diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74d496bf697f315527f8e77dcd7b93a3d5d2e58
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt.json
@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 840,
+   "sim_steps": 474,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.3333,
+   "stages_reached": 1,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 4.59,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.546,
+   "metric_pelvis_rise_m": 0.302,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 117,
+   "agent_resets": 2320,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 5.547,
+   "peak_processes": 29,
+   "peak_disk_gb": 0.05,
+   "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/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt/replay.mp4",
+  "duration_s": 4.76,
+  "fps": 25.0,
+  "frames": 119,
+  "sha256": "283b9131edba407b5d503cb319de57154db07c93e58fb984cb27932570430987"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人双脚站在棕色箱前地面；视频 1.20–3.20 s 向箱前靠近并停住，视频 3.52–4.16 s 屈膝、摆臂准备起跳，尚未上箱。"
+     },
+     {
+      "t": 4.44,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看视频 3.52–4.72 s；机器人约于视频 4.20 s 双脚离地，视频 4.28–4.60 s 双脚仍在箱顶以下、箱前一侧，随后下降；视频 4.72 s 双脚落向箱前地面，未出现双脚落在箱顶或箱顶站直保持。"
+     },
+     {
+      "t": 4.72,
+      "log_step": 110,
+      "text_zh": "观察：log step 109 重新生成最终 840 行交付轨迹；log step 110 对该文件的两次新进程重放均报告 failed=\"the jump landed on the floor\"、stages=[\"take-off\"]、success=false，最终状态哈希相同；inputs/run.json 的评分器字段 deterministic=1、stages_reached=1、stages_total=3，与本次视频的起跳后落回地面一致。原生起跳阶段通过不等于整个“跳上箱并站直”节点通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人左右脚在箱前地面承重、行走靠近、屈膝蹬地起跳；末段双脚返回箱前地面（视频 0.00–4.72 s，log step 110 的最终重放亦报告落地面）。未形成箱顶双脚支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.546
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.302
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 4.44,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.28–4.60 s 机器人已腾空但双脚仍低于箱顶，随后落回箱前地面，视频 4.72 s 仍未上箱；log step 110 对最终交付文件的重放明确报告“the jump landed on the floor”，只确认起跳阶段。失败发生在跳箱动作的腾跃、落点衔接中，未到箱顶站立验收。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 4.44,
+    "log_step": 110,
+    "evidence_zh": "观察：视频 4.20–4.72 s 机器人双脚离地后，脚端没有越上箱顶，而是在箱前下降并落回地面；机器人躯干未翻倒。log step 110 的最终文件重放仅达到 take-off，随后因落在地面结束，表现为跳跃未上箱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 110,
+    "evidence_zh": "推断：log step 97 记录 agent 使用参数化低层关节控制脚本安排蹬伸、空中收腿和箱顶落地；log step 105 的参数试验中，基线落在地面、加快收腿的变体落在箱侧。log step 109 将最终参数生成交付文件，log step 110 两次重放均只完成起跳并落地面；视频 4.28–4.60 s 的脚端始终低于箱顶与之吻合。因此可归于该跳跃控制序列未能实现所需的腾跃及收腿动作，证据不足以进一步指定控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法核实逐控制步的关节跟踪、力矩、接触对或速度，无法将控制失败细分到轨迹、反馈或特定参数。评分器未报告 pelvis_above_box_m；单侧画面不足以判断毫米级脚箱接触及法线，未额外认定箱侧碰撞。agent 在 log step 113 自述的力矩/行程上限解释未经独立验证。"
+ },
+ "summary_zh": "机器人靠近箱子、屈膝摆臂并完成起跳，评分器记录腾空 0.546 s、骨盆上升 0.302 m，但视频 4.28–4.72 s 显示双脚未越上箱顶而落回箱前地面，唯一语义节点“跳上箱并站直”从未达成，最终为 0/1（原生阶段为 1/3）。失败现象为全身·步态，最终交付脚本的跳跃控制未实现上箱；缺少状态日志，具体控制机制和细微接触无法细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频、评分器字段一致：约视频 4.2 s 起跳腾空，双脚始终低于箱顶并落回箱前地面，节点 box_jump_stood 未达成（final=false，0/1，原生 1/3）。断点、步态现象、控制根因（停在“控制”未细分）均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--ebyqjqt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "917cacd9b157fbe8294c74153ea093f01c885119a01034881edec4154efd9e25",
+   "video_sha256": "283b9131edba407b5d503cb319de57154db07c93e58fb984cb27932570430987",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de28d0614468be03044fd678d4864e39634c2cd
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam.json
@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--kfxjcam",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 410,
+   "sim_steps": 410,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 7.8,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.345,
+   "metric_pelvis_above_box_m": 1.022,
+   "metric_pelvis_rise_m": 0.292,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 47,
+   "agent_resets": 264,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.741,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.252,
+   "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/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam/replay.mp4",
+  "duration_s": 4.12,
+  "fps": 25.0,
+  "frames": 103,
+  "sha256": "be45f8d1567a992230ebde01f08ae633566081d0025189ff52ccb83fbf91b885"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.60 s，机器人在棕色箱前双脚支撑地面，屈膝、前倾后伸腿蹬起；箱子仍在机器人前方。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.72–0.84 s，机器人双脚离开地面并收腿向箱顶运动，可见脚与地面之间的间隙；视频 0.96–1.08 s，双脚落在箱顶，机器人屈膝承重，双手伸在身体前方，未见手或躯干支撑箱子。"
+     },
+     {
+      "t": 2.12,
+      "log_step": null,
+      "text_zh": "观察：视频 1.12–2.12 s，机器人双脚留在箱顶，逐渐伸膝抬高骨盆、竖起躯干；视频 2.24–4.08 s 保持近直立姿态，最后一秒各帧仍见脚在箱顶，没有跌落。"
+     },
+     {
+      "t": 4.08,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，stages_reached=3、stages_total=3、fell=0；报告腾空 0.345 s、骨盆上升 0.292 m、骨盆高于箱顶 1.022 m。"
+     },
+     {
+      "t": 4.08,
+      "log_step": null,
+      "text_zh": "推断：视频 2.12 s 附近进入站直保持，至视频末帧 4.08 s 仍在箱顶直立；结合评分器三阶段通过和 success=1，将含连续站立窗口的整步完成锚定在视频约 4.08 s，精度约半秒，而非首次落箱时。没有逐控制步状态日志，精确站立计数、速度与接触法线由评分结果佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.60 s 机器人左右脚在地面承重并蹬起；视频 0.72–0.84 s 腾空收腿；视频约 1.00–4.08 s 左右脚落在棕色箱顶承重，机器人伸腿站直。双臂摆动，未见手臂接触箱子。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.345
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.292
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 1.022
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人从箱前地面起跳、收腿越向箱顶，视频约 1.00 s 双脚落箱，随后由蹲伏逐渐站直并保持至视频 4.08 s，完成 1/1 个节点。评分器确认起跳、落地、站立三阶段全部通过，两次重放一致，无失败断点。没有状态日志，毫米级接触位置、法线、精确速度和连续站立计数不能由画面独立核验；整步完成时刻结合视频末帧与成功判定近似标注。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频和评分器字段一致：起跳腾空、约1.0 s落箱、站直保持至视频末帧；节点完成、contact_actual（腿/躯干 支撑）、无失败断点均成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:53:18Z",
+  "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/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--kfxjcam/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "af3fdb4affa572bcbfc076f8ef421ae10268de46ea8a2be3244d62a93d15019f",
+   "video_sha256": "be45f8d1567a992230ebde01f08ae633566081d0025189ff52ccb83fbf91b885",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5ec018f92efa6b6e7073dfc6554b0982fdb427
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y.json
@@ -0,0 +1,194 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 400,
+   "sim_steps": 400,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 4.52,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.467,
+   "metric_pelvis_above_box_m": 1.021,
+   "metric_pelvis_rise_m": 0.435,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 0,
+   "agent_replays": 8,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.167,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.242,
+   "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/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y/replay.mp4",
+  "duration_s": 4.04,
+  "fps": 25.0,
+  "frames": 101,
+  "sha256": "4158683cc3c16f39731585765ed013079cedfd76d36a710d53d562a2fb37beea"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.60 s，机器人在箱前地面由站立下蹲，双脚留在地面，手臂摆动，尚未跳上箱。"
+     },
+     {
+      "t": 0.88,
+      "log_step": null,
+      "text_zh": "观察：视频 0.64–0.76 s 机器人伸腿蹬地，视频 0.80–1.08 s 双脚离地并向箱顶移动，腿部在空中收起；身体未见先行搭靠箱子。"
+     },
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.12–1.24 s，机器人双脚落到棕色箱的顶面，屈膝缓冲；视频 1.40–1.80 s 仍在箱顶屈膝，随后逐渐伸腿抬高骨盆。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.00 s 后机器人已在箱顶接近直立，视频 3.00–4.00 s 逐帧检查可见双脚仍在顶面、躯干保持直立，未见跌落或手臂触箱；最后一帧为视频 4.00 s。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 92,
+      "text_zh": "观察：评分器 reward 报告 success=1、replay_success=1、deterministic=1、stages_reached=3/3、fell=0；log step 92 保存最终 400 行轨迹并重放成功，指标与本次 reward 一致，log step 93 再次重放成功且终态哈希一致。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 92,
+      "text_zh": "推断：结合评分器完成全部阶段的结果与视频 2.00–4.00 s 的箱顶站立，完整的连续站立验收窗口在视频约 4.00 s 完成，因此此时才计节点达成。无状态日志，无法从侧视图独立量出接触法线、毫米级接触高度及速度；这些精确验收条件依据评分器成功结果确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人左右脚先支撑地面并蹬地起跳，腾空后以双脚落到箱顶承重，随后伸腿在箱顶站立保持；接触端为双脚，对象依次为地面和箱顶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.467
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": 0.435
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 1.021
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成了唯一节点“跳上箱并站直”：视频约 0.80 s 腾空、约 1.20 s 双脚落上箱顶，随后伸腿站立，至视频约 4.00 s 完成保持窗口，最终进度 1/1。评分器确认全部三阶段通过且重放确定性一致，故无失败断点。没有状态日志，细微接触几何和精确速度无法独立从画面量测，依据评分器成功结果确认。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 box_jump_stood 在视频约 4.00 s 达成与画面和评分器结果一致；双脚起跳、箱顶落地、站直均可见，contact_actual 合理，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": "2026-10-31T00:55:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--n3uwo5y/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3d8f905439cbd4a06ad0461bb0b1aa4b5282a88895be4b1648b674096df8b02c",
+   "video_sha256": "4158683cc3c16f39731585765ed013079cedfd76d36a710d53d562a2fb37beea",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a050d7e8872ec72f8d69bb65691aec2a6455c7f
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr.json
@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--nnavfyr",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 680,
+   "sim_steps": 680,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.3333,
+   "stages_reached": 1,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 9.46,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.53,
+   "metric_pelvis_rise_m": 0.132,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 209,
+   "agent_resets": 70,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.052,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.842,
+   "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/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr/replay.mp4",
+  "duration_s": 6.84,
+  "fps": 25.0,
+  "frames": 171,
+  "sha256": "cfdb5eafbc96830a395415a6f5a930cf30e7bc1475c93cdf4299fc37ffff4da8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人站在箱前地面；视频 0.00–5.20 s 的抽帧显示机器人向箱前靠近并停稳，尚未在箱顶支撑。"
+     },
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 5.80–6.80 s 已逐帧检查；机器人从下蹲伸腿起跳，视频约 6.36–6.72 s 腾空时一腿向箱顶前伸、另一腿向后屈曲，骨盆仍在箱前，未形成双脚箱顶支撑。"
+     },
+     {
+      "t": 6.8,
+      "log_step": 583,
+      "text_zh": "观察：视频 6.48–6.68 s 前伸脚仍悬在箱顶上方，另一腿向后屈曲，骨盆留在箱前；视频 6.72–6.80 s 前伸脚下降至箱顶前缘一带，另一腿落向箱前地面，末帧呈低位跪落姿态，未形成双脚箱顶承重或站直保持。交付文件的裁判重放结果（log step 583）仅记录 take-off 阶段，失败原因为 the jump landed on the floor，触地部位为 left_shin；评分器字段 stages_reached=1、stages_total=3。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "推断：整段视频未出现双脚落箱并伸腿站稳的条件，故合并节点“跳上箱并站直”从未成立；原生起跳阶段的 1/3 进度不等于此语义节点完成。成功参考视频在其视频约 1.00 s 显示双脚箱顶蹲伏、视频 2.00–4.08 s 显示箱顶站直，仅用于比较可见完成姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.80–6.32 s 机器人左右脚以地面支撑并蹬起；视频 6.72–6.80 s 前伸脚下降至箱顶前缘一带，另一腿在箱前落下，全程未形成双脚箱顶承重。交付重放 log step 583 确认左小腿（left_shin）触地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "value": 0.53,
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_rise_m",
+   "value": 0.132,
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 6.8,
+   "log_step": 583,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.72–6.80 s 机器人在跳箱下降过程中没有以双脚承接在箱顶，身体在箱前下落至小腿触地；交付重放的裁判输出（log step 583）确认 left_shin 触地并判负，只有 take-off 阶段成立，之后没有修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.8,
+    "log_step": 583,
+    "evidence_zh": "观察：视频 6.48–6.68 s 机器人一脚前伸至箱顶上方，另一腿向后屈曲，骨盆仍在箱前；视频 6.72–6.80 s 前伸脚下降至箱顶前缘一带，另一腿落向箱前地面，未形成双脚落箱的目标位姿。交付重放 log step 583 记录 left_shin 触地、the jump landed on the floor，只有 take-off 阶段成立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 6.6,
+    "log_step": 583,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 6.36–6.80 s 中机器人的前伸腿与后屈腿未能在下降前协调到箱顶，骨盆持续下沉直至小腿落地，表明该跳跃控制未实现双脚落箱的身体运动；交付重放 log step 583 的有效起跳指标 air_s=0.53、pelvis_rise_m=0.132 与随后触地判负支持失败在起跳后的落地控制，而非没有起跳。现有证据不足以确定更细的控制子类。"
+   }
+  ],
+  "gap_zh": "观察：本作业没有逐帧状态日志；视频为单一侧视，不能精确核实脚箱接触法线、接触力或控制跟踪误差，pelvis_above_box_m 未被评分器报告。日志中大量会话测试输出为空，最终生成器修改内容也未完整展示；因此无法进一步区分轨迹、反馈控制或参数问题。log step 585–594 是交付验证后的其他测试，未作为本评分轨迹的动作证据。",
+  "unmet": {
+   "box_jump_stood": false
+  }
+ },
+ "summary_zh": "观察：机器人靠近箱子、下蹲并完成裁判认可的起跳，但下降时双脚落点未能同时到达箱顶，视频约 6.80 s 左小腿触地，唯一节点“跳上箱并站直”未完成（0/1）。推断：断点为跳箱操作中的落脚位姿不准，根因可支持到控制层；缺少逐帧状态和完整控制记录，无法确定更细的控制机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点、断点、时钟均正确（0/1，断点 box_jump_stood，视频 6.8 s 左小腿触地）。问题在现象：机器人从未获得支撑，跳得不够远/高，脚只够到箱沿后翻落箱前，现象“平衡”（失去支撑或翻倒）定义不贴切，应为位姿不准（落脚点没到箱顶）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点未达成、断点 box_jump_stood（视频 6.8 s，左小腿触地，log step 583 的裁判事件 fail t=6.798）、时钟与现象（运动·位姿不准）、根因停在「控制」均与视频和日志相符；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:09:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--nnavfyr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4934d4eb9874da3a6b8499d76f698947b90bcd4949e6bb58d3d15c82d3597bb4",
