视频 236.25 s 该形态保持。入槽锚点取视频 233.0 s，压合处局部遮挡使首次达标约有0.5秒不确定性。"
+     },
+     {
+      "t": 236.25,
+      "log_step": 181,
+      "text_zh": "推断：最终平放形态与评分字段 replay_success=1 及 log step 181 的独立重放 success=true 一致，支持钳子终态满足允许的正面或翻面姿态、槽点距离及完全入箱条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪抓握钳柄并搬入工具箱右侧槽；之后视频 213.0–218.5 s 以夹爪推/扫拨动侧立钳子，视频 228.0–232.5 s 以夹爪压/擦方式向下压高起柄部使其平放。这些方式依次发生，压平时未将钳子夹在对向指面之间。"
+     }
+    ]
+   },
+   "tape_measure_in_slot": {
+    "method": "visual",
+    "intervals": [
+     [
+      146.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 80,
+      "log_step": null,
+      "text_zh": "观察：视频 65.0–69.0 s 右夹爪夹起黄色卷尺并��向工具箱，原桌面位置空出；视频 80.0、84.0 s 卷尺在右后槽附近侧立，尚非所需圆面朝上姿态。"
+     },
+     {
+      "t": 115,
+      "log_step": null,
+      "text_zh": "观察：视频 104.0–108.0 s 右臂已将卷尺带回箱外桌面，视频 111.0–115.0 s 右夹爪侧向拨动卷尺使其圆面朝上，随后再次夹取搬向右后槽。"
+     },
+     {
+      "t": 146.5,
+      "log_step": null,
+      "text_zh": "观察：视频 141.0–146.0 s 右夹爪仍围在右后槽上方；视频 146.5 s 卷尺落低且黄色圆面朝上，视频 147.0–150.0 s 夹爪上撤时卷尺留在槽中。以视频 146.5 s 标记入槽，精确箱沿高度边界不能从单目画面量出，时间约有0.5秒不确定性。"
+     },
+     {
+      "t": 236.25,
+      "log_step": 181,
+      "text_zh": "推断：视频 152.0–236.25 s 所查画面中卷尺一直留在右后槽，log step 181 的独立重放 success=true 与评分字段 replay_success=1 支持其终态符合槽点姿态和箱体包容要求。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪先夹持卷尺本体搬到箱内，后夹回桌面；视频 111.0–115.0 s 改用夹爪侧向推/扫将卷尺拨平，再抓握搬入右后槽并松开。这些接触依次发生，未见双手共同操作卷尺。"
+     }
+    ]
+   },
+   "wrench_in_slot": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s 左夹爪夹住扳手，视频 12.0 s 扳手随夹爪离开桌面，原位置已空；锤子仍在箱外。"
+     },
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 23.5–25.5 s 左夹爪放开后，扳手下落并平躺于箱内中间长槽，金属钳口朝远端、黑柄朝机器人；以视频 24.5 s 为首次落槽锚点，约有0.5秒不确定性。"
+     },
+     {
+      "t": 236.25,
+      "log_step": 181,
+      "text_zh": "推断：视频 28.0–236.25 s 所查画面中扳手保持槽内平躺；评分字段 replay_success=1，且 log step 181 的独立重放报告 success=true、end_reason=success，支持终态同时满足槽点位姿及包容判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂平行二指夹爪夹住扳手本体，提起、搬运到工具箱中间槽并松开；视频 8.0、12.0、24.5 s 可见此接触和转移。"
+     }
+    ]
+   },
+   "arms_home": {
+    "method": "visual",
+    "intervals": [
+     [
+      236.25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两夹爪位于桌面两侧，作为归位参照；四件工具仍在箱外，故开局不计此门控终态节点。"
+     },
+     {
+      "t": 236.25,
+      "log_step": null,
+      "text_zh": "观察：视频 235.0–236.25 s 右臂空手从工具箱旁回撤并转向起始姿态，左臂已停在起始区域；视频 236.25 s 四件工具仍在箱内各自槽位。"
+     },
+     {
+      "t": 236.25,
+      "log_step": 181,
+      "text_zh": "推断：逐帧检查视频末秒后，以末帧视频 236.25 s 为双臂同时进入归位容差的锚点；单目视频不能独立测量每轴0.15米及20°边界，终态由评分字段 replay_success=1 和 log step 181 的原生重放成功结果确认。未将 agent 时间或会话试验计时换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：四件工具最终就位后，右臂空手回撤、左臂保持在初始区域；视频 235.0–236.25 s 无需夹爪与工具或工具箱建立接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hammer_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hammer_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pliers_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pliers_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tape_measure_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tape_measure_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrench_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrench_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分重放成功，五个节点终态均达成：扳手、锤子、卷尺、钳子分别约在视频 24.5、51.5、146.5、233.0 s 入槽，双臂归位取视频 236.25 s。机器人修复了卷尺侧立和钳子倾斜，通过重新抓取、拨平及最后压平完成收纳，无未修复断点。没有状态日志，精确距离、角度和箱沿包容边界不能单靠视频测出，节点时刻为目测近似，终态依据可见结果及原生重放成功确认；评分字段未报告的原生指标值均留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，五个节点的入槽时间与抽查帧一致（视频 24.5、51.5、146.5、233、236.2 s），contact_actual 与实际过程相符，无断点，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:26:04Z",
+  "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/robodojo-store-tools-in-toolbox-i00-privileged--5yd9wbv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-tools-in-toolbox-i00-privileged--5yd9wbv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7d2f430bb121b4849664745d72829328cbb252b5813100bb9a88a6970c63aa5d",
+   "video_sha256": "18409add31fd5dbd64157cbfdbb82baca8883f0db712ea9b981e4e27964c5fcd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-standard--z2hp6zg.json

@@ -0,0 +1,421 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-store-tools-in-toolbox-i00-standard--z2hp6zg",
+ "taskKey": "robodojo/store_tools_in_toolbox",
+ "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "replays": 1,
+   "determinism_checked": 1,
+   "ended_failed_check": 0,
+   "ended_step_guard": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14974,
+   "sim_steps": 14974,
+   "physics_steps": 149740,
+   "steps": 14792,
+   "elapsed_s": 2764.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "replay_timed_out": 0,
+   "grader_error": 0,
+   "graded_by_live": 0,
+   "infra_error": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.396,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.04,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-store-tools-in-toolbox-i00-standard--z2hp6zg/replay.mp4",
+  "duration_s": 624.0,
+  "fps": 12.0,
+  "frames": 7488,
+  "sha256": "31400ef66407d82aea41cfdfe0ffae09240ddf3d63826acbcc22e232715cf345"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "hammer_in_slot": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 银色锤头、黑柄锤子位于工具箱左外侧桌面，箱内左侧长槽为空。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 104.5–105.9 s 锤柄仍在左臂夹爪下方的桌面上；视频约 106.1–106.5 s 左夹爪沿桌面向左扫动，锤子随之离开原处并越出画面左侧，未进入工具箱。"
+     },
+     {
+      "t": 623.9,
+      "log_step": null,
+      "text_zh": "观察：视频 115–615 s 的全程粗采样及视频 623–623.9 s 末尾画面均未见锤子返回，箱内左长槽一直为空；成功参考视频 236 s 在此槽可清楚看到锤子，仅用于比较入槽形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 106.1–106.5 s 左臂夹爪在扳手相关动作之后横向扫到锤子，使其离开桌面可见区域；这是意外扫撞，未见针对锤子的成功夹持或入槽搬运。"
+     }
+    ]
+   },
+   "pliers_in_slot": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 275,
+      "log_step": 219,
+      "text_zh": "观察：视频 275–291 s 右臂在黄黑柄钳子周围下降、闭爪和抬起，钳子被推转后仍留在箱右侧桌面。"
+     },
+     {
+      "t": 307,
+      "log_step": 221,
+      "text_zh": "观察：视频 292–314 s 右夹爪空手移到工具箱上方、下探并回撤，钳子仍在工具箱右外侧，未随夹爪搬运；log step 221 的脚本输出 PLACED pliers 不能作为放入证据。"
+     },
+     {
+      "t": 623.9,
+      "log_step": null,
+      "text_zh": "观察：视频 325–555 s 的后续尝试反复推移箱右侧的钳子；视频 623.25–623.9 s 右臂回撤后钳子仍在箱外桌面，右侧钳子槽为空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右臂夹爪下降、闭合的尝试中接触并多次推转黄黑柄钳子，例如视频 280–291 s 及视频 405–415 s；未见夹爪形成可靠对向夹持并将钳子提离桌面，实际可确认的是推移。"
+     }
+    ]
+   },
+   "tape_measure_in_slot": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 570,
+      "log_step": null,
+      "text_zh": "观察：视频 562–584 s 右夹爪围绕黄色卷尺下降、转动，卷尺在工具箱右外沿旁被推移；右夹爪经过箱上方时未将卷尺带入槽内。"
+     },
+     {
+      "t": 623.9,
+      "log_step": 246,
+      "text_zh": "观察：视频 585–621 s 右夹爪继续在卷尺周围尝试闭爪；视频 623–623.9 s 回撤后黄色卷尺仍在箱体右前外侧桌面，箱内右后角卷尺槽为空。log step 246、249 记录的是��卷尺尝试，未有画面支持的放入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 562–621 s 右臂夹爪在黄色卷尺周围下降和闭合，爪指推拨卷尺使其在箱外桌面平移、转动；未见夹牢并搬入箱内。"
+     }
+    ]
+   },
+   "wrench_in_slot": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 85.5,
+      "log_step": 173,
+      "text_zh": "观察：视频约 84.5–86 s 左夹爪在扳手近侧较远处闭合，扳手仍躺在工具箱左侧原位置；视频 93–95 s 左夹爪抬到扳手上方时为空，扳手没有随夹爪移动。log step 173 的扳手取放调用反馈 at grasp=False、位置误差约 0.368 m，随后夹爪仍被命令闭合。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 100–106.5 s 左夹爪在扳手和锤子所在桌面低位转动、横扫，两工具随后均离开原位置及画面左侧；视频 107–115 s 工具箱内和原扳手位置均为空。"