+   "video_sha256": "cfdb5eafbc96830a395415a6f5a930cf30e7bc1475c93cdf4299fc37ffff4da8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle.json
new file mode 100644
index 0000000000000000000000000000000000000000..df497a6b3f8ab565460e94e7716ed34bab3b6ea6
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle.json
@@ -0,0 +1,195 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--ofxbtle",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 50,
+   "sim_steps": 50,
+   "horizon": 2000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 2.53,
+   "bad_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2918,
+   "agent_resets": 79,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 33.989,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.275,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1,
+   "session_log_tampered": 1,
+   "session_log_from_monitor": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle/replay.mp4",
+  "duration_s": 0.52,
+  "fps": 25.0,
+  "frames": 13,
+  "sha256": "21ecfeadb8f7b8adaac4c43f2348c408ac1f52c68be79ba4aaaf82fd2ad0a0a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：评分视频 0.00–0.48 s 的全部 13 帧中，机器人始终双脚站在箱前地面，未见下蹲蹬地、腾空、触箱或登上箱顶；视频 0.48 s 的末帧仍为原处站姿。log step 15 中 agent 的脚本执行 50 次初始 hold 动作后保存，log step 16 的生成脚本也只有这 50 次 hold。该节点的跳跃工作未启动，故不记录任务接触；原地站立的背景支撑不算跳箱尝试。"
+     },
+     {
+      "t": 0.48,
+      "log_step": 18,
+      "text_zh": "观察：log step 18 回放已保存文件，返回 executed_rows=50、success=false、stages=[]、metrics={}、episode_over=false；最终评分器同样记录 n_actions=50、sim_steps=50、stages_reached=0、fell=0、deterministic=1。结合视频 0.00–0.48 s 的箱前站姿，跳上箱并站直从未达到；并非已跳上但未保持。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354 检查交付文件，actions shape 仍为 (50,141)。成功参考视频约 2.00–4.00 s 可见机器人双脚支撑在箱顶并伸直站立；该参考只用于核对可见完成姿态，不作为本次进度证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 0.0,
+   "log_step": 15,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.00–0.48 s 全部帧仅显示机器人在箱前保持原地站姿，没有开始起跳。log step 15 保存 50 步 hold 基线，log step 18 回放确认无阶段完成；最终评分器记录的 50 个动作与该基线相符。因此失败停在“跳上箱并站直”首步前；视频 0.00 s 仅作未启动步骤的导航锚点。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 15,
+    "evidence_zh": "观察：评分视频 0.00–0.48 s 中机器人只在箱前原地站立，双脚没有开始蹬起或移动到箱上。log step 15 的已保存动作是 50 步 hold，log step 18 对该文件的回放 stages=[]；后续会话中的起跳测试未出现在这段评分视频里。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 349,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 未能在会话调试中生成合规落箱的跳跃控制，最终保留了静站基线。证据是 log step 344 的候选仅达 take-off 后落回地面，log step 349 的优化日志多次返回 stages=[take-off]、did not land on the feet、success=False；log step 360 的三组落地测试均未合规落箱，直到 log step 615 的测试仍以 the jump landed on the floor 结束。log step 354 确认交付文件仍只有初始 50 步，最终视频也只显示静站。这些测试仅支持根因判断，其落地失败不作为评分轨迹的现象或进度；现有证据不足以细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐步状态日志，无法区分会话测试中落箱失败究竟来自接触设计、轨迹求解还是反馈跟踪；根因只保留控制大类。视频完整但仅 0.52 s，后续会话调试不属于评分片段；原生 air_s、pelvis_rise_m、pelvis_above_box_m 均未由最终评分器报告，保留 null。"
+ },
+ "summary_zh": "评分轨迹仅为箱前 50 步静站基线，机器人未启动跳跃，唯一节点“跳上箱并站直”始终未达到，最终 0/1。断点为首步前，现象为没尝试；会话多次跳跃测试无法合规落箱，支持控制方面的根因推断，测试中的运动不计入本次轨迹。缺少逐步状态日志，不能进一步区分控制子类，三个原生指标也未报告。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分轨迹只有 50 步 hold 基线，视频 0.00/0.24/0.48 s 机器人始终站在箱前；节点未达、断点首步前、没尝试、控制根因（来自会话证据，gap_zh 已说明）均有证据支持，与 FAIL-22/PhMAE2F 处理一致。",
+    "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": "2026-10-31T00:53:42Z",
+  "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/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--ofxbtle/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bdc4c9811873b864e853f4c7bca2437e81e94b882a94d717719114c9ff9320dc",
+   "video_sha256": "21ecfeadb8f7b8adaac4c43f2348c408ac1f52c68be79ba4aaaf82fd2ad0a0a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6d3568b81ab6db08789035c56b6d1d920c503f9
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm.json
@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-privileged--ylstfpm",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 301,
+   "sim_steps": 301,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.3333,
+   "stages_reached": 1,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 3.7,
+   "bad_trajectory": 0,
+   "metric_air_s": 0.355,
+   "metric_pelvis_rise_m": 0.458,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 0,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.998,
+   "peak_processes": 27,
+   "peak_disk_gb": 0.984,
+   "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/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm/replay.mp4",
+  "duration_s": 3.04,
+  "fps": 25.0,
+  "frames": 76,
+  "sha256": "e37c8576cae912de3f5dcc205852564fce4ab226b117ff5d37a2af7c04d53173"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.16 s，机器人在箱前由站立转为屈膝蹬地；视频 2.24–2.44 s 双脚离地并向箱子上方移动，已实际尝试跳箱。"
+     },
+     {
+      "t": 2.52,
+      "log_step": null,
+      "text_zh": "观察：视频 2.48–2.76 s，机器人一脚短暂踩住箱顶，另一腿向后抬起，躯干越来越前倾；视频 2.84–3.00 s 双脚离开箱顶、身体继续向箱子前方翻转，整段未出现箱顶双脚伸直站稳保持。"
+     },
+     {
+      "t": null,
+      "log_step": 326,
+      "text_zh": "观察：log step 326 对最终交付的 301 行轨迹重放，裁判返回 did not land with both feet on the box，stages 只有 take-off；其 air_s=0.355、pelvis_rise_m=0.458 与本次 reward 相同。reward 还记录 deterministic=1、stages_reached=1/3、success=0，与视频所见未完成落地和站立一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.20 s，机器人双脚交替或共同支撑地面并蹬地起跳；视频 2.48–2.76 s 至少一脚在箱顶短暂承重，另一腿在后方摆动，随后脚离开箱顶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "value": 0.355,
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_rise_m",
+   "value": 0.458,
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 2.6,
+   "log_step": 326,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.48–2.76 s，机器人在一脚短暂踩上箱顶后继续前倾、另一腿留在后方，随后视频 2.84–3.00 s 身体翻转离开箱面，未恢复双脚支撑；log step 326 的最终交付文件重放由裁判以 did not land with both feet on the box 结束，跳上箱并站直未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.52–2.72 s，机器人在箱顶仅有短暂单脚支撑，躯干前倾接近水平且另一腿向后甩起；视频 2.84–3.00 s 支撑脚也离开箱顶，机器人向前翻转，未能在箱顶稳定下来。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 281、307 的控制脚本修改分别加入按脚位置触发伸腿和髋偏航反馈，log step 315 保存最终参数并生成 301 行轨迹，log step 322、326 验证其可重复重放但仍无法双脚落地；结合视频 2.48–3.00 s 一脚着箱后持续前倾并失去支撑，说明生成的跳跃与落地控制未能稳定身体姿态和双脚支撑。证据不足以进一步确定是具体轨迹、反馈律还是增益设置的问题。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐控制步核验左右脚接触对、接触法线和骨盆速度；视频与最终文件的裁判重放足以确认节点未完成，但不能据此确定具体控制参数或姿态失稳机制。",
+  "unmet": {
+   "box_jump_stood": false
+  }
+ },
+ "summary_zh": "机器人在箱前屈膝蹬地并腾空，一脚短暂落到箱顶，随后前倾翻转并离开箱面，未完成“跳上箱并站直”，节点最终为 0/1。最终交付轨迹的重放仅通过起跳阶段，双脚落地失败；现象为失衡，根因归于控制，未进一步细分。缺少状态日志，精确接触条件和具体控制失稳机制无法核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 box_jump_stood 未达成、断点、平衡现象与控制根因均与视频和最终重放的裁判结果一致，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": "2026-10-31T00:56:13Z",
+  "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/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-privileged--ylstfpm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ec9b28416e6aeb2cc8a1500c971ae3e1d4c4f9ccae21e2419fd3a4df87a89fd3",
+   "video_sha256": "e37c8576cae912de3f5dcc205852564fce4ab226b117ff5d37a2af7c04d53173",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--amqkdmm.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--amqkdmm.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e3233c18f3d787d68d13dfe7a9be60e1cbd555c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--amqkdmm.json
@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--amqkdmm",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 680,
+   "sim_steps": 4163,
+   "calls": 79,
+   "rows": 2509,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 5191.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.356,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.384,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--amqkdmm/replay.mp4",
+  "duration_s": 6.84,
+  "fps": 25.0,
+  "frames": 171,
+  "sha256": "1be9542858b373475ab3e5da13b4d059c2b532d297b9f769126f92dd8973a0b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00–5.80 s，机器人始终在棕色箱前地面上，期间屈膝、调整脚位后重新站立，没有上箱；视频 6.00–6.52 s 才连续下蹲并蹬地，随后双脚离开地面向箱子运动。"
+     },
+     {
+      "t": 6.8,
+      "log_step": 111,
+      "text_zh": "观察：逐帧检查本次视频 5.80–6.80 s，视频 6.60–6.76 s 机器人腾空后屈膝收腿，视频 6.76–6.80 s 膝部附近的腿部贴到箱体近侧上沿，双脚仍低于箱顶并在箱体外侧，躯干前倾、膝盖弯曲；全片没有双脚在箱顶站直保持的阶段。log step 111 的服务状态明确记录最后回合 episode=6、control_steps=680、done=true、reason=failed，评分字段 graded_by_live=1、live_success=0。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "推断：本次跳跃没有建立后续站直保持所需的箱顶双脚支撑，故唯一节点从未满足。成功参考视频 inputs/oracle/replay.mp4 的视频约 1.00 s 可见双脚在箱顶蹲伏，参考视频约 2.00–4.00 s 可见伸腿直立；本次相同侧视中的这些可见达标姿态始终未出现。参考仅用于识别达标外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：本次视频 0.00–6.52 s，机器人左右脚在地面承重、调整脚位及蹬地，此处“支撑”指地面阶段；随后腾空，视频 6.76–6.80 s 可见膝部附近的腿部贴到棕色箱近侧上沿，双脚仍低于箱顶并位于箱体外侧，未建立箱顶脚部支撑。画面中双臂摆动，没有可见的手臂触箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 6.8,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：本次视频 6.52–6.80 s，机器人蹬地腾空后向棕色箱运动，视频 6.76–6.80 s 膝部附近的腿部碰到箱体近侧上沿，双脚仍在箱顶高度以下、箱体外侧，没有形成箱顶双脚支撑；视频在该次接触时结束。log step 111 的最后评分回合 E6 随后由机器人服务返回 done=true、reason=failed，log step 112 的 hold_lean 为空，未继续进入脚本的站直保持控制。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 6.8,
+    "log_step": 111,
+    "evidence_zh": "观察：本次视频 6.60–6.80 s，机器人腾空跳向箱子，视频 6.76–6.80 s 膝部附近的腿部碰到箱体近侧上沿，双脚仍低于箱顶且在箱体外侧，没有落上顶面；视频 6.80 s 仍屈膝前倾，未出现翻倒。推断：该次跳跃偏短，未完成跳上箱所需的落脚位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：接近阶段的实际移动方向与脚本预期不符，使后续开环跳跃从偏远的位置启动。log step 79 的脚本用 walk_rows(a.vx, ...) 接近箱子，并把测得距离减目标距离后换算为同方向第二段行走；log step 111 的最后回合 E6 测距却由 d_face=0.585 m 增至 0.660 m，目标为 D=0.30 m，log step 112 确认第二段时长 t2_cmd=0.45。与此一致，本次视频 1.00–5.50 s 机器人脚位向远离箱体的方向移动，视频 6.80 s 腿部撞到箱沿而脚仍低于箱顶、未落上顶面；agent 在 log step 112 自述“+vx moves the robot backward”。这些证据支持接近与跳跃执行的控制失配，尚不能细分具体控制子类。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐接触裁判明细，无法核实箱沿接触的具体腿别和连杆、法线、局部高度，以及触发判负的精确条款；评分字段 first_reason_code=3 在现有记录中没有释义。接近方向失配有视频和日志支持，但其由接口语义误配、控制实现还是跟踪误差造成，不能进一步确定；根因保留为“控制”。评分器未报告 air_s、pelvis_rise_m、pelvis_above_box_m，均填 null；日志中的离线优化数值不属于本次评分回合。"
+ },
+ "summary_zh": "最后评分回合为 E6（log step 111）；机器人完成了地面准备和一次向箱子的腾空跳跃，但在视频 6.76–6.80 s 腿部碰到箱体近侧上沿，双脚仍低于箱顶、未落上顶面，未建立箱顶站直保持，节点最终为 0/1。接近动作实际使箱前距离增大，随后开环跳跃偏短，现象为“步态”，根因据视频与日志判为“控制”。缺少状态日志及接触裁判明细，无法进一步核实接触法线和具体判负条款。",
+ "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0/1、断点(box_jump_stood)、步态+控制的大方向与视频、log(E6 d_face 0.585→0.66、t2_cmd 0.45、control_steps 680)一致。但视频 6.76–6.80 s 看到的接触是大腿/膝部撞上箱体近侧上沿，脚仍在箱体顶面以下、箱子左侧，并非“脚落在箱体近侧上沿”，contact_actual 与断点证据对接触部位的描述有误。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 0/1、断点 box_jump_stood、步态+控制与视频和 log 一致；上轮接触部位问题已更正，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": "2026-10-31T01:09:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--amqkdmm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--amqkdmm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--amqkdmm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--amqkdmm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2f5e6125042606f7b8e04d0654cac31259b6f542641ae658b4d43b98569cec6e",
+   "video_sha256": "1be9542858b373475ab3e5da13b4d059c2b532d297b9f769126f92dd8973a0b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fhhrrru.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fhhrrru.json
new file mode 100644
index 0000000000000000000000000000000000000000..580cf14eebb1b1b953a8b21a470de8fdf3680ab8
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fhhrrru.json
@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--fhhrrru",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 124,
+   "sim_steps": 124,
+   "calls": 5,
+   "rows": 105,
+   "resets": 0,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3556.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.971,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--fhhrrru/replay.mp4",
+  "duration_s": 1.28,
+  "fps": 25.0,
+  "frames": 32,
+  "sha256": "5580a7592b5e8166533a2f33c826fc430e4c87f7fb84baafefdf39bd269358b0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.80 s，机器人在棕色箱前以双脚支撑地面并屈膝下蹲，随后伸腿蹬起；此时尚未在箱顶站立。"
+     },
+     {
+      "t": 1.24,
+      "log_step": 109,
+      "text_zh": "观察：视频 0.96–1.24 s，机器人腾空收腿后双脚落向箱子前缘，末帧仍深屈膝、骨盆位于箱前，未出现箱顶伸直站立及连续保持。log step 109 的实时机器人服务（执行动作并返回裁判状态的接口）报告 episode=1、done=True、reason=failed、outcome=\"landed on the side of the box\"，stages_reached=1/3。"
+     },
+     {
+      "t": 1.24,
+      "log_step": 109,
+      "text_zh": "推断：log step 109 的本回合 control_steps=124，按 log step 4 的 control_dt=0.01 s 得仿真 1.24 s；与视频 1.24 s 的最终落脚画面核对一致，视频封装总长为 1.28 s。起跳阶段通过不等于整项跳箱站直完成；本次节点始终未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.88 s，机器人左右脚在地面承重并蹬起；视频 1.08–1.24 s，脚到达箱子前缘。log step 109 的实时裁判确认发生箱侧落脚接触，未建立合规双脚箱顶支撑；手臂摆动，未见手接触箱子。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 1.24,
+   "log_step": 109,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.08–1.24 s，机器人收腿后在箱子靠近起跳点的前缘落脚，未能进入合规箱顶站立；log step 109 的实时裁判以“landed on the side of the box”终止同一回合，之后没有修复或继续站直。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 1.24,