+     },
+     {
+      "t": 623.9,
+      "log_step": 258,
+      "text_zh": "观察：视频 145–265 s 左臂又多次空手到达原扳手位置附近，没有把扳手送入箱内；视频 623.9 s 中间长槽仍为空。agent 最后也自述没有工具入槽（log step 258），但节点判定依据画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 100–106.5 s 左臂夹爪在扳手原位置低位转动并横扫，扳手被碰动并离开可见桌面；之前和之后有闭爪取物动作，但未见二指夹牢并携带扳手，故不记抓握。"
+     }
+    ]
+   },
+   "arms_home": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 623.9,
+      "log_step": 257,
+      "text_zh": "观察：视频 623–623.9 s 右臂退回桌面右侧，左臂已在左侧起始区域，形态接近视频 0 s；log step 257 的服务本体读数显示两臂末端位置接近起始位姿、右臂姿态误差约 1.13°。"
+     },
+     {
+      "t": 623.9,
+      "log_step": null,
+      "text_zh": "推断：视频 623.9 s 工具箱仍为空，四个入槽前置节点始终未达；依 DAG 的 final 门控，即使末端已返回起始区域，双臂回初位节点仍未完成，开局或途中回初位也不计本步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "末尾双臂执行归位，视频 623–623.9 s 右臂空手回撤到右侧起始区域，左臂在左侧起始区域；该归位动作无需工具接触，但四个入槽前置未满足。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "hammer_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hammer_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pliers_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pliers_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tape_measure_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "tape_measure_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrench_slot_center_distance",
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrench_slot_orientation_error",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "left_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_x_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_y_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_z_absolute_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "right_ee_origin_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wrench_in_slot",
+   "t": 85.5,
+   "log_step": 173,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 84.5–86 s 左夹爪在扳手近侧空夹，视频 93–95 s 抬起时扳手仍在原位置；log step 173 的扳手取放反馈接近失败但脚本继续闭爪。随后视频约 100–106.5 s 左夹爪的低位转动、横扫把扳手和锤子带离原位置，直到视频 623.9 s 均未被收回或入槽；扳手入槽是最早已启动且始终未修复的失败步骤。"
+  },
+  "unmet": {
+   "hammer_in_slot": false,
+   "pliers_in_slot": false,
+   "tape_measure_in_slot": false,
+   "wrench_in_slot": false,
+   "arms_home": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 85.5,
+    "log_step": 173,
+    "evidence_zh": "观察：视频约 85.5 s 左夹爪闭合时与桌上的扳手相隔明显距离，视频 93–95 s 左夹爪抬起后为空，扳手仍留原处；所需的夹持接触未建立。log step 173 同时记录 at grasp=False 和闭爪后 opening=0.185，不能把随后 lifted=True 的末端到位反馈当成抓起工具。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 106.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 100–106.5 s 左臂末端在扳手、锤子所在桌面低位转动，视频约 106.1–106.5 s 夹爪横向扫过工具所在区域后两件工具越出画面左侧；视频 107–115 s 原位置及箱内均为空，后续至视频 623.9 s 未恢复。这是碰动目标及邻近工具的另一事件，未见先稳定抓持再滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 173 的控制脚本在接近函数返回失败后没有中止，仍命令闭爪并继续空手抬升、取放；其反馈接近位置误差约 0.368 m，箱上方和下降段又报告 IK FAIL。log step 175 的关节目标与实到值也不符（例如目标 -2.522 rad、实到 -2.201 rad）；log step 177 为测限位对单关节直接扫描至 ±2.8 rad，且右臂索引用 7 偏移访问十二关节数组，最终报 IndexError（log step 181）。推断：执行端未可靠实现接近目标且未以失败反馈阻止后续动作，诊断扫描又未保护桌上工具，解释视频约 85.5 s 的空夹及视频约 106.3 s 的扫撞；证据涉及执行、反馈处理及诊断脚本，保留在控制大类，不能只凭 agent 自述认定硬件不可达。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐工具原生判据数值，无法量化槽点距离、角度、碰撞力及扫离画面后两工具的落地点；但空箱和箱外工具在头部视图可见，足以判五节点均未达。视频约 100–106.5 s 个别接触被夹爪遮住，接触方式只记录可确认的扫动，未把闭爪命令当成实际抓握。agent 在 log step 258 把工具丢失归于早期 ee_pose 左右列顺序错误；视频 0–16 s 错误双臂动作之后工具仍在桌面，实际消失在视频约 106.3 s，因此不采纳该具体因果归因。日志与视频未建立精确控制步映射，所有视频锚点均来自取帧，关联 log step 仅作动作和控制原因证据。"
+ },
+ "summary_zh": "四件工具均未入槽，五个节点始终为 0/5；末尾双臂虽退回初始区域，但归位节点的四项入槽前置不成立。最早未修复失败是扳手入槽：视频约 85.5 s 左夹爪空夹，随后视频约 106.3 s 的低位扫撞使扳手、锤子离开桌面可见区域；控制脚本在接近失败后继续闭爪，后续钳子、卷尺也只被推移在箱外。无状态日志，精确位姿和接触力不能核验，但视频 623.9 s 的空箱及箱外钳子、卷尺直接支持最终未达。",
+ "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 623.9 s 箱内全空，钳子、卷尺在箱外，扳手与锤子在视频约 106 s 后离开桌面可见区域，五节点未达、断点（扳手入槽）、现象与根因与画面一致。",
+    "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": "2026-10-29T09:27:07Z",
+  "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/robodojo-store-tools-in-toolbox-i00-standard--z2hp6zg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-store-tools-in-toolbox-i00-standard--z2hp6zg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de4b95afd4a7afc8574dc48a215eea7bb6e14f6044f2aca32c6dcc9e5416a702",
+   "video_sha256": "31400ef66407d82aea41cfdfe0ffae09240ddf3d63826acbcc22e232715cf345",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/swap_blocks/task_dag.json

@@ -0,0 +1,423 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/swap_blocks",
+ "suite": "robodojo",
+ "base": "robodojo-swap-blocks-i00",
+ "title_zh": "借空垫交换方块",
+ "summary_zh": "经中间空垫完成两块红方块的三次交换移动及每次按钮确认，通过全部顺序阶段、全程恰计三次按压，并在最后同一动作边界保持按钮帽抬起且双臂回到起始容差内。",
+ "embodiment_zh": "两种模式均为桌面固定的两条ARX X5六关节机械臂，左、右臂各装平行二指夹爪；无移动底盘，提供头部固定相机和两只腕部相机。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-swap-blocks-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "block_on_middle",
+    "zh": "方块暂放中垫",
+    "mode": "event",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机可见一块红方块从左或右端浅木色圆垫移到中间圆垫，另一块仍在自身起始垫；先在动作边界满足一块仍在原垫且任一块比起始中心高出0.03米以上，再在后续边界满足任一块中心距中垫中心小于0.03米且任一块仍在原垫（阶段1、2）。中垫仍空、方块只悬在其上方或中心偏离超过该三维距离时未完成；该暂存事件通过后，第三次移动将其移走不撤销本步。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住任取的第一块红方块，抬离垫面并移到目标垫；不限定哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:25-39",
+     "inputs/task/privileged/instruction.md:53-56",
+     "inputs/task/privileged/environment/instance.json:30-39",
+     "inputs/task/privileged/environment/instance.json:84-93",
+     "inputs/oracle/replay.mp4:0-11s"
+    ],
+    "conf": 6,
+    "note_zh": "第一块由实际选择确定，可从左开始，也可从右开始；另一块相应确定。每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。"
+   },
+   {
+    "id": "button_confirmed_1",
+    "zh": "第一次按键",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "block_on_middle"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "第一次移块验收后，主相机中位于中垫前方的橙红色按钮帽被压低，在动作边界行程比例小于0.5，随后另一边界拉高到大于0.9，通过阶段3、4；帽只停在初始约0.79高度或未压过半程均未完成。计数所需的大于0.95预拉高与累计恰好3次另由全局计数验收，按钮微小位移被夹爪遮挡时结合动作前后画面和运行记录判断。",
+    "step": {
+     "cat": "机构",
+     "item": "按压"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "plan": 2,
+      "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:39-50",
+     "inputs/task/privileged/instruction.md:57",
+     "inputs/task/privileged/instruction.md:70-75",
+     "inputs/task/privileged/instruction.md:83-86",
+     "inputs/oracle/replay.mp4:11-24s"
+    ],
+    "conf": 6,
+    "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。"
+   },
+   {
+    "id": "other_block_on_vacated_mat",
+    "zh": "另一块占空垫",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "button_confirmed_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机可见中垫上的暂存块仍在中垫，另一块移到第一块腾出的端部圆垫：先在动作边界满足任一块在中垫且任一块比阶段2记录的中心高出0.03米以上，再在后续边界满���任一块在中垫且至少一块到对侧端垫，所有在垫判断均为中心三维距离小于0.03米（阶段5、6）。目标端垫仍空或方块仅悬在其上方未到距离容差内时未完成；成功视频中是右起始块落到左端垫，反向选择同样成立。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住尚未移动的另一块红方块，抬离垫面并移到目标垫；不限定哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:35-39",
+     "inputs/task/privileged/instruction.md:58-60",
+     "inputs/task/privileged/instruction.md:92-101",
+     "inputs/oracle/replay.mp4:25-40s"
+    ],
+    "conf": 6,
+    "note_zh": "每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。"
+   },
+   {
+    "id": "button_confirmed_2",