+    "log_step": 109,
+    "evidence_zh": "观察：视频 0.96–1.24 s，机器人已腾空向箱子跳跃，但落脚仅到箱前缘，脚后部仍在顶面外，未形成双脚在顶面的合规落地；log step 109 的实时裁判确认箱侧落脚。视频结束前没有身体倒地，跳跃落点不足以完成上箱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 108,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 108 的控制脚本预先按固定时间生成深蹲、蹬伸、收腿和落地的 lowcmd 关节目标及力矩，一次提交整段动作，没有根据实时飞行或脚箱位置修改后续目标。log step 112 对同次实时回合反馈与本地模型的比较显示，仿真 1.00 s 实测髋角约 -0.459 rad，而本地模型为 -0.940 rad；两者动态响应已有明显差异。结合视频 1.08–1.24 s 的前缘落脚及 log step 109 的判负，支持该低层跳跃控制未实现所需落脚轨迹；不能进一步确定是哪个增益、力矩或阶段切换参数导致。"
+   }
+  ],
+  "gap_zh": "没有逐步状态日志或脚箱接触点、法线记录，单侧视频不能精确重建是哪只脚先触箱侧及毫米级接触位置；箱侧接触由本回合实时裁判反馈确认。日志中的本地模型测试不属于评分回合，其成功不能计入节点进度；现有证据不足以把控制根因细分到特定参数或反馈机制。三个原生指标均未在 run.json 的评分器字段中报告，故保留 null。"
+ },
+ "summary_zh": "机器人完成了下蹲、双脚蹬地和腾空收腿，但在视频 1.24 s 落到箱子前缘，实时裁判报告箱侧落脚并终止，唯一节点“跳上箱并站直”未达成（0/1）。固定时间生成的低层控制轨迹未实现合规箱顶落脚；本地模型成功测试不计入本次进度。缺少逐步接触与状态日志，无法细分具体接触几何和控制参数原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频、日志一致：节点 box_jump_stood 未达成，视频 1.24 s 落在箱前缘，log step 109 实时裁判 failed / landed on the side of the box，control_steps=124 对应 1.24 s；断点、步态现象和控制根因有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:53:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--fhhrrru/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--fhhrrru/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dd726f55beeb510f59288d59756e75b97d2f294d5c62b77d84d22b58b817203b",
+   "video_sha256": "5580a7592b5e8166533a2f33c826fc430e4c87f7fb84baafefdf39bd269358b0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fktgc5j.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fktgc5j.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba32a53afd574b4aef90e8a09e86bd73ad44f350
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--fktgc5j.json
@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--fktgc5j",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 401,
+   "sim_steps": 11657,
+   "calls": 330,
+   "rows": 10088,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3151.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.366,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.421,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--fktgc5j/replay.mp4",
+  "duration_s": 4.04,
+  "fps": 25.0,
+  "frames": 101,
+  "sha256": "bd20f8235ac02bea7fde605ca3df6bfc6dd696ee00025f8c30766e57b25229ad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 208,
+      "text_zh": "观察：视频 0.00–2.60 s，机器人在箱前站立并小步接近；视频 2.80–3.36 s 屈膝下蹲，视频 3.40–3.76 s 伸腿后腾空，但双脚未上箱。log step 208 启动最后一次回合 p；此前重置回合不计入本轨迹。"
+     },
+     {
+      "t": 3.92,
+      "log_step": 209,
+      "text_zh": "观察：视频 3.72–4.00 s，机器人双脚向身后收起，身体向箱子反方向偏移，随后前倾下降，视频 4.00 s 膝部落到箱前地垫；全段没有双脚箱顶支撑或在箱顶站直。log step 209 的机器人服务状态为 episode=51、done=true、reason=failed，与评分字段 live_success=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.64 s，机器人左右脚在箱前地垫承重、行走及蹬起；腾空后视频 4.00 s 膝部落在地垫上，未形成箱顶脚部支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_rise_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 3.9,
+   "log_step": 208,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.72–4.00 s，机器人在跳箱过程中双脚收向身后，身体未到箱顶便前倾下降，以膝部落回箱前地垫；跳上箱并站直始终未完成。log step 209 的机器人服务随后报告本回合 done=true、reason=failed。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 3.96,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.84–4.00 s，机器人下降时躯干持续前倾，双脚仍在膝部后方，没有恢复脚底承重姿态，最终膝部着垫呈跪倒姿态，箱子仍在其前方。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 205 为最后回合设置向箱顶前伸双脚的落地姿态，log step 208 执行该回合；视频 3.60–4.00 s 的实际运动却向远离箱子的方向偏移，屈腿后未及时恢复脚底支撑，导致跪落地垫，支持起跳与落地的全身运动控制未实现目标。现有证据不能进一步确定是关节目标、力矩还是跟踪问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分器只报告失败，未给最后回合的具体违规项和 air_s、pelvis_rise_m、pelvis_above_box_m 数值，不能核实精确起跳判据、接触法线或控制子类。agent 在 log step 211 自述可能擦到箱侧，但视频 3.72–4.00 s 显示机器人落在箱前，未见触箱，因此不采用该候选解释。"
+ },
+ "summary_zh": "评分回合中机器人接近箱子、下蹲并腾空，但没有跳到箱顶，唯一节点“跳上箱并站直”始终未达成，最终为 0/1。视频 3.72–4.00 s 显示机器人偏离箱子、前倾并跪落地垫，断点为跳箱操作中，支持全身运动控制失败。缺少状态日志与具体裁判违规字段，无法确定控制子类；agent 在 log step 211 提出的擦箱侧解释没有画面支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 2.8–4.0 s 帧与标注一致：机器人起跳后向箱子反方向腾空，未上箱，以膝部落在地垫；唯一节点未达成、断点和单一现象/根因有画面支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:53:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--fktgc5j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--fktgc5j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4fb2e01e9c91295ef38a3f382179448db2a5fe671ae7459ee0875e6462bec53",
+   "video_sha256": "bd20f8235ac02bea7fde605ca3df6bfc6dd696ee00025f8c30766e57b25229ad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--kigfv4k.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--kigfv4k.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af912c2f291dc95f6c5e23880f35fad07b6edd9
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--kigfv4k.json
@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--kigfv4k",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 243,
+   "sim_steps": 16810,
+   "calls": 548,
+   "rows": 3692,
+   "resets": 46,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 7025.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.573,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.873,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--kigfv4k/replay.mp4",
+  "duration_s": 2.44,
+  "fps": 25.0,
+  "frames": 61,
+  "sha256": "3146b2b5a282725a3ebc3da0afe4f58a10727e5c063a1e09f00c03f8228e3433"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 285,
+      "text_zh": "观察：视频 0.00–1.80 s，机器人一直在棕色箱前地面，随后屈膝下蹲；视频 2.00–2.40 s，机器人蹬伸、短暂腾空并向前倾倒，双脚始终未落到箱顶，更未在箱顶站直保持。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 285,
+      "text_zh": "观察：log step 285 的机器人服务返回最后第 47 回合 done=true、reason=failed、outcome=\"the jump landed on the floor\"，stages_reached=1/3，仿真结束时间为 2.43 s；视频 2.40 s 末帧中机器人前扑，脚已回到箱前地面，与该回合结果一致。评分字段 graded_by_live=1、n_actions=243，与该回合 control_steps=243 一致；前面重置回合的试验不计入本轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.00 s，机器人双脚在箱前地面承重、屈膝并蹬伸；视频 2.40 s，脚回落箱前地面。中间短暂腾空，未见双脚与箱顶建立支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 2.2,
+   "log_step": 285,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.12–2.40 s，机器人腾空后躯干持续向前旋转，双脚拖在身后且未越上箱顶，末帧呈前扑姿态、脚落回箱前地面；log step 285 的机器人服务记录该最后回合仅达到起跳阶段，随后以“the jump landed on the floor”判负，跳上箱并站直始终未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.2,
+    "log_step": 285,
+    "evidence_zh": "观察：视频 2.12–2.40 s，机器人由接近直立的腾空姿态不断前倾，头肩向箱子方向下落、双脚留在后方，末帧躯干大幅倾斜并前扑，未恢复脚在身体下方的稳定支撑；log step 285 的机器人服务确认跳后触地并终止回合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 2.2,
+    "log_step": 285,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 285 中，agent 的控制脚本对双侧髋、膝、踝发送固定时长的关节目标插值来下蹲和蹬伸，随后切换到零速度 walk 控制器；视频 2.12–2.40 s 显示该序列未抑制躯干向前旋转，也未把双脚带到箱顶落点，因而本次跳跃的全身运动控制未成功。现有观测不足以进一步区分轨迹设计或反馈跟踪失稳。"
+   }
+  ],
+  "gap_zh": "没有逐控制步状态日志；视频可判定未上箱和前扑失衡，但不能精确测量起跳增高、腾空时长、足底接触法线或箱顶相对骨盆高度。评分器未报告 DAG 的三个原生指标数值，因此均填 null；控制根因的具体子类缺少实测目标跟踪与接触反馈证据。",
+  "unmet": {
+   "box_jump_stood": false
+  }
+ },
+ "summary_zh": "评分轨迹为 log step 285 的最后第 47 回合：机器人在箱前下蹲、蹬伸并短暂腾空，但随后前扑失衡、落回箱前地面，“跳上箱并站直”从未达到，最终为 0/1。机器人服务确认仅达到起跳阶段后因落地失败；日志中的控制序列与画面支持控制层面的归因，但缺少状态日志，不能确定具体控制子类或原生指标数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频、log step 285 一致：最后第47回合起跳后前扑落回箱前地面，未上箱；节点 false、断点、平衡现象和控制根因（推断、未细分子类）均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:53:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--kigfv4k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--kigfv4k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "916fcb4f4c4b0caf855a2f1860d5ba6b256da95ed793894b9d91b9b86e1ac35d",
+   "video_sha256": "3146b2b5a282725a3ebc3da0afe4f58a10727e5c063a1e09f00c03f8228e3433",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--y5mse2x.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--y5mse2x.json
new file mode 100644
index 0000000000000000000000000000000000000000..328aad87b4e8adc774a08c87acd8476730e5ed6a
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--y5mse2x.json
@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--y5mse2x",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 277,
+   "sim_steps": 9303,
+   "calls": 342,
+   "rows": 9303,
+   "resets": 48,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 1450.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.403,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.212,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--y5mse2x/replay.mp4",
+  "duration_s": 2.8,
+  "fps": 25.0,
+  "frames": 70,
+  "sha256": "3691c5835d8236a902a361a139b530091ff071eefcd18e699012b7a8a10ace06"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.80 s，机器人位于棕色箱前，双脚在地面，尚未到箱顶。"
+     },
+     {
+      "t": 2.6,
+      "log_step": 163,
+      "text_zh": "观察：视频 2.00–2.36 s，机器人屈膝后伸腿起跳；视频 2.40–2.76 s，机器人向箱子方向持续前倾，末帧身体倒向箱沿，双脚仍在箱前且低于顶面，全程没有双脚落在箱顶或箱顶站直保持。log step 163 的最后一次实时回合返回裁判结果“did not land on the feet”，stages_reached=1/3、control_steps=277；该结果与视频的失败落地一致。原生起跳阶段不单列为已完成语义节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.36 s，机器人双脚在箱前地面承重并蹬地；视频 2.40–2.76 s，机器人起跳后双脚离地，躯干前倾至接近水平并移到箱沿上方，脚未形成箱顶支撑；侧视图无法确认身体是否已触箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 2.6,
+   "log_step": 163,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.40–2.76 s，机器人起跳后逐渐前翻，身体倒向箱沿，未能以双脚落在箱顶；log step 163 的最后一次实时回合以“did not land on the feet”、1/3 原生阶段结束。随后只有脚本整理及最终报告（log step 165–166），没有修复这次评分回合。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.6,
+    "log_step": 163,
+    "evidence_zh": "观察：视频 2.40–2.76 s，机器人躯干从前倾发展为接近水平，双腿留在后下方，身体倒向箱沿；机器人没有建立双脚箱顶支撑，裁判在 log step 163 判为“did not land on the feet”。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 144 的脚本按固定关节关键帧执行下蹲、蹬伸、空中姿态、缓冲和站立，只检查裁判是否结束；log step 148、161 修改这些关键帧参数，log step 163 用该脚本执行最后一次实时回合。视频 2.40–2.76 s 中机器人未把双脚提至箱顶，却持续前翻，说明该跳跃控制未实现所需腾空姿态及落地支撑；证据不足以进一步区分轨迹设计与反馈跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，无法确定末段首先触箱的具体身体链接、接触力和精确速度，也无法把控制问题细分。log step 166 中 agent 自述是膝/胫先触箱，但侧视画面仅能确认身体倒向箱沿、双脚未上箱顶，故不采用其具体链接判断。评分器未报告 air_s、pelvis_rise_m、pelvis_above_box_m 数值，三项原生指标留空。"
+ },
+ "summary_zh": "评分回合完成了裁判认可的起跳（log step 163：原生阶段 1/3），但“跳上箱并站直”节点始终未达成，最终为 0/1。视频 2.40–2.76 s 显示机器人起跳后前翻、身体倒向箱沿，未能双脚落到箱顶，断点为该跳箱步骤的操作中，根因为控制。缺少状态及接触力日志，不能精确确定首次触箱链接或进一步细分控制原因；成功参照视频可见箱顶双脚落地后伸腿站稳，与本回合末态明显不同。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 box_jump_stood、平衡 + 控制的结论与视频一致（视频 2.8 s ≈ 277 控制步，对应评分回合）；仅有一处接触观察写得过满。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点未达成、断点 box_jump_stood、平衡 + 控制与视频及 log step 163（did not land on the feet，1/3，277 步）一致；上一轮的接触措辞已修正，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": "2026-10-31T01:08:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--y5mse2x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--y5mse2x/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--y5mse2x/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--y5mse2x/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0a05b09a59f4622be1a6f1f11b2db76ca566cef4226c988d6463cb96cd951439",
+   "video_sha256": "3691c5835d8236a902a361a139b530091ff071eefcd18e699012b7a8a10ace06",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--yldfzxs.json b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--yldfzxs.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e215963393177f4b619eb82e8a2b3fd43b70769
--- /dev/null
+++ b/phase2/embodied-olympics-fun/box_jump/trajectories/embodied-olympics-fun-box-jump-i00-standard--yldfzxs.json
@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-box-jump-i00-standard--yldfzxs",
+ "taskKey": "embodied-olympics-fun/box_jump",
+ "dag_sha256": "94c6447a4b03c43587761e86e851339c4316a0cf5855b294978de845b6362c39",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 257,
+   "sim_steps": 2003,
+   "calls": 349,
+   "rows": 2003,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 5644.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.665,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.939,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-box-jump-i00-standard--yldfzxs/replay.mp4",
+  "duration_s": 2.6,
+  "fps": 25.0,
+  "frames": 65,
+  "sha256": "cbbde695e5c0188e16e7d32be780f8ecdb9e8fa22e8e95b09bc46a8d4d1a80fa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "box_jump_stood": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 221,
+      "text_zh": "观察：视频 0.00 s 机器人站在箱前地面，视频 0.40–2.00 s 下蹲并前倾；log step 221 的服务返回 episode=6、control_steps=0、resets_left=0，log step 252 最终仍为 episode=6。因此只标最后一次实时回合，不将前五次测试或独立模型演练计入节点。"
+     },
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：视频 2.12–2.24 s 机器人蹬伸双腿、离开地面，视频 2.28–2.40 s 腾空收腿向箱顶移动；视频 2.44–2.56 s 脚到达箱缘附近，躯干仍前倾、膝关节弯曲，没有出现箱顶站直保持。"
+     },
+     {
+      "t": 2.56,
+      "log_step": 252,