+    "zh": "第二次按键",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "other_block_on_vacated_mat"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "第二次移块验收后，橙红色按钮帽再次先在动作边界低于0.5行程比例，再在后续边界高于0.9，依次通过阶段7、8；画面上对应夹爪在圆垫前方压低按钮后把帽拉高。只有夹爪靠近、帽未过半程或只回到约0.79静止高度都未完成，累计计数仍按先大于0.95再小于0.5的独立规则验收。",
+    "step": {
+     "cat": "机构",
+     "item": "按压"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "plan": 2,
+      "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:39-50",
+     "inputs/task/privileged/instruction.md:61",
+     "inputs/task/privileged/instruction.md:70-75",
+     "inputs/task/privileged/instruction.md:83-86",
+     "inputs/oracle/replay.mp4:40-54s"
+    ],
+    "conf": 6,
+    "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。"
+   },
+   {
+    "id": "parked_block_on_other_mat",
+    "zh": "暂存块归对垫",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "button_confirmed_2"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "主相机可见暂存块离开中垫，落到另一块腾出的端垫，中垫重新空出，两块相对起始身份已交换：先在动作边界满足至少一块已在对侧端垫且任一块比阶段6记录的中心高出0.03米以上，再在后续边界同时满足左起始块中心距右垫、右起始块中心距左垫均小于0.03米（阶段9、10）。只看到左右各有一块还不足以证明交换，须跟踪此前移块；中垫仍有暂存块或任一目标关系尚未满足即未完成。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "左臂或右臂的二指夹爪夹住中垫上的暂存红方块，抬离垫面并移到目标垫；不限定哪只手。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:35-39",
+     "inputs/task/privileged/instruction.md:62-64",
+     "inputs/task/privileged/instruction.md:92-101",
+     "inputs/oracle/replay.mp4:55-66s"
+    ],
+    "conf": 6,
+    "note_zh": "左右起始身份与目标垫固定配对，按第一次选择后的角色定义两次目标放置，不给相同红块指定任意的先后身份。每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。"
+   },
+   {
+    "id": "button_pressed_3",
+    "zh": "第三次按键",
+    "mode": "event",
+    "when": null,
+    "after": [
+     "parked_block_on_other_mat"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "交换阶段通过后，主相机中夹爪第三次把中垫前的橙红色按钮帽压到动作边界行程比例小于0.5，通过阶段11；未压过半程不算本步完成。总任务还须全程计数恰好3次，并在随后同一动作边界使帽高于0.9且双臂末端相对起始位置每轴误差不超过0.15米、姿态差不超过20度（阶段12）；主相机可见左臂退回、右臂低位侧向抬帽后外移，第三次按下本身不代表总成功。",
+    "step": {
+     "cat": "机构",
+     "item": "按压"
+    },
+    "contact": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 1,
+      "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "plan": 2,
+      "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:44-50",
+     "inputs/task/privileged/instruction.md:65-75",
+     "inputs/task/privileged/instruction.md:83-90",
+     "inputs/oracle/replay.mp4:66-94.5s"
+    ],
+    "conf": 6,
+    "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。阶段12的按钮抬起与双臂归位是总成功的联合验收；依S4(b)，机器人归位不另计节点。"
+   }
+  ],
+  "constraints": [
+   {
+    "id": "button_overpressed",
+    "zh": "按钮超次",
+    "never": null,
+    "criterion_zh": "全程计数器出现第4次有效按压：某动作边界按钮帽行程比例大于0.95，后来另一边界低于0.5，累计超过3次；单纯从约0.79静止位压下不计入次数。",
+    "consequence": "立即终止",
+    "sources": [
+     "inputs/task/privileged/instruction.md:44-50",
+     "inputs/task/privileged/instruction.md:70-75"
+    ]
+   }
+  ],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "swap_stage_ge_2",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 2; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_4",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 4; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_6",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 6; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_8",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 8; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_10",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 10; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_11",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 11; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "swap_stage_ge_12",
+    "level": "new_code",
+    "source": "dyn.swap_stage_completed >= 12; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75"
+   },
+   {
+    "atom": "button_count_eq_3",
+    "level": "new_code",
+    "source": "dyn.button_press_count == 3; log the native above-0.95 to below-0.5 transition counter, including its remembered state; inputs/task/privileged/instruction.md:44-50"
+   },
+   {
+    "atom": "button_count_gt_3",
+    "level": "new_code",
+    "source": "dyn.button_press_count > 3; same native transition counter; inputs/task/privileged/instruction.md:49-50,70-75"
+   }
+  ]
+ },
+ "native_metrics": [
+  {
+   "name": "cube_mat_center_distance",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cube_rise_from_recorded_pose",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "button_pressed_ratio",
+   "unit": "1",
+   "threshold": 0.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "button_up_ratio",
+   "unit": "1",
+   "threshold": 0.9,
+   "direction": "higher_better"
+  },
+  {
+   "name": "button_count_arming_ratio",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "arm_return_max_axis_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_return_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json的logs为空；按P8所有节点when、约束never和success均为null，无法运行状态级通过率核验。atoms仅列建议新增的阶段与计数字段，不假定它们已经存在。按钮毫米级运动、计数滞回和最终位姿容差常被夹爪遮挡，视频不能独立精确量出；需补充原生阶段、计数和关节状态后才能自动验收。",
+  "所供grader和bench_src只有包装器与服务端，没有实际被导入的swap_blocks任务模块及完整reward_manager/func_parser。阈值与12阶段细节依据instruction.md:35-101，另有oracle/run.json步骤7、10、11、12、15、19的截断源码或运行记录旁证；未虚构缺失源码行号，不能完成逐项源码独立复核。",
+  "按S1、S2、S8，将三次移动各含的抬升检测合入对应放置验收，将前两次按压后的抬帽合入对应按钮确认；最后抬帽和双臂归位进入总成功条件，依S4(b)不另计归位。按钮计数在阶段之外独立运行，不强制第k次阶段按下时计数恰等于k；总成功精确定义为全部12阶段通过且计数恰为3。",
+  "评分器锁存每个已通过阶段，阶段10的交换位置不会在阶段11、12重新验收（instruction.md:64-74及oracle/run.json步骤15的检查列表弹出逻辑摘录）；因此六个节点均用event，而不额外施加最终方块持续在垫上的state要求。初始两块在自身原垫只服务于移动阶段，最终目标是互换，不存在可从零时刻计分的原垫保持节点。",
+  "两种模式物理检查相同，评分对象不同：privileged/tests/grade.py:129-178采用从固定初态开始的一次新进程回放，standard/tests/grade.py:1-15,39-42采用服务记录的单次实时回合。DAG只刻画共同世界状态和原生阶段，不把轨迹文件格式、实例哈希或服务交付有效性当语义步骤。",
+  "按钮静止比例约0.79，低于复位0.9和计数预备0.95，必须主动抬帽；这已在完整说明中明确（instruction.md:83-90），不是由成功视频推导的新节点。最后抬帽需和双臂归位同时满足，不能把按钮回到普通弹簧静止位当成功。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "六个步骤直接来自三次移块及三次按键要求，所有边由原生阶段顺序决定，初态与成功视频一致；但没有状态日志，完整原生检查模块也未提供，毫米级按钮判据及阶段计数只能依据说明和截断代码、运行记录核对。",
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点与任务文本一致：三次移动（暂放中垫、补到空出端垫、暂存块移到对侧端垫）各接一次按键，共6步；归位并入success（S4(b)），按钮超次为立即终止约束；边线为评分器阶段顺序，无习惯边；无状态日志故when/success为null并已在open_questions_zh说明。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['block_on_middle', 'button_confirmed_1', 'other_block_on_vacated_mat', 'button_confirmed_2', 'parked_block_on_other_mat', 'button_pressed_3']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:15:52Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__swap_blocks/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__swap_blocks/02_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "5e9b402784bdbea718d967cd21eb9c53c4c7be36ad09cb5ea700a821db4b021b",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-privileged--j27fsmw.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-swap-blocks-i00-privileged--j27fsmw",
+ "taskKey": "robodojo/swap_blocks",
+ "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 1038,
+   "sim_steps": 1038,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 231.5,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 16,
+   "agent_resets": 0,
+   "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/robodojo-swap-blocks-i00-privileged--j27fsmw/replay.mp4",
+  "duration_s": 43.333,
+  "fps": 12.0,