+      "text_zh": "观察：log step 252 的机器人实时服务终局字段为 outcome=\"landed on the side of the box\"、stages_reached=1/3、control_steps=257、sim_time_s=2.57；log step 253 再次读取同一终局。推断：该回合只通过起跳检查，侧面接触使落地验收失败，跳上箱并站直节点从未成立。控制周期为 log step 7 的 0.01 s，257×0.01=2.57 s，与视频 2.56 s 末帧的箱缘接触位置核对一致；此处仅据控制步对齐两种证据，未使用 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.12 s 机器人左右脚在地面承重并蹬伸起跳；中途腾空，未完成合规箱顶双脚站稳。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "观察：视频 2.44–2.56 s 机器人脚到达箱缘，log step 252 的服务裁判确认落地时接触箱侧面。候选名称：碰撞接触；这是脚与箱侧面的非预期接触，不能确认为承重支撑，也不是主动推扫、压擦或击打。单一侧视不能可靠区分是哪一只脚触及哪个侧面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_rise_m",
+   "unit": "m",
+   "threshold": 0.1,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "pelvis_above_box_m",
+   "unit": "m",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "box_jump_stood",
+   "t": 2.56,
+   "log_step": 252,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.44–2.56 s 机器人正从腾空收腿转为落箱，脚落向箱缘附近，尚未站直；log step 252 的第六回合实时服务在 control_steps=257 时判定 landed on the side of the box，只通过 1/3 阶段并立即结束。推断：失败发生在跳箱步骤的落地过程中，之后没有修复机会。"
+  },
+  "unmet": {
+   "box_jump_stood": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.56,
+    "log_step": 252,
+    "evidence_zh": "观察：视频 2.40–2.56 s 机器人下降时脚来到箱顶边缘，未形成双脚都在顶面内的稳定支撑；log step 252 的服务裁判明确报告 landed on the side of the box，接触箱侧面终止了本次跳跃。视频截至末帧没有显示机器人倒地。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 2.52,
+    "log_step": 252,
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "观察：视频 2.48、2.52、2.56 s 中机器人相对箱子连续向前运动，没有约半米的后退。log step 252 中 agent 脚本打印的 sensor pose 前后位置分量却从 0.4919 m 突变到 -0.0100 m，随后接近 0 m，同时 IKerr 从 0.00035 升到 0.858–1.055；这些是脚本估计值而非真实状态。log step 194、247、251 的代码显示，脚本每次将 estimate3 输出的位置直接送入固定世界足端目标的逆解，再立即发送控制指令；log step 253 中 agent 自述近面离开视野后位置估计跳变并产生错误末段指令。推断：明显错误的位置估计进入落地控制，造成末段足端修正失准，促成侧面接触；近面误识别的具体图像机制未能独立核实。"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志；视频只有场地侧视，无法独立分辨触箱的是左脚还是右脚、具体侧面及接触法线，侧面接触类型由最后实时回合的服务裁判终局确认。位置估计突变及其进入逆解有日志和代码证据，但没有真实三维轨迹或对照试验，不能量化它与此前双脚外展各自对失败的贡献。评分记录未报告 air_s、pelvis_rise_m、pelvis_above_box_m 的数值，原生指标保留 null。"
+ },
+ "summary_zh": "最后一次评分回合中，机器人从地面下蹲、蹬伸并腾空向箱顶移动，但落地触及箱侧面，裁判只确认起跳阶段，跳上箱并站直节点始终未达成，最终为 0/1。落地前脚本的位置估计突变约 0.50 m，并直接用于足端逆解，支持感知错误促成末段落地失准的归因。缺少真实状态日志和其他视角，无法精确确认触箱脚及接触法线，也无法量化该估计错误与已有足端外展的各自贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点在跳箱落地、被挡/碰撞与感知根因均有视频末段（脚落箱缘）、log step 252 服务终局及脚本位置估计突变支持；未发现需修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:01:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--yldfzxs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-box-jump-i00-standard--yldfzxs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6435f94af0749759081b340d7a98a92ae6317c4c52ec60e1dc3704054dcf34ca",
+   "video_sha256": "cbbde695e5c0188e16e7d32be780f8ecdb9e8fa22e8e95b09bc46a8d4d1a80fa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4.json
new file mode 100644
index 0000000000000000000000000000000000000000..104e1a00f5e2fa7d2bb937f9c09b872744ffdf82
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4.json
@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 337,
+   "sim_steps": 337,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 5.16,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.114,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 146,
+   "agent_resets": 155,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4/replay.mp4",
+  "duration_s": 3.4,
+  "fps": 25.0,
+  "frames": 85,
+  "sha256": "977769ec7a26cace0c1515c26b8f07b8d94540aefbab68ecd0d33c7207329111"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.28–2.40 s，传球机送出的橙色球到达机器人抬起的迎球手附近；视频 2.44–2.52 s 球已与双手分开并向画面右上方飞去，未出现两手共同承接并持续控制的阶段。"
+     },
+     {
+      "t": 3.36,
+      "log_step": null,
+      "text_zh": "观察：视频 2.56–3.36 s，篮球持续远离机器人，最后落到禁区地板，机器人保持站立、双手空；inputs/run.json 的评分器字段 stages_reached=0、progress=0、deterministic=1，与未完成接球一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "推断：视频 2.36–2.44 s，篮球经过机器人抬起的左手附近后改变飞行方向并弹离；左手发生瞬时碰球，右手虽在身前准备承接，但未见与球共同接触。候选：击打（接球时的短暂碰触反弹）；球未被单手包住，也未被双掌夹住，不能标抓握或持续托举。具体指、掌接触部位受远景遮挡。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.52,
+      "log_step": null,
+      "text_zh": "观察：视频 2.44–3.36 s，球从接球动作中弹离，飞行高度始终低于篮圈，随后落地；机器人未先接住球再进行投篮，球也未从上方穿过篮圈。"
+     },
+     {
+      "t": null,
+      "log_step": 191,
+      "text_zh": "观察：log step 162 编写接球、闭合和小幅跟随的 gen.py，log step 163 修复向量长度并生成轨迹；log step 191 明确重新执行 gen.py 恢复最终交付文件。log step 226 自述交付为 337 行、接球未完成；评分器记录 n_actions=337、stages_reached=0。后续测试中的近接球及躯干触球不能算作此交付轨迹的投篮。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.36–2.48 s，机器人正在迎接来球，球经过迎球手后立即弹向画面右上方，未被两手共同控制；视频 2.52–3.36 s 球一直远离双手，最后落地，接球失败未修复。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.36–2.48 s 只有迎球手附近的瞬时拦碰，球随即飞离，另一只手未把球合围接住；视频 2.52–3.36 s 双手始终空着。推断：接球要求的双手持续有效接触从未建立，不能把一次碰球算作持球后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：log step 162 的交付脚本预设两手迎球姿态，在固定控制步闭合手指并作小幅跟随，log step 191 重新执行此脚本生成最终轨迹；视频 2.32–2.52 s 双手分开，来球只经过迎球侧手附近便被弹出，没有进入双手共同承接的区域。推断：交付动作的接触布局与闭合、跟随组合未形成能够捕获来球的双手接触，属于接触设计失败。成功参考 inputs/oracle/replay.mp4 的参考视频 2.44–3.00 s 可见球被双手持续承接，说明存在可行替代；参考视频仅用于验证替代可行，不作为本次接触证据。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；已逐帧检查视频 2.08–3.36 s，但远景中手球相交瞬间受手臂与身体遮挡，不能精确确定各指、掌接触对及毫秒接触时长。未完成双手控制由接触前后的连续画面及评分器阶段数共同支持。log step 184 及后续测试采用不同姿态，最终自述混入了这些测试中的掉球、躯干犯规；这些细节不用于本次现象或节点判定。"
+ },
+ "summary_zh": "本次交付在双手接球阶段失败，两个节点均未达成（0/2）：视频约 2.4 s 来球经过迎球手后弹离，至视频 3.36 s 落地，机器人未摔倒。双手接球接触未建立，交付动作的接触布局与闭合、跟随组合未能捕获来球；log step 191 确认最终文件重新由 gen.py 生成，后续实验中的近接球和躯干犯规不属于这段视频。无状态日志，细小接触部位及精确接触时长不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点 ball_caught（操作中）、接触现象与接触设计根因均与视频和日志相符，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": "2026-10-31T01:06:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--c5wpdf4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "660da50fc5303661dbfe7dd0cc244e4d2a380b555871a337e64815eff576a703",
+   "video_sha256": "977769ec7a26cace0c1515c26b8f07b8d94540aefbab68ecd0d33c7207329111",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp.json
new file mode 100644
index 0000000000000000000000000000000000000000..9528852be43d10b9928ff972a33713658c81b8d3
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp.json
@@ -0,0 +1,192 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 661,
+   "sim_steps": 661,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 5.81,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 2.775,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 194,
+   "agent_resets": 320,
+   "agent_replays": 32,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp/replay.mp4",
+  "duration_s": 6.64,
+  "fps": 25.0,
+  "frames": 166,
+  "sha256": "a4b9add3bb5d2c19c65747713771ec3501d3886ecbc5a3bc583811624dfe0f66"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
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+      "t": 2.64,
+      "log_step": null,
+      "text_zh": "观察：视频 2.20–2.44 s，橙色篮球从左侧传球机方向飞到机器人胸前；视频 2.48–2.88 s，球停留在机器人两手之间并随两臂一起移动，没有弹走或先落地。视频 2.64 s 作为双手接住事件的近似完成锚点。"
+     },
+     {
+      "t": 2.64,
+      "log_step": 242,
+      "text_zh": "观察：log step 242 的所选交付候选重放结果列出 catch、release、through the ring 三阶段；log step 260 核验最终交付的 661 行动作精确再生成、两次新进程重放成功且末态哈希与该候选相同。inputs/run.json 评分字段 replay_success=1、deterministic=1、stages_reached=3。"
+     },
+     {
+      "t": 2.64,
+      "log_step": null,
+      "text_zh": "推断：结合视频 2.48–2.88 s 的持续双手控球及评分器三个阶段全部通过，双手接触达到接球判据；远景不能独立量出每手接触宽限和连续接触时长。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 2.48–2.88 s，机器人左右手共同在篮球两侧承接并相向夹持球体。候选：夹持；画面未显示任何单手以拇指与其余手指相对合拢包住球，双掌共同夹压不按抓握标注，现有条目无准确对应。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.20–4.64 s，机器人将两手间的篮球下放至腹部附近；视频 4.68–4.76 s 双臂一起向前上方摆动，视频 4.80 s 球已与双手分离，随后沿高弧线飞向右侧篮筐。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看视频 5.60–6.60 s，球在视频约 6.12 s 从画面上方重新出现，视频 6.32–6.60 s 连续下降至篮板前的篮圈及圈下网区；机器人仍站立。投篮命中完成时间近似记为视频 6.60 s。"
+     },
+     {
+      "t": 6.6,
+      "log_step": 260,
+      "text_zh": "观察：inputs/run.json 的评分结果 success=1、replay_success=1、deterministic=1、stages_reached=3、fell=0；log step 260 对最终交付报告精确再生成和两次成功重放。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "推断：视频末段的向下入圈轨迹与评分器成功结果相互支持，投篮命中节点已完成；远景及网篮遮挡不足以独立精确测量球心穿越两个验收平面的高度与水平距离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 3.20–4.76 s，机器人两手共同夹持、下放并向前上方加速篮球，随后球离手飞行。候选：夹持；两手共同夹压与送球，未见单手相对合拢包住球的抓握，现有接触方式无准确对应；视频 4.80 s 后的飞行由球自身运动完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人在视频约 2.6 s 双手接住左侧来球，持续控球后于视频约 4.8 s 以下手动作投出，视频约 6.6 s 球从上方下降入圈，两个事件节点均完成。评分器确认 success=1、replay_success=1、deterministic=1，最终交付的精确再生成和两次成功重放见 log step 260，无失败断点。没有状态日志，远景无法独立测量毫秒级双手接触及精确穿圈几何，相关验收结合可见动作和评分结果判定。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两个事件节点时间与帧一致，评分器 success=1 支持；接触标注合理，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": "2026-10-31T01:08:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--gzgbxmp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "feec6b7d6d4d7a9537bf5aaf31b6e45493b703f8ebc1130633bc25f7c4442da0",
+   "video_sha256": "a4b9add3bb5d2c19c65747713771ec3501d3886ecbc5a3bc583811624dfe0f66",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8.json
new file mode 100644
index 0000000000000000000000000000000000000000..dda222375ae44b3f177e4388e7ec8ec55f50c9f9
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8.json
@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 525,
+   "sim_steps": 525,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 3,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 6.96,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 2.773,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 62,
+   "agent_resets": 235,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.795,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.255,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8/replay.mp4",
+  "duration_s": 5.28,
+  "fps": 25.0,
+  "frames": 132,
+  "sha256": "8a4696a65d91eede0c0357ae99bee53262cd6416648f658fcea0bf0d3b79ae9c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.32,
+      "log_step": null,
+      "text_zh": "观察：视频 2.20–2.32 s，橙色篮球从画面左侧传球机方向飞向机器人的胸前，来球在空中，未见先触地；视频 2.36–2.88 s 球被机器人上身部分遮挡。"
+     },
+     {
+      "t": 3.2,
+      "log_step": 145,
+      "text_zh": "观察：视频 3.12–3.44 s，机器人转向篮筐，球重新显露在其胸腹前，随双手移动并保持受控；此后球随双手降低至视频 4.00 s，未弹走。log step 145 的已交付文件两次独立重放均报告 catch、release、through the ring 阶段及相同末态哈希，裁判事件记录接球成立于仿真 2.540 s。"
+     },
+     {
+      "t": 2.56,
+      "log_step": 145,
+      "text_zh": "推断：接球事件取视频约 2.56 s，并在出手后保持锁存。交付重放在 log step 145 报告 525 控制步、仿真 5.25 s，结合 log step 141 脚本的每步 0.01 s，与视频 5.28 s（25 fps）长度相符；裁判释放事件的仿真 4.129 s 已在视频 4.12–4.16 s 球离手处核对，故用同一时钟对应关系辅助定位被遮挡的接球成立时刻，误差约一帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 3.12–3.44 s，机器人左右手在胸腹前共同控制篮球，球随双臂转向并保持在手边。远景与背侧视角无法分辨每手是否以拇指和其余手指形成对向包握，或主要由两手相向夹压球面，故具体接触方式未知。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.24,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.12,
+      "log_step": null,
+      "text_zh": "观察：视频 3.52–4.00 s，机器人把仍受双手控制的球降至腹前，视频 4.04–4.12 s 双臂向前上方送球；视频 4.16 s 球已明显离开双手，随后沿弧线飞向画面右侧篮圈。"
+     },
+     {
+      "t": 5.24,
+      "log_step": 145,
+      "text_zh": "观察：视频 4.40–5.24 s 已逐帧检查，球越过最高点后下降，视频 5.12–5.24 s 球从篮圈上方向圈口下降并进入圈下区域；末帧机器人仍直立。log step 145 的交付文件重放记录 through the ring 与 success 同在仿真 5.243 s 触发，两次重放 success=true、failed=null；本次 reward 的 replay_success=1、deterministic=1、stages_reached=3。"
+     },
+     {
+      "t": 5.24,
+      "log_step": 145,
+      "text_zh": "推断：结合视频末段的下降入圈轨迹及交付重放的成功事件，投篮命中约在视频 5.24 s 成立；接球前置已满足。远景无法直接测量精确穿圈距离和圈下下降一球直径的阈值，这些验收细节由本次裁判成功结果确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 3.52–4.12 s，机器人双手共同控制篮球下放并向前上方加速，视频 4.16 s 后球离手自由飞行。背侧远景不能可靠区分指掌包握、两手夹持或下方承托各自的接触份额，故具体方式未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人在视频约 2.56 s 双手接住左侧来球，转向并下放蓄力后于视频约 4.12–4.16 s 出手，视频约 5.24 s 投篮命中，两节点均完成。视频末段的下降入圈与交付重放及评分器成功结果一致，无失败断点。没有状态日志，背侧远景遮挡接球瞬间且无法区分手指包握和双手夹压；接球时刻结合交付重放事件定位，精确接触时长及穿圈阈值由裁判结果确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两节点均达成，时间与帧一致（接球约2.56 s、出手约4.16 s、入圈约5.24 s），接触标注为双臂协作+未知，合理；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": "2026-10-31T01:06:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--k2dnyf8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6763c1cc4b2378c2b2e55bf05e69bdbb507f83bbc4577c1d28aa686742e35902",
+   "video_sha256": "8a4696a65d91eede0c0357ae99bee53262cd6416648f658fcea0bf0d3b79ae9c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc18654b045bc60a3c2582d86c0f22790a61e4d
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp.json
@@ -0,0 +1,194 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 301,
+   "sim_steps": 301,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.6667,
+   "stages_reached": 2,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 4.01,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.11,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 443,
+   "agent_resets": 5,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.564,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.855,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp/replay.mp4",
+  "duration_s": 3.04,
+  "fps": 25.0,
+  "frames": 76,
+  "sha256": "62c23795ad79d799dbf6348134c4566811d185b4cb3f687de5f5ea3fadd20818"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.52,