+  "frames": 520,
+  "sha256": "8e9a49fa1730003345a1a2a2386502fc75c69d6468463287056539d906fb6f20"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "block_on_middle": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–3.75 s，机器人左臂在左侧低位停留，左起始红块仍在左垫；视频 4.25–7.5 s 左夹爪移到中垫附近再退开，原左垫上的红块没有随夹爪离开，中垫仍空。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.5–33.5 s 左夹爪才携左起始红块向右运动，随后该块出现在右垫后方桌面；检查视频 0–43.25 s，未见任何红块落入中垫，末帧中垫仍空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：首轮视频 1.5–4 s 合爪与搬运动作未夹起左起始红块；视频 32.5–33.5 s 左夹爪实际夹持同一红块并向右搬运，但没有补成中垫暂存。此处抓握只指后段可见的持块接触。"
+     }
+    ]
+   },
+   "button_confirmed_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.5–13.5 s 机器人右夹爪包住橙色按钮帽，作上下运动，视频 14–14.5 s 退出；同时左右红块仍分别在原端垫，中垫为空。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "推断：视频 14.5 s 按钮操作已结束，但首个移块节点从未通过，故这轮按钮动作不能满足带此前置的第一次按键节点。按钮毫米级行程阈值不由画面精确量取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–13.5 s，右臂平行夹爪两指夹住橙色按钮帽两侧，带动帽上下运动，随后松开退出。"
+     }
+    ]
+   },
+   "other_block_on_vacated_mat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15–22.75 s 左臂再次运行，末端在左垫附近接触并使左起始红块偏到左垫边缘；右起始红块全程仍在右垫，未被搬到左端，中垫也为空。"
+     },
+     {
+      "t": 43.25,
+      "log_step": null,
+      "text_zh": "观察：视频 43.25 s 右起始红块仍在右垫，左垫空，中垫空，未出现另一块补入腾空端垫的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 21.75–22.75 s，左夹爪接触左起始红块并向左带偏至垫边；未见对右起始红块形成夹持，也未见右块离开原垫。按实际碰到的左块记推/扫。"
+     }
+    ]
+   },
+   "button_confirmed_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 23.5–28 s 右夹爪第二轮夹住按钮帽并作上下运动；此时红块分处左垫边和右垫，中垫一直为空。"
+     },
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "推断：视频 28.5 s 第二轮按钮动作后仍没有另一块占空垫的前置结果，故第二次按键节点未达到；不能将脚本的第几轮按钮动作等同于评分阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24–27.5 s，右夹爪两指夹住橙色按钮帽并上下带动，视频 28–28.5 s 松开退离。"
+     }
+    ]
+   },
+   "parked_block_on_other_mat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 29.5–32.5 s 左夹爪在左垫边重新夹取左起始红块，视频 32.75–33.5 s 左垫露空且该块随夹爪向右移动；它来自左垫边而非中垫。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 35.5–36 s 左臂退出后，左起始红块位于右垫后方桌面，右起始红块仍在右垫；视频 42.333–43.25 s 每帧保持此布局，未完成两块交换。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 32.5–33.5 s，左夹爪夹持左起始红块并搬向右端；其原位置实际是左垫边，中垫未暂存过方块。"
+     }
+    ]
+   },
+   "button_pressed_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–41.5 s 右夹爪第三轮操作按钮，视频 42.333–43.25 s 两臂退开；一块红块仍在右垫，另一块在其后方桌面，左垫与中垫为空。"
+     },
+     {
+      "t": 43.25,
+      "log_step": null,
+      "text_zh": "推断：截至视频 43.25 s，两块交换从未达到，因此即使有第三轮按钮下压动作，也不能通过要求交换阶段先完成的第三次按键节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 38–41 s，右夹爪两指夹住橙色按钮帽并作上下操作，随后松开退回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_mat_center_distance",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_rise_from_recorded_pose",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "button_pressed_ratio",
+   "unit": "1",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "button_up_ratio",
+   "unit": "1",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "button_count_arming_ratio",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "arm_return_max_axis_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_return_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "block_on_middle",
+   "t": 3.0,
+   "log_step": 409,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.5–3.75 s 首轮取块时左起始红块始终留在左垫，视频 4.25–8 s 左臂空载经过中垫并退出，未建立搬运所需的持块接触。后续视频 32.5–36 s 虽夹起该块，却送向右端而未补成中垫暂存，故最早未修复步骤为方块暂放中垫；log step 409 的生成脚本将首轮目标设为左块到中垫。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.5–4 s 机器人左臂取块动作没有使左起始红块离开原垫，视频 4.25–7.5 s 左夹爪随后到中垫附近时不携带红块；首轮搬运没有建立有效夹持。后段视频 32.5–33.5 s 对同一块的夹取没有恢复中垫暂存结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 409 的脚本按正确的左垫→中垫目标依次命令靠近、闭爪、抬升和搬运，但视频 1.5–4 s 左末端实际停在方块左前方低位，方块未被夹起，视频 4.25–8 s 空载执行后续放置路径；log step 414、417 的记录也显示生成运行的阶段长期停在 Stage=1/12，末尾仅为 Stage=2/12（当前待验收阶段），随后保存了 1038 行动作，与评分器 n_actions=1038 相符。证据支持抓取执行的控制问题，尚不足以区分逆解、跟踪或接触几何的具体责任。"
+   }
+  ],
+  "gap_zh": "无状态日志；输入视频只有头部主视角，按钮帽局部被夹爪遮挡，无法独立精确量取���程比例、计数滞回及末端归位误差，评分器也未报告 DAG 所列七项原生指标，故这些指标值留空。日志含多次独立会话测试，阶段与按钮读数仅作与回放一致的辅助证据，不据此给节点授予完成；节点均因画面可见的移块失败及顺序前置未通过判为 false。具体控制子因缺少关节跟踪误差与接触力数据。",
+  "unmet": {
+   "block_on_middle": false,
+   "button_confirmed_1": false,
+   "other_block_on_vacated_mat": false,
+   "button_confirmed_2": false,
+   "parked_block_on_other_mat": false,
+   "button_pressed_3": false
+  }
+ },
+ "summary_zh": "本次回放六个顺序节点均未完成：首轮左夹爪未夹起左起始红块，中垫全程为空，最早未修复的失败是方块暂放中垫。机器人仍执行了三轮按钮操作，末段虽夹起左块却将其留在右垫后方，右块一直留在右垫；证据支持控制执行问题。缺少状态日志及精确按钮、关节数据，不能进一步确定控制子因或量出原生指标。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成、断点在 block_on_middle（左臂首轮未夹起左块、中垫始终为空）与画面一致；按钮三轮动作、末段左块被送到右垫后方也与帧吻合；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": "2026-10-29T09:24:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robodojo-swap-blocks-i00-privileged--j27fsmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-swap-blocks-i00-privileged--j27fsmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e8d33fb13b1bad8fde57097adc9cbdb4425b90ac0ddfe49a5a2a1ba0de50b97",
+   "video_sha256": "8e9a49fa1730003345a1a2a2386502fc75c69d6468463287056539d906fb6f20",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-privileged--tewjsta.json

@@ -0,0 +1,368 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-swap-blocks-i00-privileged--tewjsta",
+ "taskKey": "robodojo/swap_blocks",
+ "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 2266,
+   "sim_steps": 2266,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 361.9,
+   "replay_timeout_s": 2106.4,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robodojo-swap-blocks-i00-privileged--tewjsta/replay.mp4",
+  "duration_s": 94.5,
+  "fps": 12.0,
+  "frames": 1134,
+  "sha256": "428a86970b09ea225c73d5bf8616adfe4f01498f127b7818476435a76f018068"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "block_on_middle": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 左、右端圆垫各有一块红方块，中垫为空。"
+     },
+     {
+      "t": 10.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–6.5 s 左夹爪合拢后上升，左端垫露空；视频 7.0–9.0 s 左夹爪携块移向中垫并下降，视频 10.5–11.5 s 退开后可见红块留在中垫，右起始块仍在右垫。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 26,
+      "text_zh": "推断：以视频 8.5–9.5 s 的下降末段估计首次进入中垫位置容差约在视频 9.0 s，误差约 0.5 s；log step 26 的 report() 读取原生检查列表，已由 12 项减为 10 项，log step 43 将这段控制前缀纳入最终交付，且评分回放成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.5–9.5 s 左臂二指夹爪夹住左起始红方块，抬起、平移并降到中垫；随后张爪退开。右臂未参与这次移块。"
+     }
+    ]
+   },
+   "button_confirmed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–18.5 s 右夹爪到按钮处合拢并略上提，视频 19.0–20.0 s 下移，视频 20.5–21.5 s 再上提；视频 24.5–25.0 s 右臂退开，按钮重新可见。按钮帽与指面的局部接触被夹爪遮挡。"
+     },
+     {
+      "t": 21.0,
+      "log_step": 31,
+      "text_zh": "推断：第一次按下后主动拉高的完成时刻约为视频 21.0 s，误差约 0.5 s。log step 31 中 agent 的 report() 读取原生阶段与计数：控制步 480 时剩 9 项、计数 1，控制步 515 时剩 8 项、计数仍为 1；log step 37 保存前 515 步，log step 43 从初态重放该前缀后继续生成最终文件，log step 86 的新进程回放与本次评分均成功，支持这次按下及复位已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：结合视频 16.0–21.5 s 右夹爪合拢及随后小幅上下运动，以及 log step 24、27、29 的夹爪闭合、上提、下压和再上提指令，右臂二指夹爪夹住橙红按钮帽边缘，保持夹持完成按下与拉高，再张爪撤离。"
+     }
+    ]
+   },
+   "other_block_on_vacated_mat": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–32.5 s 左夹爪在右起始块处合拢，视频 33.0–34.5 s 上升并向左移动，右端垫露空，中垫暂存块仍在原处。"
+     },
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 35.5–38.0 s 左夹爪在左端垫上方下降；视频 38.5–39.0 s 左夹爪张开退离后，红方块留在左垫，中垫仍有第一块，右垫为空��"