+      "log_step": 497,
+      "text_zh": "观察：视频 2.00–2.40 s，橙色篮球由机器人左侧传球机飞来，未触地；视频 2.44–2.64 s，球到达机器人胸前双手间并短暂随手移动。log step 497 对最终交付文件的重放记录了 catch 与 release，catch 事件为仿真 2.507 s；评分器 stages_reached=2，与画面中的接球相符。接球是锁存事件，后续掉球不撤销该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 2.44–2.72 s，机器人左、右手共同承接并随球向下移动；球和两手局部重叠，远景及裁剪仍不足以分辨单手的手指包握与双掌夹持，故接触方式标未知。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 497,
+      "text_zh": "观察：视频 2.64–2.80 s，机器人双手与球下降；视频 2.84–3.00 s，球与双手分离并落向脚前地板，未飞向画面右侧篮圈，也未穿圈。log step 497 的最终文件重放仅有 catch、release 阶段，并以 the ball touched the floor 结束；log step 498 再次重放得到相同末态哈希。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 2.52–2.80 s，机器人双手在接球后继续伴随篮球下降，随后球脱手；这是投篮前持球阶段的实际双手接触，未见向篮筐的送球动作。远景不能判明各手是否包握，方式标未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 2.8,
+   "log_step": 497,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.52 s 已接住球，随后双手随球下降，视频约 2.80 s 球脱离双手，至视频 3.00 s 落在机器人脚前，投篮命中未完成；机器人仍站立。log step 497 明确保留接球轨迹，最终文件重放在球触地时结束，未交付会话中另行试验的向上投射动作。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.8,
+    "log_step": 497,
+    "evidence_zh": "观察：视频 2.44–2.64 s，机器人两手先共同承接篮球；视频 2.68–2.80 s，球与双手一起下降，视频 2.84–3.00 s 球已在手下方继续下落，未被重新接住。log step 68 所列保存脚本始终保持双手闭合命令并跟随球位置，没有主动张手释放段；最终 log step 497 重新运行该脚本得到相同的球触地结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 68、126 展示的保存脚本在双手接触后固定手相对篮球的偏移，每步以当前球位置求解双臂目标，双手闭合命令持续为 1.0；它没有后续向篮筐加速或主动释放段。log step 497 选择保留并重新生成此接球轨迹，log step 498 验证两次重放一致；结合视频 2.64–3.00 s 的随球下降与脱手，交付控制未能维持持球并衔接投射。具体是接触承载几何还是轨迹跟踪失配，现有证据不足以细分。"
+   }
+  ],
+  "gap_zh": "无状态日志；视频为远景，虽能确定双手承接、随后脱手落地，但不能独立测量有效接触的 0.10 秒窗口或各手局部接触形式。接球成立同时由最终交付文件的裁判重放记录支持；控制子类不作进一步推定。"
+ },
+ "summary_zh": "评分轨迹在视频约 2.52 s 完成双手接球，最终达到 1/2 个语义节点；接球事件在掉球后仍保留。投篮前的持球跟随未保持住篮球，视频约 2.80 s 脱手后直接落地，未形成向篮筐的投射；日志确认最终交付的是这一接球轨迹，两次重放一致。无状态日志，远景无法判清手指包握或双掌夹持，也不足以细分控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "接球节点（视频约 2.5 s）、投篮未达成、断点 shot_through_ring、没保持住（球沿双臂滑落，约 2.8 s 起脱手落地）均与视频和 log step 497/498（stages catch+release，球触地，重放哈希一致）相符；未发现需改动的错误。根因“控制”写得保守，已声明不细分。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--ka7kvqp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e728e208fb923a5f140149daf939a34de844d3d3e4628a3a7e32208e9abee2c8",
+   "video_sha256": "62c23795ad79d799dbf6348134c4566811d185b4cb3f687de5f5ea3fadd20818",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0fd117103e1e635879fdbf5b3b2ac21db481f8
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j.json
@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 304,
+   "sim_steps": 304,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.6667,
+   "stages_reached": 2,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 4.93,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.104,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 106,
+   "agent_resets": 677,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.807,
+   "peak_processes": 16,
+   "peak_disk_gb": 0.981,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j/replay.mp4",
+  "duration_s": 3.08,
+  "fps": 25.0,
+  "frames": 77,
+  "sha256": "247afd7c85a0fa69183931e6e210fe47b9d95dbae67b0675fafa0077736f4ba8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": 223,
+      "text_zh": "观察：视频 2.08–2.44 s 橙球从画面左侧飞向机器人；视频 2.48、2.52、2.56、2.60 s 球在胸前双手之间停留，明显减速，未先落地。log step 223 对最终保存的 304 行轨迹重放，裁判阶段为 catch、release；log step 231 两次重放结果相同，支持双手接球已通过。接球达成时刻取视频约 2.6 s，事件此后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "推断：视频 2.48–2.64 s 左右手共同从球两侧承接、夹住篮球；log step 223 的交付脚本采用固定双掌姿态，双手闭合命令均为 1。候选：夹持；画面和脚本说明支持两手相向夹球，未见单手拇指与其余手指分别包住球面，故不标抓握，现有条目缺少双掌夹持。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.76,
+      "log_step": 223,
+      "text_zh": "观察：视频 2.60–2.72 s 机器人双臂仍维持接球姿态；视频 2.76–3.04 s 球从手下持续下落至脚旁地面，始终未飞向画面右侧篮圈。log step 223 最终交付脚本在全局始终发送同一 stand 行，没有接球后的挥臂或主动张手投篮段；最终文件重放只达 catch、release，失败原因是球触地。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 231,
+      "text_zh": "观察：视频 3.04 s 末帧球在机器人脚边，篮圈未有进球；log step 231 对最终文件的两次重放均 success=False、stages=[catch, release]、failed=the ball touched the floor，且末态哈希相同。会话中 log step 214、218、229 的挥臂测试未被写入此最终固定姿态轨迹，不能算作本次视频中的投篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "推断：视频约 2.60–2.72 s 投篮前持球阶段仍沿用双手从两侧夹球的接触，随后球从手间向下脱离；候选：夹持。两手共同夹球而非单手各自形成包握，现有条目缺少双掌夹持；交付轨迹没有实际送球挥臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 2.72,
+   "log_step": 223,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.6 s 接球成立后，机器人仍把双手停在胸前；视频 2.72–2.80 s 球向手下脱离并下落，至视频 3.04 s 落到脚旁地面，没有开始向篮圈的飞行。log step 223 保存并重放的最终轨迹只含固定接球姿态，裁判已记 catch、release 后因球触地判负；断点是投篮命中的持球准备阶段。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.72,
+    "log_step": 223,
+    "evidence_zh": "观察：视频 2.48–2.64 s 球曾在双手之间被承接，视频 2.76、2.80、2.84 s 球逐渐降到双手下方，之后继续落地，机器人双臂没有送球挥动。log step 223 的交付代码始终保持双手闭合命令为 1，没有计划松手；这是接住后失去持球接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 2.72,
+    "log_step": 223,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 223 最终脚本从开始到结束重复同一组双臂目标并保持闭合命令为 1，采用双掌夹球；视频 2.48–2.64 s 能短暂承接球，但视频 2.76–3.04 s 球在双臂基本不动时从手间下滑至地面，说明该接触姿态不能持续承载篮球以衔接投篮。可行替代已由同任务成功参考验证：参考视频 2.60–3.40 s 双手持续持球，参考视频 3.60–4.60 s 降低持球位置后于参考视频 4.80 s 向上送球，参考视频 6.48–6.60 s 球落入篮圈下方；这些只证明替代持球与送球方案可行，不作为本次运行的进度。"
+   }
+  ],
+  "gap_zh": "没有状态日志；远景及裁剪放大仍不足以精确辨别每根手指的接触、接触力和裁判的毫秒接触窗口，接球时刻为视频近似值，并以最终交付文件重放的 catch 阶段确认。具体掌面受力不足的数值原因无法确定；agent 在 log step 238 自述这些手臂无法完成投篮，仅是其结论，成功参考表明存在可行方案，不据此归因为任务或环境。"
+ },
+ "summary_zh": "本次交付轨迹在视频约 2.6 s 完成双手接球，最终完成 1/2 个 DAG 节点；裁判原生 2/3 阶段进度包含 release，不等于投篮命中。机器人接球后保持固定双掌姿态，球于视频约 2.72 s 开始从手下脱离，视频 3.04 s 触地，断在投篮前持球阶段，接触设计未能持续承载篮球。无状态日志，细小手指接触及精确受力不可核实，接球验收结合最终文件的确定性重放结果判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "接球达成、投篮未达成、断点在投篮持球阶段，现象（没保持住）与根因（抓取和接触设计，参考视频验证可行替代）均有帧和裁判阶段支持；时钟均为视频时间，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:04:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-privileged--mdrhw2j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5f2726d38a0277ee74eb9196f538e7baef248598d86f03ea63421da30beaf051",
+   "video_sha256": "247afd7c85a0fa69183931e6e210fe47b9d95dbae67b0675fafa0077736f4ba8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df92c5a64f40e9b938b5acdfb96edf995812760
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb.json
@@ -0,0 +1,195 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 310,
+   "sim_steps": 1834,
+   "calls": 12,
+   "rows": 1681,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 930.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.034,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.365,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb/replay.mp4",
+  "duration_s": 3.12,
+  "fps": 25.0,
+  "frames": 78,
+  "sha256": "07c337c9eeb39b5d1c8b70837513ad0ecefca96a43e38deb8306efc9474389ba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": null,
+      "text_zh": "观察：视频 2.20–2.40 s 橙色来球从左侧传球机飞向机器人，视频 2.44–2.48 s 球经过胸前双手附近，视频 2.52–2.80 s 球继续向画面右侧远离，未随双手停住；视频 3.08 s 球已到地板处。"
+     },
+     {
+      "t": 3.08,
+      "log_step": 183,
+      "text_zh": "观察：log step 183 明确记录重置至 Episode 6 后执行最终脚本，服务返回 failed、the pass was not caught: the ball touched the floor、stages_reached=0/3；该结果与视频末段的落球一致。成功参照视频 2.44–2.88 s 可见球持续留在双手之间，本次视频没有这一承接控制过程。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.40–2.52 s 机器人双手在胸前尝试接球，球短暂与手部投影重叠后继续飞走。远景不能分清是否有瞬间擦碰、是哪只手或哪部分手指触球；没有状态接触记录，故不能确认实际接触方式，也不把闭手动作记为已抓握或已双掌夹持。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.08,
+      "log_step": 183,
+      "text_zh": "观察：视频 2.52–3.08 s 篮球一直远离双手并落向地面，机器人在视频 3.00–3.08 s 仅空手抬臂，没有将接住的球投出，也没有球飞至右侧篮圈并向下穿圈；log step 183 的最终 Episode 6 服务结果为接球未完成、阶段 0/3。"
+     },
+     {
+      "t": 3.08,
+      "log_step": null,
+      "text_zh": "推断：接球前置事件未成立，后续空手抬臂没有开始持球投篮操作，因此投篮命中节点始终为假，未添加该步的球体接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.48,
+   "log_step": 183,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.44–2.52 s 来球经过机器人胸前双手后仍持续飞走，未被两手共同控制；视频 3.08 s 球落到地板处。log step 183 的最终 Episode 6 服务结果确认来球未接住且触地终止，接球失败未修复。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.48,
+    "log_step": 183,
+    "evidence_zh": "观察：视频 2.40–2.48 s 机器人双手在来球通过时收拢，但视频 2.52–2.64 s 球已从手前继续飞离，双手没有跟随来球并将其截停；视频 2.80–3.08 s 球向地面下落。推断：对运动来球的接球动作没有在通过窗口内形成有效承接，属于动态时机失配；没有先持住再滑落的可见过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 178,
+    "evidence_zh": "观察：log step 177 为最终方案求解左掌横向 +0.11 m、右掌 -0.05 m 的非对称等待布局；log step 178 实际提交脚本却写入两臂镜像的 Q_READY，并按预定仿真 2.41–2.44 s 收手、仿真 2.44–2.72 s 保持固定关节目标，整段轨迹一次提交且不根据接球读数修正。视频 2.44–2.64 s 显示球掠过后继续飞走；log step 183 记录该脚本执行后的接球失败。推断：接球控制实现没有落实其预定的非对称拦截布局，且没有在漏接时修正，支持控制层归因；缺少本次末端位姿和接触数据，不能进一步确定几何、时序或跟踪误差各自的贡献。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；唯一场地远景在视频 2.40–2.52 s 无法分辨篮球与哪只手是否有瞬间擦碰，也无法测量双手有效接触时长，因此接球的 contact_actual 保留未知。log step 183 的持球最大值为 agent 脚本对返回数组的统计，只作辅助，不等同于逐子步接触记录；接球未完成由视频和最终服务判词共同确认。控制根因子类及具体误差贡献证据不足，保留在控制大类。"
+ },
+ "summary_zh": "评分片段对应最终 Episode 6：机器人尝试双手接来球，但球在视频约 2.44–2.52 s 掠过双手后继续飞走，两个节点均未完成，最终进度为 0/2。断点为双手接住球，现象为动态时机失配；脚本中实际等待姿态与所求非对称方案不一致，并按固定时序执行，支持控制层归因。远景和缺少状态接触记录限制了擦碰方式及更细控制根因的判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、断点 ball_caught（操作中）与服务判词（stages 0/3，球触地）及视频帧一致；控制类根因是基于 log step 177/178 的推断，已标为推断且未过度细分。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--3l3defb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22ecb355c4af4dfddbc5df23e2a09d671e256a87fffdf0e3f3188ca9917270c9",
+   "video_sha256": "07c337c9eeb39b5d1c8b70837513ad0ecefca96a43e38deb8306efc9474389ba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c200d8e3c6de76f2d9b0d5a6ec9da8aa6b3d3f
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2.json
@@ -0,0 +1,207 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 330,
+   "sim_steps": 1237,
+   "calls": 26,
+   "rows": 1237,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1770.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.206,
+   "peak_processes": 12,
+   "peak_disk_gb": 2.043,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2/replay.mp4",
+  "duration_s": 3.32,
+  "fps": 25.0,
+  "frames": 83,
+  "sha256": "c6070cbd7f80ae93af87853b36ad3c50e67f667581c0390f5c3338c8f037e7dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.56,
+      "log_step": 75,
+      "text_zh": "观察：视频 2.28–2.44 s 橙球从画面左侧传球机飞至机器人胸腹前，视频 2.48–2.88 s 球停留在两手承接区域，未先触地；log step 75 的最后一次现场尝试最终由服务返回 stages_reached=2、outcome=\"the ball touched the floor\"，与接球后脱手的画面相符。"
+     },
+     {
+      "t": 2.56,
+      "log_step": 75,
+      "text_zh": "推断：两手共同承接并控制来球，且服务已累计接球与释放两个原生阶段，故双手接球事件成立；以视频 2.56 s 为约略完成锚点，毫秒接触窗口不能由远景独立量出。此节点为锁存事件，随后落球不取消。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 2.44–2.88 s 机器人两手共同承接橙色篮球，左手从下方托接，右手在侧面挡住来球；球停在掌根附近，未见单只手以相对指掌接触包握球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.92,
+      "log_step": 75,
+      "text_zh": "观察：视频 2.56–2.88 s 机器人在接球后继续以双手托挡、收紧持球；视频 2.92–3.28 s 球从手前下滑并下降到脚旁，机器人没有完成向篮筐送球的挥臂，球未飞向篮圈。log step 75 的实际执行代码在接球动作后仅持续提交 q_hold 姿态与双手闭合指令，服务最终报告球触地失败。"
+     },
+     {
+      "t": 3.28,
+      "log_step": 79,
+      "text_zh": "观察：视频 3.28 s 末帧篮球已在机器人脚前地面附近，篮筐区域没有球；log step 79 的服务状态为 episode=4、control_steps=330、done=True、reason=\"failed\"，与 log step 75 最后一次现场尝试及评分视频的结束一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 2.56–2.88 s 机器人接球后继续用左手承托、右手向球靠拢压持；候选：托挡夹持。两手共同限制球但未见各手包住球面的抓握，单一托/舀也不能完整表达此阶段的侧向收紧；随后球从掌前滑出，未形成投篮送球动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 2.92,
+   "log_step": 75,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.48–2.88 s 机器人已将来球留在两手间，接着在持球准备阶段收紧双手；视频 2.92 s 起球向手前下方滑出，直至视频 3.28 s 落到脚旁，未形成投篮。log step 75 显示本次执行只有接球姿态后接 q_hold 收紧持球，随后服务报告球触地、stages_reached=2；接球事件已经完成，后续投篮步骤因持球失效而中断。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.92,
+    "log_step": 75,
+    "evidence_zh": "观察：视频 2.48–2.88 s 橙球短暂停留在机器人两手掌前，视频 2.92–3.28 s 球在双臂没有投篮挥动的情况下从手间下滑、脱离并落到脚旁；log step 75 中双手闭合命令仍为 1、1，并未安排主动松手。"
+   }
+  ],
+  "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 / agent 自述",
+    "evidence_zh": "推断：视频 2.48–2.88 s 的接触主要是下方承托加侧面掌根挡球，随后球沿掌前滚滑出去，说明该托挡布局虽能消减来球速度，却不足以持续约束球。log step 75 的执行代码在接球后持续收紧 q_hold、保持双手闭合，仍发生滑落；agent 在 log step 80 也自述球从两掌掌根间滚出。这支持接触承载布局失效，未据此推定摩擦或力矩参数错误。可行替代由独立成功参考验证：oracle 视频 2.60–4.40 s 球始终随双手保持受控并完成投篮蓄势；该参考仅说明同任务存在可行持球方案，不作为本次进度证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志。远景可确认两手承接、球随后滑落及未投篮，但不能独立测量每手连续接触的 0.10 秒窗口、掌指接触对或接触力；接球完成结合最后一次现场尝试的服务阶段数判定，视频完成锚点约有 0.1 秒误差。具体接触几何根因由画面、执行指令及 agent 自述共同推断；未将 agent 本地模拟器中的试投或摔倒计入本次评分轨迹。",
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  }
+ },
+ "summary_zh": "本次评分轨迹完成双手接球事件，最终为 1/2 个节点；原生阶段数 2 包含接球和释放，不等于两个语义节点均完成。机器人在后续投篮的持球准备阶段未保持住球，视频约 2.92 s 球开始滑落，最终触地，未形成投篮；接触布局不足以持续约束球是有证据支持的控制根因。无状态日志，精确接触窗口和掌指接触细节依赖远景与现场服务阶段反馈结合判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 2.28–3.28 s 帧与 log step 75/79/80 一致：球在约 2.4 s 被两手承接，约 2.9 s 起滑落触地；服务 stages_reached=2（接球+释放）支持 ball_caught 成立、shot_through_ring 未成立。断点、没保持住现象与抓取和接触设计根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--57xjzk2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "619dc413e33162a18fb64403d7201bbf8b1a1b27360a8d8722cdb1be4094a826",