+     },
+     {
+      "t": 37.0,
+      "log_step": 53,
+      "text_zh": "推断：视频 36.5–37.5 s 为第二块下降落到左垫的末段，首次满足位置容差约在视频 37.0 s，误差约 0.5 s；log step 53 的 report() 已读取剩 6 项、计数 1，与所见第二次移块一致，最终评分成功支持阶段已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 30.0–38.5 s 左臂二指夹爪夹住右起始红方块，抬离右垫并移到左垫后松开；右臂已退到侧方，未共同夹持。"
+     }
+    ]
+   },
+   "button_confirmed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 44.0–47.0 s 右夹爪在按钮位置合拢并小幅上提，视频 47.5–48.5 s 下移，视频 49.0–50.0 s 再上移，视频 53.0–54.0 s 右臂撤回，左垫和中垫的红块均未移走。"
+     },
+     {
+      "t": 49.5,
+      "log_step": 53,
+      "text_zh": "推断：第二次按下后的拉高约在视频 49.5 s 完成，误差约 0.5 s；帽的行程被右夹爪遮挡。log step 52 给出第二次夹帽、拉高、下压和复位控制；log step 53 读取第二次下压后的剩 5 项、计数 2，log step 56 中下一次移块抬起时已剩 3 项、计数仍为 2，结合最终成功回放，第二次确认已通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：结合视频 44.0–50.0 s 的夹爪合拢及上下运动与 log step 52 的控制，右臂二指夹爪再次夹持橙红按钮帽，先拉高、再压下并主动拉高复位，随后张爪撤离。"
+     }
+    ]
+   },
+   "parked_block_on_other_mat": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 61.0,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–60.0 s 左夹爪在中垫处合拢，视频 60.5–61.5 s 抬起暂存块并右移，中垫露空，先前从右侧移来的方块仍在左垫。"
+     },
+     {
+      "t": 66.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–64.0 s 左夹爪在右垫上方下降；视频 65.0–66.0 s 张爪退开后，暂存红块留在右垫，中垫为空，左右起始块通过上述三次移动完成交换。"
+     },
+     {
+      "t": 64.0,
+      "log_step": 56,
+      "text_zh": "推断：第三次落垫的到位时刻约为视频 64.0 s，误差约 0.5 s；log step 56 的 report() 在该次放置后读取剩 2 项、计数 2，两个方块中心分别位于对侧端垫附近，最终评分回放成功支持交换阶段通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 58.0–65.0 s 左臂二指夹爪夹住中垫暂存红方块，抬起并移至右端垫后张爪；右臂停在侧方。"
+     }
+    ]
+   },
+   "button_pressed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      79.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 79.0,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–78.0 s 右夹爪在按钮处合拢并略上提，视频 78.0–79.0 s 向下压，视频 80.0–81.0 s 开始松开上撤；左臂此时已退回左侧，两块分别留在两端圆垫。"
+     },
+     {
+      "t": 79.0,
+      "log_step": 59,
+      "text_zh": "推断：第三次压下约在视频 79.0 s 通过半程，误差约 0.5 s；log step 59 的 report() 读取第三次压下后仅剩最后 1 项、累计计数 3，与所见动作和最终评分成功一致。"
+     },
+     {
+      "t": 94.417,
+      "log_step": 70,
+      "text_zh": "观察：视频 90.0–94.333 s 右夹爪改为低位侧向接触按钮帽并略抬起，视频 94.417 s 右腕向外移，左臂保持退回。log step 70 的 report() 在最终保存前读取剩 0 项、计数 3，status 为 success；log step 86 新进程完整重放 2266 个动作成功，inputs/run.json 的 reward.replay_success 与 success 均为 1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：结合视频 74.0–79.0 s 与 log step 57 的控制，右臂二指夹爪夹住按钮帽边缘后下压完成第三次按键，再松开；视频 90.0–94.417 s 为总成功验收另以右夹爪侧向接触抬帽并外移，未见两手共同操纵按钮。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_mat_center_distance",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_rise_from_recorded_pose",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "button_pressed_ratio",
+   "unit": "1",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "button_up_ratio",
+   "unit": "1",
+   "threshold": 0.9,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "button_count_arming_ratio",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "arm_return_max_axis_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_return_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分视频中左臂依次将左起始块移到中垫、右起始块移到左垫、暂存块移到右垫，右臂在每次移块后操作按钮，六个事件节点全部完成。观察：视频 94.417 s 右腕侧向抬帽后外移，log step 70 记录全部 12 阶段通过且计数恰为 3，log step 86 新进程回放成功，本次评分 success=1，无失败断点。推断：按钮毫米级行程与最终双臂容差不能从画面独立精确测量，需结合原生阶段读数与成功评分判定，节点时间约有 0.5 s 误差；本任务没有状态日志，oracle 也是本次运行，不能提供独立对照。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，6个节点全部到达，时间与帧一致，contact_actual已填，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": "2026-10-29T09:23:41Z",
+  "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/robodojo-swap-blocks-i00-privileged--tewjsta/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-swap-blocks-i00-privileged--tewjsta/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f923848f0ffa10f82141ea50a12c07afa44f680f13bb9dd4f772e675ac3b80cf",
+   "video_sha256": "428a86970b09ea225c73d5bf8616adfe4f01498f127b7818476435a76f018068",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/sweep_blocks_random/task_dag.json

@@ -0,0 +1,505 @@
+{
+ "schema": "efe-task-dag/1",
+ "taxonomy": "v2",
+ "taskKey": "robodojo/sweep_blocks_random",
+ "suite": "robodojo",
+ "base": "robodojo-sweep-blocks-random-i00",
+ "title_zh": "小物体扫入簸箕",
+ "summary_zh": "两纸团、一积木和两耳机同时进入簸箕同一验收区域，簸箕留在桌面且平放，扫帚在簸箕右侧超过0.1米，双臂回到初始位姿容差内。",
+ "embodiment_zh": "两种模式均为固定桌面上的双ARX X5机械臂，各装平行二指夹爪，无移动底盘；可持小扫帚操作，簸箕在桌面上。",
+ "task_class": "compositional",
+ "analysis_level": "step",
+ "spec": {
+  "version": "1.2",
+  "task": "robodojo-sweep-blocks-random-i00",
+  "bench": "robodojo",
+  "progress": "live",
+  "entities": {},
+  "milestones": [
+   {
+    "id": "dustpan_on_table",
+    "zh": "簸箕留桌面",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "goal": true,
+    "freeze_held": false,
+    "criterion_zh": "头部相机可见芥末黄色簸箕平放在桌面；其原点高度不高于初值加0.01米，局部正z轴与世界向上夹角严格小于5度，允许在桌面滑动或转向，开局即成立。簸箕抬高超过阈值或倾斜到5度及以上即失去；仅最终同时检查，不追溯暂时偏离。",
+    "step": {
+     "cat": "关系",
+     "item": "放置"
+    },
+    "contact": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "plan": 1,
+      "note_zh": "双臂不碰簸箕，簸箕靠桌面支承保持原位平放。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "左臂或右臂夹爪握住簸箕短柄，使簸箕留在桌面且平放。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:43-46",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/environment/instance.json:39-50",
+     "inputs/oracle/replay.mp4 @ 0, 90, 150, 300 s"
+    ],
+    "conf": 7,
+    "note_zh": "按S4(a)保留可维持的初始目标状态；平放是簸箕留桌面的验收，不另拆节点。评分器不因中途丢失此状态终止或历史否决，因此不写约束；握柄时也可成立。"
+   },
+   {
+    "id": "paper_balls_in_dustpan_1",
+    "zh": "第1个纸团入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中，浅灰和棕色的两个皱纸团中至少1个纸团的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:30-58",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/instruction.md:73-77",
+     "inputs/task/privileged/environment/instance.json:126-226",
+     "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s"
+    ],
+    "conf": 6,
+    "note_zh": "对象集合为 target_1_0, target_1_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。"
+   },
+   {
+    "id": "paper_balls_in_dustpan_2",
+    "zh": "第2个纸团入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "paper_balls_in_dustpan_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中，浅灰和棕色的两���皱纸团中至少2个纸团的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于2即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:30-58",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/instruction.md:73-77",
+     "inputs/task/privileged/environment/instance.json:126-226",
+     "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s"
+    ],
+    "conf": 6,
+    "note_zh": "对象集合为 target_1_0, target_1_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。"
+   },
+   {
+    "id": "brick_in_dustpan_1",
+    "zh": "积木入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中，黄色小积木的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:30-58",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/instruction.md:73-77",
+     "inputs/task/privileged/environment/instance.json:228-278",
+     "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s"
+    ],
+    "conf": 6,
+    "note_zh": "对象集合为 target_2_0；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。"
+   },
+   {
+    "id": "earbuds_in_dustpan_1",