+   "video_sha256": "c6070cbd7f80ae93af87853b36ad3c50e67f667581c0390f5c3338c8f037e7dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi.json
new file mode 100644
index 0000000000000000000000000000000000000000..60339be3d2504be932b1b52e93423d9ac9eaccd1
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi.json
@@ -0,0 +1,192 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 242,
+   "sim_steps": 1581,
+   "calls": 19,
+   "rows": 1581,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 3100.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 6.983,
+   "peak_processes": 13,
+   "peak_disk_gb": 2.039,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi/replay.mp4",
+  "duration_s": 2.44,
+  "fps": 25.0,
+  "frames": 61,
+  "sha256": "55317138cf57aca80a471fe48017dbddb9978245170e4cb740ec414f33e2293e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.88 s，机器人站在原处，将两只手逐渐举至头部附近，等待左侧传球机来球。"
+     },
+     {
+      "t": 2.36,
+      "log_step": 187,
+      "text_zh": "观察：视频 2.00–2.40 s 已逐帧检查；篮球从左侧传球机飞向机器人，在视频 2.32–2.40 s 接近并被头肩附近身体轮廓遮住，没有出现两手共同承接、控制球的状态。log step 187 的最后一次现场尝试 a6 返回 stages_reached=0，终止原因为“the ball touched a part of you other than your hands”，两手 holding 标记均未出现；这是机器人服务的回合结果及传感器摘要，不是 agent 的成功自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.60–2.40 s 可见机器人双臂举起迎球，但末段球与身体重叠，不能辨明具体接触部位和接触方式；log step 187 的服务结果确认发生非手部触球。没有可确认的双手夹持或抓握，不把预设接球姿势当作已发生的接触。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 187,
+      "text_zh": "观察：视频 0.0–2.40 s 未见机器人持球后投出，也未见球飞至画面右侧篮圈；回合止于来球接近身体的接球阶段。log step 187 的服务返回接球阶段未完成且回合失败，脚本随即退出，未执行后续投篮段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.36,
+   "log_step": 187,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.32–2.40 s，来球到达机器人头肩附近，机器人双手未共同控制球；log step 187 明确记录最后一次现场尝试 a6 因非手部触球失败，stages_reached=0。接球失败后没有继续回合，故断点为双手接住球。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.36,
+    "log_step": 187,
+    "evidence_zh": "观察：视频 2.08–2.40 s，篮球持续向机器人飞来，机器人保持双手举在头部附近的迎球姿势，未随来球形成共同承接；球进入身体轮廓后回合结束。log step 187 的服务判定非手部触球、接球阶段未完成。推断：双手没有跟上运动来球并在其到达时建立合法承接，属于动态接球未对上。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 2.36,
+    "log_step": 187,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：最终接球姿势的手臂与来球接触几何不适配。log step 176 写出的脚本先插值到固定迎球姿势，再在来球期间保持同一组臂关节目标；log step 186–187 将它替换为面部附近的固定双掌姿势并提前闭手。视频 1.88–2.40 s 确见双手保持头旁而来球进入身体轮廓，log step 187 的服务确认先发生非手部触球而未完成接球，支持接触布局失败。没有本次相同条件下经验证的替代接触方案，故 alt_feasible 为未知。"
+   }
+  ],
+  "gap_zh": "没有状态日志；远景末段球与机器人身体重叠，无法独立确定具体碰撞的是头、肩还是臂段，也无法重建毫秒级手球接触，故 contact_actual 保留未知。log step 190、194 中 agent 关于击中左肘、传球速度与跨次方差的解释未经本次可用证据独立核实，不据此判定任务或环境问题。成功参考仅用于辨认共同控球和投篮的视觉线索。"
+ },
+ "summary_zh": "评分回合是 log step 187 的最后一次现场尝试 a6；机器人举起双手迎接左侧来球，但未共同控球，两个节点均未完成（0/2）。断点在双手接住球：视频约 2.36 s 来球进入身体轮廓，服务报告非手部触球，固定迎球接触布局未能适配来球，尚未进入投篮。没有状态日志且远景遮挡具体碰撞部位，实际接触方式保留未知。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分回合为最后一次现场尝试 a6（log step 187，服务返回 stages_reached=0、非手部触球）；视频 1.96–2.40 s 逐帧可见球从传球机飞向机器人，约 2.28–2.32 s 到达头肩附近，2.40 s 球已不在画面，双手未控球。两个节点 false、断点 ball_caught、contact_actual 未知、时钟与 0/2 均与证据一致，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": "2026-10-31T01:10:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--9zpudbi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ed4b74c06266ddc1205964d52643f84d0a1d1db3606951a1aa2222a5903893cc",
+   "video_sha256": "55317138cf57aca80a471fe48017dbddb9978245170e4cb740ec414f33e2293e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6700ac84833921716ebdf596cb1280d143f37f90
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3.json
@@ -0,0 +1,199 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 239,
+   "sim_steps": 1508,
+   "calls": 34,
+   "rows": 1373,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1059.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.308,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.856,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3/replay.mp4",
+  "duration_s": 2.4,
+  "fps": 25.0,
+  "frames": 60,
+  "sha256": "8df4f5169f1e5d09f22af0958fd67bb7ca56a1adb61651b0c44ad7de99a74f16"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 82,
+      "text_zh": "观察：视频 0.00–1.96 s，机器人从空手姿态抬起双臂并在胸前偏高处等待；log step 82 的调用记录含一次 reset 和三次 submit，是最终尝试，与此前五次会话测试区分。"
+     },
+     {
+      "t": 2.32,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 2.00–2.36 s，橙球由左侧传球机飞至机器人头肩附近，视频 2.32 s 仍在双手左侧，视频 2.36 s 被上身遮挡；没有出现两手共同承接并持续控制球的画面。成功参考视频 2.48–3.00 s 可清楚看见球停留在胸前两手之间，本次未出现该线索。"
+     },
+     {
+      "t": 2.36,
+      "log_step": 86,
+      "text_zh": "推断：来球直至视频 2.32 s 尚未进入双手，余下画面没有满足连续 0.10 秒共同接触的可能区间，故接球事件未成立。agent 在 log step 86 自述最终仿真 2.39 s 非手部触球、原生阶段为 0/3；这只是对可见接球失败的旁证，不把其三阶段计数当作本 DAG 的两节点分母。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.20–2.36 s，机器人双臂保持接球姿态，但球到达时被头肩和手臂遮住，无法核实哪只手是否实际触球、是否形成对向接触，故不按任务典型方案填夹持或抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.36 s，机器人双脚着地支撑本体进行抬臂和迎球，未见摔倒。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.00–2.36 s 中机器人只做接球准备和迎球，没有持球后的送球、释放及球飞向篮圈或自上而下穿圈的动作；接球前置未达。agent 在 log step 83 也自述投篮阶段未启动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.32,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：最终尝试由 log step 82 重置并执行；视频 2.20–2.36 s，来球到达机器人头肩附近，双手仍停在前方接球姿态，未将球共同承接控制，随后视频结束，接球未修复。agent 在 log step 83、86 自述终局在仿真 2.39 s 因非手部触球失败；该终止原因的原始服务输出未保留。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.32,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.20–2.32 s，飞行的球快速从机器人左侧靠近头肩，而两手保持在身体前方，没有随来球建立共同承接；视频 2.36 s 球进入上身遮挡区域，始终未出现接住后的停球。推断：机器人未在来球经过时以双手截住运动目标，属于动态接球配合未跟上；没有证据表明曾持球后再失去。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 0.00–1.96 s 机器人已抬起双臂准备接球，目标与步骤顺序正确；视频 2.20–2.36 s 双手的实际位置与运动未能承接飞来的球，接球控制未奏效。视频不足以区分手掌接触几何、拦截轨迹或闭合时序的具体贡献，故保留在控制大类，不细分参数或感知错误。"
+   }
+  ],
+  "gap_zh": "无状态日志。视频只有外部远景，末帧为视频 2.36 s，球在头肩附近被遮挡，不能确定终止接触的具体身体部位，也不能分辨单手短暂接触及手指闭合方式。log step 82、83 的原始服务输出为空；最终仿真 2.39 s 非手部触球及原生阶段 0/3 仅见 agent 在 log step 83、86 的自述，不作为独立裁判观测。接球控制的具体子类缺少可核实的末端位姿、接触力和时序记录。",
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  }
+ },
+ "summary_zh": "评分视频对应最后一次重置后的接球尝试：机器人抬起双臂迎球，但在视频 2.20–2.36 s 来球到达头肩附近时未形成持续双手控制，两个语义节点均未完成，投篮未启动。断点为双手接住球，现象是未跟上运动来球的动态时机，根因仅能归入控制。末帧遮挡且最终服务输出为空，不能独立确认 agent 自述的非手部触球位置或更细的控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、断点在 ball_caught（操作中）、动态时机+控制的标注与视频和 log 一致；视频 2.20–2.36 s 球到达头肩、双手未共同承接，投篮未启动。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": "2026-10-31T01:08:47Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--dstsan3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee4e9894567a914ea18311fc14e5399b0daaebbb54d6a0af433f03acda9f469d",
+   "video_sha256": "8df4f5169f1e5d09f22af0958fd67bb7ca56a1adb61651b0c44ad7de99a74f16",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2758923e8e07b6eb8ddbb108c9c954c8db3b350
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x.json
@@ -0,0 +1,200 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 274,
+   "sim_steps": 1579,
+   "calls": 101,
+   "rows": 772,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2481.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.701,
+   "peak_processes": 16,
+   "peak_disk_gb": 2.046,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x/replay.mp4",
+  "duration_s": 2.76,
+  "fps": 25.0,
+  "frames": 69,
+  "sha256": "a419df472ee233024d4668a104da1effcde2d7a5ddb47571c466c9d58c245ee4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 124,
+      "text_zh": "观察：视频 0.0–0.4 s，机器人双臂从初始姿态屈曲到腹前准备接球，随后基本保持该姿态；并非首步未启动。"
+     },
+     {
+      "t": 2.44,
+      "log_step": 126,
+      "text_zh": "观察：视频 2.32–2.52 s，橙色来球从机器人左侧飞到双手附近后继续向画面右下方运动；视频 2.56–2.72 s 球远离双手并落向地板，全程未见双手共同承接并控制球。log step 126 中本次 episode 6 的服务返回最终 outcome 为“the pass was not caught: the ball touched the floor”，与画面一致。"
+     },
+     {
+      "t": 2.72,
+      "log_step": 128,
+      "text_zh": "观察：log step 126、128 的服务状态均为 episode 6、control_steps=274、done=true、resets_left=0；reward 中 graded_by_live=1、n_actions=274。评分采用这次最后现场尝试，其他测试回合的前臂触球不属于本段视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.32–2.52 s，机器人两手在腹前作承接准备，球掠过手部后继续飞走，没有形成双手持球。远景中手指仅占少量像素，且球经过时局部被身体遮挡，不能确定是否有瞬间擦触、触及哪只手及具体接触方式；因此不将脚本预设的右掌拦球、左掌托球当作已发生的接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.72 s，机器人双脚持续在地板上承重，站立完成抬臂与等待来球的尝试，未见摔倒。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.72,
+      "log_step": 126,
+      "text_zh": "观察：视频 0.0–2.72 s 未见机器人持球后向篮圈投球，来球直接掠过并下落，篮圈处没有入球。log step 126 显示现场尝试在接球失败后结束，随后脚本提交蓄力动作被服务以 episode finished 拒绝；脚本中写有投篮序列并不表示评分局执行过投篮。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.44,
+   "log_step": 126,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.36–2.52 s，机器人已在接球姿态中等待，但球经过手部区域后仍飞向右下方，没有停在双手间；视频 2.72 s 球已接近地面。log step 126 的本次现场裁判返回“the pass was not caught: the ball touched the floor”，接球未完成且未修复，失败发生在双手接住球这一步。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.44,
+    "log_step": 126,
+    "evidence_zh": "观察：视频 2.32–2.52 s，运动中的来球经过机器人双手附近，双手未随来球形成拦截和持续承接，球继续飞走并下落；视频 2.56–2.72 s 也没有重新接住。此处是对来球的动态拦接失败，未观察到先持住再丢失的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 124,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 124 的本次控制脚本先用 35 个 dt=0.01 s 的动作移到固定 CATCH 姿态，再调用 seconds=2.2 的观察推进来球过程，期间没有根据球的运动修正接球动作；之后才闭合手指。视频 0.4–2.52 s 可见双臂基本保持姿态而球经过后继续飞走，log step 126 也记录接球失败。该固定姿态与闭合时序未实现对来球的控制；缺少实测手位、接触力和关节跟踪数据，不能进一步确定是接触布局、轨迹还是跟踪误差。"
+   }
+  ],
+  "gap_zh": "观察：inputs 中没有本次状态日志；视频为单一远景，手指分辨率低，视频 2.36–2.44 s 球经过身体附近时有局部遮挡，无法判定是否存在瞬间单手擦触及其方式。推断：视频连续运动和本次裁判结果足以判定两个节点均未完成，但不足以将控制根因细分或量化手位误差；agent 在 log step 140 自述的运动学残差未获独立测量证实。"
+ },
+ "summary_zh": "最后一次现场评分尝试完成了抬臂接球准备，但视频约 2.4 s 来球掠过双手后继续下落，双手接住球和投篮命中均未达成，最终为 0/2。断点为双手接住球，动态拦接未成功，固定接球姿态及后续闭手未控制住来球，根因保留为控制。远景和缺少状态日志限制了瞬时接触判断与控制子类归因；此前测试回合的前臂触球不计入本次轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成、断点为 ball_caught（操作中）、现象为运动·动态时机、根因停在控制，均与视频（球约 2.4 s 经过身体左前后转向右下落地）和 log step 126 的裁判返回一致；视频时间均标明视频时钟，未把 agent 时间换算成视频时间，接触写未知符合远景分辨率，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--qfl2y8x/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "82d2a3efedf48b8cf98b8c0d7cc9ffa7c5b1dae86e1f79b6d329b1cde65b4139",
+   "video_sha256": "a419df472ee233024d4668a104da1effcde2d7a5ddb47571c466c9d58c245ee4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx.json
new file mode 100644
index 0000000000000000000000000000000000000000..af6c98271fde74b8a6722bd1a99a7910797988af
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 274,
+   "sim_steps": 1610,
+   "calls": 24,
+   "rows": 1610,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6739.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.175,
+   "peak_processes": 12,
+   "peak_disk_gb": 2.958,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx/replay.mp4",
+  "duration_s": 2.76,
+  "fps": 25.0,
+  "frames": 69,
+  "sha256": "2a303b8460815757619c20428b9d5cad6c73b9b929f3d02af562584a1b0f3652"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.48,
+      "log_step": null,
+      "text_zh": "观察：本次视频 2.24–2.48 s，橙球从画面左侧传球机飞至机器人身前；机器人一只手高举在头部附近，另一只手在较低的胸腹前，球未停留在双手之间，视频 2.52–2.72 s 继续向右下方飞离并落至地面附近，没有共同持球的阶段。"
+     },
+     {
+      "t": null,
+      "log_step": 159,
+      "text_zh": "观察：log step 159 的服务返回最后一次 episode 6 已结束，outcome 为“the pass was not caught: the ball touched the floor”，stages_reached=0、stages_total=3；run.json 的 graded_by_live=1、n_actions=274 与该次结束时 control_steps=274 一致。此处服务是执行机器人动作并返回裁判结果的仿真接口；原生三阶段不等于 DAG 的两个语义节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.24–2.72 s，机器人两臂分别在高位及胸腹前做截球、合拢动作，但球未被双手共同控制。远景中球经过低位手时局部重叠，无法判定是否有瞬时擦碰及其接触方式；不将空手合指标为已抓握篮球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.72,
+      "log_step": 159,
+      "text_zh": "观察：本次视频 0.00–2.72 s 未出现接住球后的投篮动作，末段球越过机器人手部后向地面下降，没有飞至右侧篮圈或从上方穿圈；log step 159 的该次现场裁判结果为接球前触地而失败。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.48,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.40–2.52 s，机器人正用两臂截接来球，但高位手未与低位手共同包住球，篮球随即越过手部向右下方继续运动；视频 2.72 s 球已降至地面附近。log step 159 的最后一次 episode 6 由仿真服务报告接球前球触地失败，未在本次尝试中修复。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.48,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 2.24–2.60 s，篮球快速到达机器人身前并从手部旁漏过；来球经过低位手时另一只手仍在头部附近，双手未同步承接，之后合拢时球已向右下方离开。log step 159 的现场裁判报告未接住来球、球触地；按运动目标漏接的口径记录动态时机，不把同一事件重复标为没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：本次截球的手部接触布局没有在来球经过时形成双手共同承接。视频 2.40–2.52 s 可见两手高低分离、球直接越过；log step 23 的 agent 自建离线模型用盒状拳部几何代替灵巧手，log step 125 的模型代码按手指角度切换开放手与拳部碰撞体，log step 154 以该模型生成截球动作，log step 158–159 将修补后的动作用于最后现场尝试。agent 在 log step 161 自述代理拳部比现场拳部更突出，这个具体尺寸解释待核实，但实际承接位置未拦住球有视频支持。可行替代已由成功参考验证：inputs/oracle/replay.mp4 的视频 2.52–3.00 s 显示参考机器人将球控制在身前两手之间；参考只证明替代可行，不作为本次进度证据。",
+    "source_zh": "视频 / 日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，远景视频不足以确定来球经过低位手时是否有瞬时擦碰、具体触点或毫秒级双手接触窗口，因此接球节点的实际手球接触记为未知；未出现持续共同承接及现场裁判的接球前触地结果足以判定该节点未完成。代理拳部与现场手部的具体尺寸差异仅为 agent 在 log step 161 的自述，尚未独立核实，不将其当作已测得的物理事实。"