+    "zh": "第1个耳机入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中，黑色和白色的两只小耳机中至少1个耳机的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:30-58",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/instruction.md:73-77",
+     "inputs/task/privileged/environment/instance.json:280-380",
+     "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s"
+    ],
+    "conf": 6,
+    "note_zh": "对象集合为 target_3_0, target_3_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。"
+   },
+   {
+    "id": "earbuds_in_dustpan_2",
+    "zh": "第2个耳机入簸箕",
+    "mode": "state",
+    "when": null,
+    "after": [
+     "earbuds_in_dustpan_1"
+    ],
+    "hold_s": 0,
+    "freeze_held": false,
+    "goal": true,
+    "criterion_zh": "头部相机中，黑色和白色的两只小耳机中至少2个耳机的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于2即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。",
+    "step": {
+     "cat": "关系",
+     "item": "放入"
+    },
+    "contact": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "plan": 1,
+      "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "plan": 2,
+      "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "plan": 3,
+      "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。"
+     }
+    ],
+    "optional": false,
+    "verify_zh": null,
+    "sources": [
+     "inputs/task/privileged/instruction.md:10",
+     "inputs/task/privileged/instruction.md:30-58",
+     "inputs/task/privileged/instruction.md:60-62",
+     "inputs/task/privileged/instruction.md:73-77",
+     "inputs/task/privileged/environment/instance.json:280-380",
+     "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s"
+    ],
+    "conf": 6,
+    "note_zh": "对象集合为 target_3_0, target_3_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。"
+   }
+  ],
+  "constraints": [],
+  "success": null,
+  "atoms": [
+   {
+    "atom": "target_1_0_in_dustpan_circle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_1_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_1_0_in_dustpan_rectangle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_1_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_1_1_in_dustpan_circle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_1_1_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_1_1_in_dustpan_rectangle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_1_1_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_2_0_in_dustpan_circle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_2_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_2_0_in_dustpan_rectangle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_2_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_3_0_in_dustpan_circle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_3_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_3_0_in_dustpan_rectangle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_3_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_3_1_in_dustpan_circle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_3_1_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "target_3_1_in_dustpan_rectangle",
+    "level": "new_code",
+    "source": "需新增逐帧日志 dyn.target_3_1_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。"
+   },
+   {
+    "atom": "dustpan_rise_m",
+    "level": "new_code",
+    "source": "需新增日志：逐帧记录簸箕原点z相对初值的升高量；inputs/task/privileged/instruction.md:43-44"
+   },
+   {
+    "atom": "dustpan_up_angle_deg",
+    "level": "new_code",
+    "source": "需新增日志：逐帧记录簸箕局部+z与世界向上夹角；inputs/task/privileged/instruction.md:45-46"
+   },
+   {
+    "atom": "broom_right_dx_m",
+    "level": "new_code",
+    "source": "需新增日志：逐帧记录broom原点x减broom_shovel原点x；inputs/task/privileged/instruction.md:40-42"
+   },
+   {
+    "atom": "arms_back_to_origin",
+    "level": "new_code",
+    "source": "需新增日志：逐帧记录原生all_robot_back_to_origin；inputs/task/privileged/instruction.md:57-58"
+   }
+  ],
+  "notes_zh": "成功为同一动作边界上的合取：簸箕升高<=0.01米、朝上夹角<5度、扫帚与簸箕原点x差>0.1米、(五个目标原点XY全在支撑圆内 OR 五个全在功能矩形内)、双臂各轴位置差<=0.15米且姿态差<=20度。无过程保持时窗、无释放或静止要求。没有状态日志，以上均保留为视频判据和待记录原子，不伪造when或success绑定。"
+ },
+ "native_metrics": [
+  {
+   "name": "broom_root_x_minus_dustpan_root_x",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dustpan_root_z_rise",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "dustpan_up_angle",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_xy_distance_to_support_center",
+   "unit": "m",
+   "threshold": 0.081,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_ee_absolute_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "arm_ee_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "open_questions_zh": [
+  "inputs/states/index.json为空，六个节点when和success均为null（P8）；无法做日志绑定及成功重放的一致性自检，几何边界不能仅靠视频精确测量。",
+  "原生task/RoboDojo/tasks/sweep_blocks_random.py及env/reward_manager源码未随输入提供；可读评分代码只调用env.run_reward与env.take_action（inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-372、424-451）。阈值、单阶段和无历史失败语义依据两模式instruction.md的Success段及oracle记录交叉核对，未独立逐项核验上游实现。",
+  "D2/Y17：未将拿起扫帚列为必经步骤。文本要求使用扫帚，但成功检查只验位置关系，不验工具接触；场景中五个物体均可由夹爪直接接触，成功视频约150至310秒多次直接夹放。故无法证明每条成功路线都必须先拿扫帚；扫帚使用仅作典型接触方案。",
+  "文本步骤未受评：扫帚交给右臂；instruction.md:73明确不检查��手。依D3不将未受评的机器人换手阶段列节点。任务设计问题：描述要求用扫帚扫入，检查不要求刷毛接触目标，oracle成功轨迹后半段直接抓放仍通过。",
+  "评分器要求，文本未提：任务动作主体没有要求扫帚最后在簸箕右侧超过0.1米；instruction.md:40-42的Success段明确补充该条件。依S2/N1将其置于整体success语义，不增设扫帚放置节点。",
+  "按S4(a)，簸箕留桌面为开局已成立的state步骤，平放并入验收；instruction.md:60-62明确不记历史且没有立即失败，故暂时抬起或倾斜不是历史否决约束。双臂回初位按S4(b)仅属于success。",
+  "N4：两纸团和两耳机虽颜色、模型不同，目标不配对固定位置，故各类别按第1个、第2个计数，积木单列；同类计数链只表达数量依赖。",
+  "五个物体的圆/矩形分支必须全体一致（instruction.md:47-55、75-76）；单个入簸箕节点允许圆或矩形，跨物体的一致分支留在success，避免一个物体尚未入簸箕阻塞其他物体的进展。",
+  "模式共用Session成功逻辑（inputs/grader/efe_robodojo-files/sim/server.py:109、218-219）。privileged由一次新进程重放定分（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:160-187），standard以实时episode定分（inputs/grader/efe_robodojo-files/standard/tests/grade.py:1-6、39-44）；交付及基础设施有效性不作为语义节点或约束。"
+ ],
+ "conf": 6,
+ "conf_reason_zh": "节点来自任务文本和已核实初态，计数及边不依赖oracle策略；成功视频支持扫入与直接夹放两种手段。没有状态日志且上游原生检查实现未提供，阈值依据指令中的详细检查说明，全部机器条件待补录，故保守记6。",
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "六个节点的计数、边和模式基本合理，簸箕留桌面、纸团/耳机计数符合规则。但文本明确要求使用扫帚，且评分器要求开局不成立的“扫帚在簸箕右侧>0.1 m”，该世界状态变化目前只被塞进空的 success（success=null），既不在任何目标节点也不在 success，目标集合少了一个必须由机器人造成的状态。另：各入簸箕节点的 criterion_zh 重复整体成功条件，易误导视频判读。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点集合（簸箕留桌面、2纸团、1积木、2耳机计数步）与文本及评分器一致；扫帚拾取/换手依D2/D3不列节点，回初位与扫帚在右侧留在success且已在open_questions_zh说明；无状态日志，when/success为null符合P8，边无习惯边。无需修改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "evidence_check": {
+  "n_state_runs": 0,
+  "n_faithful": 0,
+  "success_runs_reaching_all": "0/0",
+  "spec_success_eq_grader": "0/0",
+  "diverged_runs": [],
+  "notes_zh": [
+   "when=null 的节点不在状态日志上检查：['dustpan_on_table', 'paper_balls_in_dustpan_1', 'paper_balls_in_dustpan_2', 'brick_in_dustpan_1', 'earbuds_in_dustpan_1', 'earbuds_in_dustpan_2']"
+  ]
+ },
+ "provenance": {
+  "prompt": "prompts/01_task_dag.md",
+  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:17:50Z",
+  "review_prompt": "prompts/02_task_dag_review.md",
+  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "dag",
+    "round": 0,
+    "ok": true,
+    "space": "work/tasks/robodojo__sweep_blocks_random/01_dag"
+   },
+   {
+    "stage": "dag_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__sweep_blocks_random/02_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/tasks/robodojo__sweep_blocks_random/05_reconcile_r1"
+   },
+   {
+    "stage": "dag_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/tasks/robodojo__sweep_blocks_random/02_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs_manifest_sha256": "2585ed028fa90d868b109498722809a395c3b70d55c3d7a0a7b82228181811d5",
+  "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
+ }
+}

phase2/robodojo/sweep_blocks_random/trajectories/robodojo-sweep-blocks-random-i00-privileged--cojwgwt.json

@@ -0,0 +1,386 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-sweep-blocks-random-i00-privileged--cojwgwt",
+ "taskKey": "robodojo/sweep_blocks_random",
+ "dag_sha256": "9a81656dfb84e8f8e2ebf2adb4363b4e9cb62b3f388bb5148f3085d2738efa74",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 851,
+   "sim_steps": 851,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 371.0,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 4,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 12.613,
+   "peak_memory_gb": 14.085,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.953,
+   "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/robodojo-sweep-blocks-random-i00-privileged--cojwgwt/replay.mp4",
+  "duration_s": 35.5,
+  "fps": 12.0,
+  "frames": 426,
+  "sha256": "45b14b6306d60ae2686ddae95b6aad98e3ae6a7454f239a82ae1b4d5eb35513e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "dustpan_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色簸箕已平放桌面；逐秒检查至视频 35.0 s，并检查视频 34.0–35.417 s 全部帧，未见簸箕被抬起或明显倾斜，位置和盘面朝向保持不变。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视频末帧簸箕仍平放，评分器 reward.success=1、replay_success=1 与此一致，最终高度及倾角验收通过；无状态日志，不能从图像精确量出厘米与角度阈值。"
+     }
+    ]
+   },
+   "paper_balls_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5 s 右臂二指夹爪在棕色纸团两侧闭合；至视频 19.5 s 棕色纸团随夹爪离开桌面，原位置空出，随后右臂向簸箕搬运。"
+     },
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 20.0–21.0 s 搬运帧及随后下降、松夹帧，棕色纸团中心约在视频 20.5 s 进入簸箕验收区的俯视范围；节点不要求高度或松手，按持物进入计入。斜视与夹爪遮挡使首次越界时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：右夹爪张开后撤；视频 22.5–23.0 s 棕色纸团留在盘面，浅灰纸团尚在桌面，棕色纸团原位置已空。后续逐秒帧及视频 34.0–35.417 s 密集帧未见该物体离开簸箕。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视频末段物体集中在簸箕盘面，评分器 reward.success=1、all_success=1、replay_success=1 支持此计数节点最终成立；精确几何边界无状态日志可测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂平行二指夹爪直接夹住棕色纸团，将其从桌面提起、搬至簸箕并张开放下；左臂此时未参与该物体搬运。"
+     }
+    ]
+   },
+   "paper_balls_in_dustpan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0 s 右臂二指夹爪在浅灰纸团两侧闭合；至视频 25.0 s 浅灰纸团随夹爪离开桌面，原位置空出，随后右臂向簸箕搬运。"
+     },
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 25.5–26.5 s 搬运帧及随后下降、松夹帧，浅灰纸团中心约在视频 26.0 s 进入簸箕验收区的俯视范围；节点不要求高度或松手，按持物进入计入。斜视与夹爪遮挡使首次越界时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "��察：右夹爪张开后撤；视频 28.5 s 两纸团均在盘内，桌面原有五件物体的位置已全部空出。后续逐秒帧及视频 34.0–35.417 s 密集帧未见该物体离开簸箕。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视频末段物体集中在簸箕盘面，评分器 reward.success=1、all_success=1、replay_success=1 支持此计数节点最终成立；精确几何边界无状态日志可测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂平行二指夹爪直接夹住浅灰纸团，将其从桌面提起、搬至簸箕并张开放下；左臂此时未参与该物体搬运。"
+     }
+    ]
+   },
+   "brick_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0 s 右臂二指夹爪在黄色积木两侧闭合；至视频 14.0 s 黄色积木随夹爪离开桌面，原位置空出，随后右臂向簸箕搬运。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 14.0–15.0 s 搬运帧及随后下降、松夹帧，黄色积木中心约在视频 14.5 s 进入簸箕验收区的俯视范围；节点不要求高度或松手，按持物进入计入。斜视与夹爪遮挡使首次越界时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：右夹爪张开后撤；视频 17.5 s 黄色积木留在盘内，原桌面位置已空。后续逐秒帧及视频 34.0–35.417 s 密集帧未见该物体离开簸箕。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视频末段物体集中在簸箕盘面，评分器 reward.success=1、all_success=1、replay_success=1 支持此计数节点最终成立；精确几何边界无状态日志可测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂平行二指夹爪直接夹住黄色积木，将其从桌面提起、搬至簸箕并张开放下；左臂此时未参与该物体搬运。"
+     }
+    ]
+   },
+   "earbuds_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s 右臂二指夹爪在黑色耳机两侧闭合；至视频 3.0 s 黑色耳机随夹爪离开桌面，原位置空出，随后右臂向簸箕搬运。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 3.5–4.5 s 搬运帧及随后下降、松夹帧，黑色耳机中心约在视频 4.0 s 进入簸箕验收区的俯视范围；节点不要求高度或松手，按持物进入计入。斜视与夹爪遮挡使首次越界时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：右夹爪张开后撤；视频 5.5–6.0 s 黑色耳机清晰留在簸箕盘面，原桌面位置已空。后续逐秒帧及视频 34.0–35.417 s 密集帧未见该物体离开簸箕。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视频末段物体集中在簸箕盘面，评分器 reward.success=1、all_success=1、replay_success=1 支持此计数节点最终成立；精确几何边界无状态日志可测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂平行二指夹爪直接夹住黑色耳机，将其从桌面提起、搬至簸箕并张开放下；左臂此时未参与该物体搬运。"
+     }
+    ]
+   },
+   "earbuds_in_dustpan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 右臂二指夹爪在白色耳机两侧闭合；至视频 8.5 s 白色耳机随夹爪离开桌面，原位置空出，随后右臂向簸箕搬运。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 9.0–10.0 s 搬运帧及随后下降、松夹帧，白色耳机中心约在视频 9.5 s 进入簸箕验收区的俯视范围；节点不要求高度或松手，按持物进入计入。斜视与夹爪遮挡使首次越界时刻约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：右夹爪张开后撤；视频 11.0 s 白色耳机已落在盘面，黑色耳机仍在，原桌面位置已空。后续逐秒帧及视频 34.0–35.417 s 密集帧未见该物体离开簸箕。"
+     },
+     {
+      "t": 35.417,
+      "log_step": null,
+      "text_zh": "推断：视��末段物体集中在簸箕盘面，评分器 reward.success=1、all_success=1、replay_success=1 支持此计数节点最终成立；精确几何边界无状态日志可测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂平行二指夹爪直接夹住白色耳机，将其从桌面提起、搬至簸箕并张开放下；左臂此时未参与该物体搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "broom_root_x_minus_dustpan_root_x",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dustpan_root_z_rise",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "dustpan_up_angle",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_xy_distance_to_support_center",
+   "unit": "m",
+   "threshold": 0.081,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_ee_absolute_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_ee_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "右臂直接夹取黑色耳机、白色耳机、积木、棕色纸团和浅灰纸团，依次放入始终平放桌面的簸箕，六个节点最终全部成立；视频 29.0–35.417 s 左臂另将扫帚搬至右侧，评分器确认交付重放成功。任务设计问题：DAG已注明描述要求扫帚扫入及换手，而评分不检查这些过程，本次视频五件物体全部直接抓放仍成功。无状态日志，入区时刻按持物俯视范围估计（约有 0.5 s 不确定性），精确几何阈值及未报告的原生指标不能由视频测得。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点的值、入区时间（约 ±0.5 s）和 contact_actual（右臂二指夹爪抓握）与视频一致；成功运行无断点，评分器 success=1 支持各终值。任务设计问题的说明合理，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-29T09:23:36Z",
+  "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/robodojo-sweep-blocks-random-i00-privileged--cojwgwt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-sweep-blocks-random-i00-privileged--cojwgwt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a9f4bd000877b889d95064bbfd6f2a4c0206201d5f3d7b4246764dfaaafc3842",
+   "video_sha256": "45b14b6306d60ae2686ddae95b6aad98e3ae6a7454f239a82ae1b4d5eb35513e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robodojo/sweep_blocks_random/trajectories/robodojo-sweep-blocks-random-i00-privileged--l8qkygs.json

@@ -0,0 +1,408 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robodojo-sweep-blocks-random-i00-privileged--l8qkygs",
+ "taskKey": "robodojo/sweep_blocks_random",
+ "dag_sha256": "9a81656dfb84e8f8e2ebf2adb4363b4e9cb62b3f388bb5148f3085d2738efa74",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "determinism_checked": 0,
+   "replays": 1,
+   "state_identical": 1,
+   "determinism_verdict_mode": 0,
+   "instance_exact": 1,
+   "instance_mismatch": 0,
+   "n_actions": 243,
+   "sim_steps": 243,
+   "ended_step_guard": 0,