+ },
+ "summary_zh": "最后一次现场尝试对应本次视频，机器人站立并伸臂截接来球，但视频约 2.48 s 来球从未同步承接的双手旁漏过，随后下落；双手接住球、投篮命中均未完成（0/2）。断点在接球操作中，现象为动态时机，手部接触布局不适配的控制归因由画面及离线模型、动作生成日志共同支持。缺少状态日志和手部近景，瞬时擦碰及 agent 所述手模型尺寸差异无法独立确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（接球未达成、断点 ball_caught、投篮未达成、0/2，时钟均为视频时间，log step id 存在）与视频、log step 159 一致；唯一问题是现象“动态时机”缺乏时机证据，更像手位置没拦到球（位姿不准 / 没建立接触）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（0/2）、断点 ball_caught 操作中、动态时机（符合 FAIL-14）与控制·抓取和接触设计均与视频及 log step 159 一致；时钟为视频时间，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--sawsntx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cf60865694ffb0badbe9e49900889b98cdbe37b42327f37912096b76807630b9",
+   "video_sha256": "2a303b8460815757619c20428b9d5cad6c73b9b929f3d02af562584a1b0f3652",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f40130d5fd56c5378091925571bb32a5b6a3c01
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy.json
@@ -0,0 +1,176 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 5,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 5998.4,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.324,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.431,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "c9acf778685c516e740ca1c335e521ac47da75b99b2c8b2397e4472dce4f3830"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 236,
+      "text_zh": "观察：本次视频 0.00 s 的唯一帧（全片 0.04 s）显示机器人直立、双手未持球，没有双手承接来球的过程；log step 236 的现场服务状态为 control_steps=0、rows=0、done=False。评分器字段 n_actions=0、sim_steps=0，支持受评局始终停在初态，接球未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 n_actions=0、rows=0、sim_steps=0；log step 236 的现场服务 control_steps=0，无受评动作轨迹交付。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 240,
+      "text_zh": "观察：本次视频 0.00 s 的唯一帧中机器人未持球，篮圈处没有篮球穿过；评分器字段 n_actions=0、sim_steps=0，且全部调用代码中没有现场 submit 调用。log step 239–240 写入的接投球说明描述 agent 自建 LocalSim 的测试，不是受评现场已执行的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器字段 n_actions=0、rows=0、sim_steps=0；log step 236 的现场服务 control_steps=0，无受评动作轨迹交付。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 241,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 241 的最终消息为 Gemini 过滤拦截提示；此前 log step 236 的现场服务报告 control_steps=0、rows=0、done=False，log step 237 仍读取初始关节状态，log step 239–240 仅写测试说明。本次视频 0.00 s 仅为初态，评分器 n_actions=0、sim_steps=0，没有已执行的物理失败或已固定的现场结果。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 241 记录模型提供方过滤拦截，发生在现场动作提交之前；本次视频存在但仅有视频 0.00 s 的一个初始帧，无状态日志。推断：这是受评结果固定前的外因中断，按 CASES.md FAIL-5 / DECISIONS.md D37 保留 catalog 的 success=0，但不作为机器人能力失败，不标“没尝试”或根因。log step 239–240 的 LocalSim 接投球自述仅属会话测试，没有受评动作可核验其物理表现。"
+ },
+ "summary_zh": "本次受评视频仅有视频 0.00 s 的初始帧，现场服务与评分器均记录零控制步，双手接球和投篮命中均未完成，最终进度为 0/2。log step 241 记录 Gemini 过滤拦截，现场动作尚未提交，故按外因中断记 unknown／首步前，现象和根因留空，catalog 的 success=0 原样保留。日志中的自建 LocalSim 测试不属于受评轨迹，无法据此判断机器人的接投球能力。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：视频仅 0.04 s 单帧，评分器 n_actions=0、sim_steps=0，log step 241 为 Gemini 过滤拦截，此前无任何现场 submit 或交付；两节点 false、breakpoint unknown/首步前、现象与根因为空并有 gap_zh，符合 FAIL-5。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:47Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--uftjmpy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "408843b311abe24d41622d008d3197a8ad727223dcdee41deda94e32938c00c6",
+   "video_sha256": "c9acf778685c516e740ca1c335e521ac47da75b99b2c8b2397e4472dce4f3830",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f7e9176c25347ee6d521bacbe4ab2b7d81e8d6
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf.json
@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 513,
+   "sim_steps": 2099,
+   "calls": 65,
+   "rows": 1377,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6899.0,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.084,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.029,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf/replay.mp4",
+  "duration_s": 5.16,
+  "fps": 25.0,
+  "frames": 129,
+  "sha256": "6e234aa1d76cec8a9979da172c95ddadbd2334bcf009fad608fe5c11b2725c28"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": 294,
+      "text_zh": "观察：视频 2.24–2.44 s 橙色篮球从左侧传球机飞到机器人胸前，视频 2.48–2.96 s 球留在上下相对的双手之间，随后机器人持球下移准备投篮，未先落地。log step 294 的第 6 局服务裁判返回 stages_reached=2/3，与本视频的接球、释放一致；接球时刻按连续持球画面估计为视频约 2.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 2.48–2.96 s 机器人两只手从球的上、下方共同夹持篮球。候选：夹持；画面显示双掌相向承接、夹压，不能确认任一单手形成手指与拇指的独立包握，现有条目无双掌夹持，故用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.24–2.96 s 机器人双脚在地面支撑站姿，双臂接球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": 287,
+      "text_zh": "观察：视频 3.48–3.60 s 机器人把球降到腰腹前，视频 3.64–3.80 s 双臂向前上方送球，视频 3.80 s 球已与手分离并飞向篮筐；log step 287 记录第 6 局执行最终腕部 lowcmd 修正。"
+     },
+     {
+      "t": 4.72,
+      "log_step": 294,
+      "text_zh": "观察：视频 4.32–4.72 s 篮球飞到篮板和篮圈附近，却从篮圈旁下降，视频 4.80–5.12 s 继续落向篮架附近地面，没有从圈内向下穿过；机器人仍站立。log step 294 的服务裁判报告第 6 局 done=True、outcome=the ball touched the floor、stages_reached=2/3，评分字段 live_success=0。成功参考视频 6.48–6.60 s 可见球由上向下进入圈内，本次未出现该线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 3.00–3.60 s 机器人双手从上下方共同夹持、下移篮球，视频 3.64–3.76 s 双臂共同向前上方送球，此后球离手飞行。候选：夹持；未见单手独立包握，词表没有双掌相向夹持，故用其他。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.00–5.12 s 机器人双脚支撑身体完成送球及收臂，未见摔倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 3.8,
+   "log_step": 287,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.48–2.96 s 机器人已控制来球；视频 3.64–3.80 s 主动将球向前上方投出，但视频 4.64–4.88 s 球从篮圈旁落下，未命中且没有补救。log step 294 的第 6 局裁判以球触地结束并报告完成 2/3 个原生阶段（接球、释放）；因此未完成的语义步骤是投篮命中，视频约 3.8 s 的出手作为断点导航。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.8,
+    "log_step": 294,
+    "evidence_zh": "观察：视频 3.80 s 机器人已将球投出，视频 4.64–4.88 s 球经过篮圈旁并继续下落，未沿圈内通道下降；log step 294 裁判报告 the ball touched the floor、stages_reached=2/3。投出的球没有命中固定篮筐。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 234、253、264、278 记录 agent 在第 6 局逐段提交投篮关节指令，log step 287 再以 lowcmd 执行最终腕部修正；视频 3.64–3.80 s 机器人确实完成向前上方送球，视频 4.64–4.88 s 却从圈旁落下。目标和接球后投篮的顺序明确，失败发生在实际出手形成的球路未对准篮圈，支持控制层归因；尚不能确定是接触几何、轨迹跟踪还是具体参数造成。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，远景不能精确测量双手有效接触持续时间、手指对向接触、释放速度和旋转或穿圈几何；接球以持续持球画面结合第 6 局服务裁判阶段结果判定，视频约 2.6 s 为估计时刻。日志中离线模型的球路预测不是评分轨迹状态，不能据此进一步确定控制子类；之前重置的五次尝试不用于本次节点进度或失败现象。"
+ },
+ "summary_zh": "第 6 次现场评分尝试在视频约 2.6 s 双手接住来球，随后降球并于视频约 3.8 s 投出，最终完成 1/2 个语义节点。篮球从篮圈旁落下，裁判因球触地判失败；断点为投篮命中，现象为位姿不准，证据支持控制层归因但不足以细分。无状态日志，接球时刻和具体接触细节依靠远景及本局裁判结果交叉判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "接球约 2.6 s、投篮未命中、断点在 shot_through_ring 的标注与视频及裁判 stages_reached=2/3 一致；球从圈旁飞过，现象位姿不准与控制归因有证据支持，未发现需修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:04:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard--zfpywsf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "06d8991d2777e1349d949db9adfeb4d568f690f6dc1833a4e45803cc1bb1bb0a",
+   "video_sha256": "6e234aa1d76cec8a9979da172c95ddadbd2334bcf009fad608fe5c11b2725c28",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf694699f1d616e3c59a69e0631f342ed8020979
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a.json
@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 291,
+   "sim_steps": 1623,
+   "calls": 31,
+   "rows": 9000,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2317.4,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 16.378,
+   "max_lag_s": 0.0583,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.433,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a/replay.mp4",
+  "duration_s": 2.92,
+  "fps": 25.0,
+  "frames": 73,
+  "sha256": "662d497893e05bc17cef0c37a32c617fb36647315e678f99d0f0ff111acad8a2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": 203,
+      "text_zh": "观察：视频 2.28–2.44 s 篮球从左侧飞至机器人胸前双手附近；视频 2.48–2.64 s 球继续向前移出手部区域，视频 2.68–2.88 s 向地面下落，未呈现双手共同控制。log step 203 对最后一次尝试的传感记录只在仿真 2.46 s 显示 holding_left=1、holding_right=0，其后两者均为 0。"
+     },
+     {
+      "t": 2.88,
+      "log_step": 199,
+      "text_zh": "观察：log step 199 显示重置到 episode=6 后执行最终计划；机器人服务在 control_steps=291、sim_time_s=2.91 报告 stages_reached=0/3，原文为“the pass was not caught: the ball touched the floor”。视频末段球离开双手并接近地面，与该结果一致；未将 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "推断：视频 2.44–2.52 s 来球在手边改变运动方向，结合 log step 203 最终尝试仅左手短暂 holding_left=1，标左手与篮球短暂碰触；候选名称“碰挡”。没有形成抓握、托住或双掌夹持，现有方式不足以准确表示这种瞬时碰触；右手未建立共同持球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–2.88 s 机器人双脚在地板上支撑身体，以站立姿态等待并尝试接球。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.88,
+      "log_step": 199,
+      "text_zh": "观察：视频 0–2.88 s 机器人仅准备并尝试接球，没有持球投出动作；篮球从手边向地面落下，未飞至右侧篮圈。log step 199 的最终 episode=6 结果为接球未完成、stages_reached=0/3，未进入释放及穿圈阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.52,
+   "log_step": 199,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.44 s 来球抵达双手附近后，视频 2.52–2.64 s 仍继续向前离开手部，视频 2.68–2.88 s 下落；机器人没有完成双手接球。log step 199 的最终 episode=6 由服务判为接球未完成、球触地，接球步骤此后未修复。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.52,
+    "log_step": 203,
+    "evidence_zh": "观察：视频 2.44–2.64 s 篮球穿过接球区域后离开，双手未及时合拢并随球形成持续承接。log step 203 的最终尝试传感记录显示，仿真 2.43–2.46 s 两手 closure 均为 0，仿真 2.49 s 才为 0.03，随后逐渐增加，而 holding_right 始终为 0。推断：接合动作没有赶上运动来球的承接窗口；不是接住后再掉球。"
+   }
+  ],
+  "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：log step 192 的最终计划让双手保持预设位置、手指开放至仿真 2.45 s，注释设想来球撞到左手后手臂让位、球自行进入双掌间，再逐步闭手；log step 199 确认实际执行该 plan6。视频 2.44–2.68 s 显示该布置只使球在手边偏转，未形成双手承载，随后球离开；log step 203 的单手瞬时 holding 与此一致，因此归为接球接触方案不适配。成功参考视频 2.48–3.04 s 可见另一控制方案将球持续保持在双手之间，说明存在可行替代；参考仅用于验证可行性，不计入本次进度。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；外部远景可辨球到手边及离开下落，但不能独立解析每根手指的接触、毫秒级双手接触窗口或实际接触力。左手瞬时接触由最终尝试的传感记录辅助判读；agent 在 log step 221 将失败进一步归因于手臂刚度，缺乏独立力学验证，未据此标参数调试或反馈控制。"
+ },
+ "summary_zh": "评分对象为最后的 episode=6：机器人站立接球，来球在手边短暂偏转后下落，双手接住球与投篮命中均未达成，最终为 0/2。断点在接球操作中，闭合动作未赶上来球，预设的开放双掌承接方案未形成共同控制，服务随后判球触地失败。没有状态日志，接触位置与接触力只能有限判读，不能证实 agent 关于刚度的进一步解释。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 1.9–2.9 s 可见来球到手边后偏转下落，接球未完成，0/2 与服务结果一致；断点、现象、根因与证据一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--fuf6v5a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5b21567d31a3edc04f783075e1acc9593b0033f5ecddcda0628a6c315a2a89d5",
+   "video_sha256": "662d497893e05bc17cef0c37a32c617fb36647315e678f99d0f0ff111acad8a2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv.json
new file mode 100644
index 0000000000000000000000000000000000000000..9065c8af67d2cd9462cbbaadbc1ed9bb860d855d
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv.json
@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 264,
+   "sim_steps": 1681,
+   "calls": 33,
+   "rows": 6032,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6369.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 16.808,
+   "max_lag_s": 0.0071,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.446,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv/replay.mp4",
+  "duration_s": 2.68,
+  "fps": 25.0,
+  "frames": 67,
+  "sha256": "9b58a6e801737a7811cb44b8753f11fc9496369356d3d91326a530b632ee0ee9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.20 s，机器人抬起双臂、张开双手等待左侧传球机来球；逐帧检查视频 2.32–2.64 s，篮球进入手部区域后在双手上方弹动，随后向手臂一侧下落，没有出现持续受控的持球状态。"
+     },
+     {
+      "t": 2.64,
+      "log_step": 202,
+      "text_zh": "推断：结合视频 2.44–2.64 s 未稳定承接的运动、log step 202 服务返回的非手部触球终止结果，以及 log step 203–204 中 agent 自述最终尝试未接住球，判定双手接球未完成；不由零分单独反推。服务记录最终 episode 6 的 control_steps=264，log step 3 的 control_dt=0.01 s，264×0.01=视频 2.64 s，与末帧停止位置核对一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 2.40–2.64 s，机器人两只张开的手在胸前从球下方迎接、承托来球，球短暂进入掌部上方后弹动，未见手指合拢包握。此处记录实际承接触碰，不表示已完成双手持球；log step 202 服务另确认发生非手部触球，具体部位无法由该视角分清。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.64 s，机器人用双脚支撑身体，站立进行迎球，未见摔倒。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.64,
+      "log_step": 202,
+      "text_zh": "观察：视频 0.00–2.64 s 只见来球和接球尝试，机器人没有将球投向篮圈，篮球未接近或穿过篮圈；log step 202 确认最终 episode 6 已因非手部触球终止。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.44,
+   "log_step": 202,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.44–2.64 s，机器人正在用双手迎接来球，球在手部上方弹动而未被稳定控制；log step 202 的最终 episode 6 服务结果为“the ball touched a part of you other than your hands”，该次接球未能修复便结束，投篮尚未开始。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.44,
+    "log_step": 201,
+    "evidence_zh": "观察：视频 2.44–2.64 s，运动中的篮球到达后弹到张开的双手上方，两手未随球建立稳定承接，球又下降至手臂附近；log step 201 最终动作将闭手安排在仿真 2.75 s，log step 202 服务在控制步 264 即结束。推断：接球动作未跟上来球接触后的运动，闭手尚未来得及执行便已失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 201,
+    "evidence_zh": "推断：log step 162 的动作生成代码在闭手前保持同一迎球关节目标且 grip=0，log step 165 的驱动一次性提交预生成轨迹，观察调用只保存画面，不根据球的运动修改动作；log step 201 最终配置继续采用该开环方案并延迟闭手。视频 2.44–2.64 s 显示来球进入手部区域后弹动且未被控制，log step 202 服务确认非手部触球终止，因此归为接球控制失败；没有足够的实际接触及跟踪数据确定更细子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，场地远景及放大图仍不能逐手核实实际接触对、0.10 秒有效双手接触累计或接触力；最终非手部触球由 log step 202 服务结果确认，但无法独立辨清具体身体部位，log step 203–204 所称前臂仅是 agent 自述。接球未完成依据可见的未受控球运动和最终尝试记录综合推断；控制子类不再细分。"
+ },