+   "ended_failed_check": 0,
+   "replay_wall_s": 163.2,
+   "replay_timeout_s": 1800.0,
+   "grader_error": 0,
+   "infra_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 0,
+   "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/robodojo-sweep-blocks-random-i00-privileged--l8qkygs/replay.mp4",
+  "duration_s": 10.167,
+  "fps": 12.0,
+  "frames": 122,
+  "sha256": "0ba795a8c290af3b0d8e1f1dbec364e58bacd1aaa75300f300dd05e3486f89e5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "dustpan_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，黄色簸箕平放桌面，五件目标均在其右前方桌面。"
+     },
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.17–3.50 s，左夹爪推动桌上的扫帚，扫帚碰到簸箕短柄附近，簸箕滑动并转向；盘面仍朝上贴近桌面，没有可见抬起或翻倒。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "观察：视频 3.92–10.08 s，簸箕继续平放桌上，末帧可见空盘面；逐帧检查未见持续失去平放的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 2.17–2.75 s，左夹爪推着桌上未夹持的扫帚，扫帚碰动簸箕短柄，使其在桌面平移、转向。候选谁碰“非握持工具”：没有手握或固定扫帚，不能按手持工具记；没有抓握簸箕。"
+     }
+    ]
+   },
+   "paper_balls_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，两只皱纸团分别在积木右侧的桌面上，均未在簸箕盘面。"
+     },
+     {
+      "t": 3.333,
+      "log_step": null,
+      "text_zh": "观察：视频 2.92–3.50 s，未夹持的扫帚柄杆及其前方积木把两纸团向画面右侧推移；视频 4.42–6.92 s，右夹爪又直接将两纸团与积木推成一堆，未送进簸箕。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "观察：视频 9.67–10.08 s，浅灰和棕色两纸团均从右腕下方露出，仍在积木旁的桌面，簸箕盘面在它们后方且为空；按同类数量计数，既未有第1个，也未有第2个纸团进入验收区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.75–3.50 s，左夹爪横推未被夹住的扫帚，扫帚柄杆接触并推动积木和纸团。候选谁碰“非握持工具”：扫帚在桌面滑动，未被夹持或固定，不符合“手持工具”的定义；此接触链只记一次。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4.42–6.92 s 及视频 8.67–10.08 s，右夹爪从侧面及前方推拢两纸团；未见纸团被两指夹住或离开桌面。两数量节点共用这次对两个纸团的推拢尝试。"
+     }
+    ]
+   },
+   "paper_balls_in_dustpan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，两只皱纸团分别在积木右侧的桌面上，均未在簸箕盘面。"
+     },
+     {
+      "t": 3.333,
+      "log_step": null,
+      "text_zh": "观察：视频 2.92–3.50 s，未夹持的扫帚柄杆及其前方积木把两纸团向画面右侧推移；视频 4.42–6.92 s，右夹爪又直接将两纸团与积木推成一堆，未送进簸箕。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "观察：视频 9.67–10.08 s，浅灰和棕色两纸团均从右腕下方露出，仍在积木旁的桌面，簸箕盘面在它们后方且为空；按同类数量计数，既未有第1个，也未有第2个纸团进入验收区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.75–3.50 s，左夹爪横推未被夹住的扫帚，扫帚柄杆接触并推动积木和纸团。候选谁碰“非握持工具”：扫帚在桌面滑动，未被夹持或固定，不符合“手持工具”的定义；此接触链只记一次。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4.42–6.92 s 及视频 8.67–10.08 s，右夹爪从侧面及前方推拢两纸团；未见纸团被两指夹住或离开桌面。两数量节点共用这次对两个纸团的推拢尝试。"
+     }
+    ]
+   },
+   "brick_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.833,
+      "log_step": null,
+      "text_zh": "观察：视频 2.75–3.50 s，左夹爪横推扫帚，扫帚柄杆把黄色积木向画面右方推，积木未越过簸箕前唇；簸箕在它上方，盘面仍空。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.42–6.92 s，右夹爪直接推动积木和纸团形成一堆，物体仍在簸箕前方桌面。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "观察：视频 9.67–10.08 s，积木从右腕下方重新露出，留在两个纸团旁的桌面上，与簸箕盘面有明显间距；没有任何一帧显示它进入盘面验收区。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.75–3.50 s，左夹爪横推未被夹住的扫帚，扫帚柄杆接触并推动积木和纸团。候选谁碰“非握持工具”：扫帚在桌面滑动，未被夹持或固定，不符合“手持工具”的定义；此接触链只记一次。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4.42–6.92 s 及视频 8.67–10.08 s，右夹爪直接推拢黄色积木与纸团；积木一直在桌面，未被两指对夹搬起。此前左夹爪经未夹持扫帚的间接推碰另列。"
+     }
+    ]
+   },
+   "earbuds_in_dustpan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，黑色及白色两只耳机在簸箕右前方桌面，均在盘外。"
+     },
+     {
+      "t": 6.833,
+      "log_step": null,
+      "text_zh": "观察：视频 5.50–6.92 s，右夹爪横向推拢目标群，黑色和白色耳机随接触向簸箕短柄前方移动；两者仍在盘面前唇外的桌面。"
+     },
+     {
+      "t": 9.833,
+      "log_step": null,
+      "text_zh": "观察：视频 8.50–9.83 s 的放大画面可见黑色和白色耳机仍在簸箕短柄右前侧桌面；右夹爪最后向前移动时经过其左侧。视频 10.08 s 盘面可见部分仍空，黑色耳机在右腕右侧桌面，白色耳机末段被腕部局部遮挡。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "推断：结合视频 8.50–10.08 s 连续帧，右夹爪没有把任一耳机带过簸箕前唇，局部遮挡前的位置及夹爪行进方向均支持两只耳机持续在盘外；故第1个和第2个耳机入簸箕均未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 5.50–6.92 s，右夹爪侧面推碰两只耳机所在的目标群，耳机在桌面滑移，未见对夹抓起；视频 8.50–9.83 s 两耳机仍在簸箕柄旁桌面。两数量节点记录同次推拢尝试。"
+     }
+    ]
+   },
+   "earbuds_in_dustpan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s，黑色及白色两只耳机在簸箕右前方桌面，均在盘外。"
+     },
+     {
+      "t": 6.833,
+      "log_step": null,
+      "text_zh": "观察：视频 5.50–6.92 s，右夹爪横向推拢目标群，黑色和白色耳机随接触向簸箕短柄前方移动；两者仍在盘面前唇外的桌面。"
+     },
+     {
+      "t": 9.833,
+      "log_step": null,
+      "text_zh": "观察：视频 8.50–9.83 s 的放大画面可见黑色和白色耳机仍在簸箕短柄右前侧桌面；右夹爪最后向前移动时经过其左侧。视频 10.08 s 盘面可见部分仍空，黑色耳机在右腕右侧桌面，白色耳机末段被腕部局部遮挡。"
+     },
+     {
+      "t": 10.083,
+      "log_step": null,
+      "text_zh": "推断：结合视频 8.50–10.08 s 连续帧，右夹爪没有把任一耳机带过簸箕前唇，局部遮挡前的位置及夹爪行进方向均支持两只耳机持续在盘外；故第1个和第2个耳机入簸箕均未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 5.50–6.92 s，右夹爪侧面推碰两只耳机所在的目标群，耳机在桌面滑移，未见对夹抓起；视频 8.50–9.83 s 两耳机仍在簸箕柄旁桌面。两数量节点记录同次推拢尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "broom_root_x_minus_dustpan_root_x",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "dustpan_root_z_rise",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "dustpan_up_angle",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "target_xy_distance_to_support_center",
+   "unit": "m",
+   "threshold": 0.081,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_ee_absolute_position_error_per_axis",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "arm_ee_orientation_error",
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brick_in_dustpan_1",
+   "t": 2.833,
+   "log_step": 106,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.75–3.50 s，左夹爪横推桌上未夹住的扫帚，柄杆最先将黄色积木推向画面右方，未将其导入上方的簸箕；视频 4.42–10.08 s 右夹爪继续推拢也未完成积木入簸箕。log step 106 记录该次左臂横向推扫，log step 113 保存最后尝试，log step 114 确认交付为243行动作；此处时间取视频帧，不由agent工作时间换算。"
+  },
+  "unmet": {
+   "dustpan_on_table": true,
+   "paper_balls_in_dustpan_1": false,
+   "paper_balls_in_dustpan_2": false,
+   "brick_in_dustpan_1": false,
+   "earbuds_in_dustpan_1": false,
+   "earbuds_in_dustpan_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.833,
+    "log_step": 106,
+    "evidence_zh": "观察：视频 2.83–3.50 s，积木被扫帚柄杆横推，始终停在簸箕前唇外；视频 6.50 s 及视频 9.67–10.08 s，右夹爪推过后，积木仍与两个纸团聚在盘外桌面。机器人建立了推动接触，但没有把积木送至目标区域。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频",
+    "t": 2.833,
+    "log_step": 106,
+    "evidence_zh": "推断：视频 1.50–3.50 s，左夹爪没有包夹扫帚，而是横推桌上扫帚；刷头先碰到簸箕，随后长柄杆碰到积木，将它推离盘面方向。视频 3.92 s 左爪退出后扫帚仍躺在桌面，视频 4.42–10.08 s 右夹爪直接推拢也只将积木留在盘外。实际接触几何未形成将积木导过前唇的受控扫入；没有将该现象归为失握，因为评分轨迹未建立持握。替代接触方案在本次评分轨迹中未验证。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法精确测量簸箕5度及1厘米阈值或物体中心相对圆/矩形边界；按连续视频中明显的平放与盘外位置判断。右腕短时遮挡部分小物体，已结合遮挡前后及放大连续帧判定；不能量化接触力或进一步区分轨迹跟踪误差。日志多次独立测试不计本次进展，log step 107、110 的逆解异常只说明会话内的失败指令，不据此将评分视频中的扫入失败另标够不着。原生六项指标均未由评分器报告数值。"
+ },
+ "summary_zh": "评分轨迹中簸箕虽被扫帚碰动仍保持桌面平放；两纸团、积木和两耳机均未进入盘面，初始、峰值及最终进度都是1/6。最早未修复的步骤是积木入簸箕：视频约 2.83 s 未夹持扫帚的柄杆将积木横向推开，后续右夹爪推拢也未送入，证据支持接触设计不当。缺少状态日志，精确几何阈值与短时遮挡处依赖连续视频推断，未把agent其他测试的进展算入评分轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧与标签一致：簸箕全程平放，五件小物体最终均在盘外，进度1/6；断点为积木入簸箕、接触设计的归因有帧支持，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": "2026-10-29T09:25:07Z",
+  "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/robodojo-sweep-blocks-random-i00-privileged--l8qkygs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robodojo-sweep-blocks-random-i00-privileged--l8qkygs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1ac2235a6359a7f05b2f40dc164388636913341d13d6509acd3b9b616463ccd7",
+   "video_sha256": "0ba795a8c290af3b0d8e1f1dbec364e58bacd1aaa75300f300dd05e3486f89e5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}