+ "summary_zh": "最终评分采用 episode 6，视频中机器人站立迎接左侧来球，但未形成稳定双手持球，双手接住球及投篮命中均未完成（0/2）。断点在接球操作中：视频约 2.44 s 来球到达后在双手上方弹动，最终因非手部触球结束，开环迎球及闭手动作未能跟上球的运动。缺少状态日志和逐手接触数据，无法精确核实接触时长、违规部位及更细控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "最终 episode 6 的标签与视频、log step 202 服务结果一致：双手接球未完成、投篮未开始，断点 ball_caught/操作中，时钟换算（264×0.01=2.64 s）有核对；现象“动态时机”和根因“控制”有证据且不过度细分。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": "2026-10-31T01:15:20Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--gkskpcv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8db20af6a7bc137827dc3960112b3197503a2b87b6105049876ff72da3e32236",
+   "video_sha256": "9b58a6e801737a7811cb44b8753f11fc9496369356d3d91326a530b632ee0ee9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea06199c882ef43724eeb9c4b6595dc330dfbee
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6.json
@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 326,
+   "sim_steps": 1762,
+   "calls": 707,
+   "rows": 2983,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 767.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 18.003,
+   "max_lag_s": 0.1595,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 308,
+   "late_steps": 2,
+   "requests_refused": 0,
+   "request_busy_s": 0.743,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6/replay.mp4",
+  "duration_s": 3.28,
+  "fps": 25.0,
+  "frames": 82,
+  "sha256": "ed0312362b207a79d1a250fb6f26e523113021764b6da5010e1a817ab59b0319"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.64,
+      "log_step": 144,
+      "text_zh": "观察：视频 2.32–2.48 s，橙色篮球由左侧飞到机器人胸前；视频 2.52–2.72 s，篮球停在两只手之间并随手小幅移动，没有先触地。log step 144 是重置后的第 6 次现场尝试，服务裁判最终返回 stages_reached=2/3（接球、释放），与画面一致。推断：双手持续接触的接球事件约在视频 2.64 s 达成，远景估时误差约 0.1 s；随后离手不取消此事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 2.52–2.76 s，机器人两只手从两侧共同夹持胸前的篮球；远景不能确认单手内手指与拇指的对向包握，按可见的双手相向夹持记录。候选：夹持；现有词表没有双手夹压的专门条目，不把手指闭合指令当作已建立抓握的证据（DECISIONS.md D12）。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.24 s，机器人的双脚在地板上支撑身体，接球和挥臂投篮期间未见摔倒。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.88,
+      "log_step": 144,
+      "text_zh": "观察：视频 2.76–2.88 s，机器人双手降到胸腹前，篮球与手分开并落到双手下方；视频 2.92–3.00 s，双臂上挥而球仍在低处，视频 3.04–3.24 s 球继续下落到机器人前方地板附近，始终没有飞到右侧篮圈。log step 144 的本局服务裁判返回 the ball touched the floor、stages_reached=2/3，终止于 control_steps=326，投篮未命中。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 2.68–2.84 s，机器人两手共同夹持篮球并向下预摆，随后分手；视频 2.88–3.00 s 两臂继续向上挥动，球已在手下方。候选：夹持；只能确认双手共同夹持、送球，不能确认单手内的对向包握，现有词表缺少双手夹压条目（DECISIONS.md D12）。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.24 s，机器人的双脚在地板上支撑身体，接球和挥臂投篮期间未见摔倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 2.84,
+   "log_step": 144,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.64 s 左右机器人已双手接住球；视频 2.80–2.88 s 球在胸腹前离手向下，视频 2.92–3.00 s 双臂才明显上挥，球没有随手被投向篮圈。log step 144 的第 6 次现场尝试由服务裁判以球触地终止，接球和释放两阶段已完成；故失败步骤是投篮命中。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.84,
+    "log_step": 144,
+    "evidence_zh": "观察：视频 2.56–2.72 s，机器人双手夹持胸前的篮球；视频 2.80–2.84 s，球在下沉预摆后落到双手下方，视频 2.92–3.00 s 双臂才明显上挥，球继续向下而未随手上抛。inputs/run.json 的 log step 144（第 6 次现场尝试）中，右手持球读数 hold_r 在仿真 2.56–2.76 s 为 1.0，仿真 2.78 s 降为 0.0；右手接触力读数 hf_r 在仿真 2.74、2.76、2.78 s 依次为 1.00、0.64、0.27，最终服务裁判返回球触地、stages_reached=2/3。推断：球在已持住后、完成上挥送球前脱手，属于没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 2.84,
+    "log_step": 138,
+    "evidence_zh": "推断：agent 的投篮控制没有使持球加速与释放配合起来。log step 138 的最终脚本在触发后按固定序列执行夹球、下沉、14 个控制步的加速挥臂，在挥臂后段降低 grip 指令并立即撤臂；log step 144 确认第 6 次现场执行了该序列。视频 2.76–2.88 s 球已向下离手，视频 2.92–3.00 s 双臂再向上挥动，表明实际送球未实现脚本意图的向前上方加速出手；现有证据不足以进一步区分接触承载、关节跟踪与释放参数。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；场地远景足以判断接住、离手与未命中，但不能独立核实双手各自的毫秒接触窗口、单手内手指与拇指的接触分布或球离手速度。接球时刻取视频近似值，完成判定结合本次现场服务裁判的阶段结果；根因保留在控制大类，不能确定具体子类。"
+ },
+ "summary_zh": "评分对象是 log step 144 的第 6 次现场尝试：机器人约在视频 2.64 s 双手接住来球，完成 1/2 个 DAG 节点，接球事件在离手后仍保留。投篮时球约在视频 2.84 s 于胸腹前向下离手，双臂随后上挥却未将球送向篮筐，最终触地，表现为持球过程中没保持住，证据支持投篮控制配合失败。无状态日志，远景不能确定精确接触分布、释放速度或控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "时钟、节点（接球达成、投篮未达成）、断点 shot_through_ring 和 contact_actual 均与视频及服务裁判 2/3 阶段一致；唯一问题是现象：球是在预摆/下沉阶段从双手夹持中掉落（没保持住），而非出手姿态偏差（位姿不准）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "接球达成（约视频 2.64 s）、投篮未达成、断点 shot_through_ring、接触没保持住与控制根因均与视频和服务裁判 2/3 阶段一致；第 1 轮意见已采纳，无新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:15:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hdzisl6/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e0f309d0415de76fa088abbb541d95fd365cdd6ad14889f6f13de1f8fdc30a2",
+   "video_sha256": "ed0312362b207a79d1a250fb6f26e523113021764b6da5010e1a817ab59b0319",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cc86b2fbfa6f958471a9fba38d645537587e409
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay.json
@@ -0,0 +1,200 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 239,
+   "sim_steps": 1692,
+   "calls": 40,
+   "rows": 9000,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1407.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 16.924,
+   "max_lag_s": 0.0587,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.569,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay/replay.mp4",
+  "duration_s": 2.4,
+  "fps": 25.0,
+  "frames": 60,
+  "sha256": "ebe45e239715f99c3901967c1a846cc02d0568a0c71957121174d54f9da3f7af"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.00–2.36 s；机器人先把两手伸到身前，视频 2.00–2.32 s 橙色球从左侧传球机飞近机器人肩侧，双手仍在其身前，未见球被两手共同截停、持住。"
+     },
+     {
+      "t": 2.36,
+      "log_step": 122,
+      "text_zh": "观察：视频 2.36 s 球到达机器人肩侧并与身体轮廓重叠，未进入双手之间；log step 121 启动 episode 6，log step 122 的服务 FINAL_META 报告 control_steps=239、stages_reached=0/3，并因“the ball touched a part of you other than your hands”判负。该服务结果与视频末段相符，接球事件未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0.80–2.36 s 机器人两臂在身前准备接球，来球最终到达肩侧；log step 122 的服务结果确认发生非手部触球。远景中球与肩、上臂及躯干轮廓重叠，无法区分实际碰到的部位，也无法确认此前是否有极短的手掌或手指接触，故不将准备动作记成已发生的双手抓握或夹持。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 122,
+      "text_zh": "观察：视频 0.00–2.36 s 仅有机器人准备接球、传球机来球和球到达机器人肩侧，未见机器人持球后向画面右侧篮筐投出，也没有球穿圈；log step 122 的服务在接球前即以非手部触球结束 episode 6。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.32,
+   "log_step": 122,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.20–2.36 s 来球飞到机器人肩侧，双手在身前却未把球共同接住；log step 122 的服务报告最终 episode 6 接球阶段未成立，并因非手部触球终止。本次失败发生在接球操作中，尚未开始投篮。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 2.32,
+    "log_step": 122,
+    "evidence_zh": "观察：视频 2.00–2.36 s 球从传球机飞近，机器人双手未随来球完成共同拦截，球直接到达肩侧；log step 122 的服务确认接球前发生非手部触球。推断：机器人未在来球经过的窗口把双手与球对上，属于运动目标的接球错失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 121 启动数值手位逆解与定时接球控制器，并提交动作计划；视频 0.80–2.36 s 机器人已将双手伸出，但来球到达肩侧而未被两手截停，log step 122 的服务随后以非手部触球判负。推断：接球动作未使双手在来球路径上建立有效控制；证据只支持控制层，不能进一步确定为接触设计、逆解跟踪或某个具体参数不当。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；现有远景无法分辨视频 2.36 s 的具体非手接触部位及此前是否存在瞬时手部接触，故 contact_actual 保留未知。最终现场尝试的日志未给逐时手球接触记录，不能把控制问题进一步归入具体子类；agent 在 log step 123–124 所称“躯干”仅为其自述。此前五次尝试不用于本次节点进度或失败现象。"
+ },
+ "summary_zh": "评分对应 log step 121–122 的最后一次现场尝试，双手接住球与投篮命中均未完成，节点最终为 0/2。视频约 2.3 s 来球到达机器人肩侧而未被双手承接，服务以非手部触球判负，断点为接球，现象为动态时机，根因只归到控制层。没有状态日志，远景不足以确定具体碰撞部位、瞬时手部接触及控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 2.4 s 对应最后一次现场 episode（control_steps 239≈2.39 s），球约 2.0 s 出现并在 2.3 s 到达机器人肩侧，双手未接住；服务判负“非手部触球”，stages 0/3。两节点未达成、断点为接球、contact_actual 未知均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--hwbzmay/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3dc6b379f61bf9a08a9d8c4bfc109e424fc8a3a91617476e1c82c84821b29704",
+   "video_sha256": "ebe45e239715f99c3901967c1a846cc02d0568a0c71957121174d54f9da3f7af",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia.json
new file mode 100644
index 0000000000000000000000000000000000000000..344159c02e12bee119f9187bc6f56d2b1330786a
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia.json
@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 452,
+   "sim_steps": 1869,
+   "calls": 1223,
+   "rows": 6400,
+   "resets": 4,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6449.0,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 23.608,
+   "max_lag_s": 0.5084,
+   "stalls": 8,
+   "stalled_s": 4.036,
+   "stalled_share": 0.171,
+   "held_steps": 0,
+   "late_steps": 821,
+   "requests_refused": 4,
+   "request_busy_s": 1.171,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia/replay.mp4",
+  "duration_s": 4.56,
+  "fps": 25.0,
+  "frames": 114,
+  "sha256": "230ecbd789aa4498a80b1df4ed81298419aed37b1304a82247460c4bd7888a68"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": 230,
+      "text_zh": "观察：视频 2.32–2.56 s，左翼来球进入机器人双手之间，横向运动被截停，球随双手下沉后被向上送起，接球前未落地。log step 230 的机器人服务（现场仿真与裁判接口）报告 episode=5、stages_reached=2/3，已通过接球及释放阶段；接球成立时间按画面约记为视频 2.50 s。"
+     },
+     {
+      "t": 4.52,
+      "log_step": 230,
+      "text_zh": "推断：接球是锁存事件，视频 2.68 s 球离手以及视频约 4.52 s 触地不会取消已成立的接球。log step 230 的 calls=1223、rows=6400、control_steps_total=1869 与评分器字段相同，确认第 5 次现场尝试为本次评分局；log step 250 只记录启动后续脚本的请求，没有新现场结果，不能代替此局。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 2.36–2.56 s，机器人左右手在胸腹前共同承接篮球，球留在双手区域并随手运动。远景中手指与部分球面互相遮挡，不能判定各手有无形成对向包握，故不强选抓握或开放双掌夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.32–2.56 s，机器人双脚着地支撑接球动作，躯干保持直立。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.68,
+      "log_step": 230,
+      "text_zh": "观察：视频 2.52–2.68 s，机器人双手将接到的篮球由腹前向上送出；视频 2.68 s 球已在手上方分离，随后沿高弧线向画面右侧飞行。"
+     },
+     {
+      "t": 3.92,
+      "log_step": 230,
+      "text_zh": "观察：视频 3.76–4.52 s，篮球从篮圈画面左侧下降并落到篮筐前方地板，没有从篮圈上方进入并穿到圈下。log step 230 的第 5 局服务终态为 failed、outcome=\"the ball touched the floor\"、stages_reached=2/3，与画面一致；成功参照视频 6.40–6.60 s 则可见球朝圈内下降，参照只用于辨认穿圈线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 2.52–2.68 s，机器人左右手共同上送篮球，随后球离手；此远景不能分辨单手包握与双掌夹持的具体接触，怎么碰记未知。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.52–4.52 s，机器人双脚支撑投篮及随挥动作，未见摔倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 2.68,
+   "log_step": 230,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.52–2.68 s，机器人接球后向上送球并释放；视频 3.76–4.52 s 球在圈外下降直至触地，投篮始终未命中。log step 230 的现场裁判已确认接球和释放两阶段、未确认第三阶段，并以球触地结束本局，因此断点是投篮命中。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.68,
+    "log_step": 230,
+    "evidence_zh": "观察：视频 2.68 s 出手后，篮球虽向篮筐方向升高，但视频 3.76–4.16 s 下降路径明显位于篮圈画面左侧，随后视频约 4.52 s 落地，未穿圈。log step 230 的服务报告球触地失败，接球及释放已完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 2.52–4.52 s 显示机器人完成送球与释放，但实际出球运动未将球送过固定篮圈，属于投篮动作控制未达所需方向与速度。log step 230 记录控制器选择 POLICY 20、lambda=0.5、ball None，说明预期的球位测量未用于选择投篮变体；log step 218 的脚本以该默认值选择预制运动。该日志支持此次执行缺少相应球位修正，但不足以分清测量、局部接触模型与运动跟踪各自的贡献，根因仅标到控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频远景能确认双手接球及送球，但手指与球面遮挡，无法区分抓握与开放双掌夹持，也不能独立精确测量接球的 0.10 秒接触窗口，接球验收结合本局服务两阶段记录确认。没有本局实际出球速度、接触力和逐步目标跟踪数据，不能进一步确定控制子类；接球时刻约有 0.1 秒误差。"
+ },
+ "summary_zh": "评分局完成双手接住球，随后上送出手，但篮球在篮圈外下降并触地，最终完成 1/2 个节点，断点为投篮命中。视频与 log step 230 的第 5 次现场服务结果一致；log step 250 声称启动的后续尝试没有新服务结果，不作为评分轨迹。投篮出球控制未命中固定目标，但缺少状态及接触数据，具体控制子类和手部接触方式无法确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "接球成立（log step 230 服务 stages_reached=2/3，视频约 2.5 s 双手承接）、投篮未命中（球触地）与标注一致；断点 shot_through_ring、位姿不准、控制根因均有证据支持，时钟均为视频时间，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": "2026-10-31T01:14:42Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--lrxseia/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "916ef5cdab362c6fae0c76be8bfed30a49172d6fe850ce07d1b06b81e093ba29",
+   "video_sha256": "230ecbd789aa4498a80b1df4ed81298419aed37b1304a82247460c4bd7888a68",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa.json
new file mode 100644
index 0000000000000000000000000000000000000000..23aa83ab294006b9d5037ac90d4b43fa2913a1dc
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa.json
@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 241,
+   "sim_steps": 1587,
+   "calls": 21,
+   "rows": 5800,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2673.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 16.482,
+   "max_lag_s": 0.5956,
+   "stalls": 1,
+   "stalled_s": 0.596,
+   "stalled_share": 0.0361,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 1,
+   "request_busy_s": 0.739,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa/replay.mp4",
+  "duration_s": 2.44,
+  "fps": 25.0,
+  "frames": 61,
+  "sha256": "f0dd66d65af1d23452d11d15bfe5c01306433240e4bcd23872f884ef4070e528"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.6 s，机器人双脚站立并将双臂伸到胸前迎球；视频 2.08–2.40 s，橙球由左侧传球机飞近机器人，末帧进入其左侧上肢与躯干附近，未见双手共同承接并控制球。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 262,
+      "text_zh": "观察：log step 262 明确运行最后一次现场评分尝试，服务返回 sim_time_s=2.41（仿真秒）、stages_reached=0、resets_left=0，失败原因是“the ball touched a part of you other than your hands”（球触及非手部位）。视频 2.40 s 的来球到达及随即结束与该结果相符；并非由总分零单独判定未接住。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.36–2.40 s 来球进入机器人左侧身体轮廓，log step 262 的现场服务确认球碰到非手部位；远景无法分清是臂、肩或躯干，也不能确认此前是否有短暂手部触球。双臂虽伸出迎球，但没有双手夹持或抓握成立的证据。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.40 s，机器人双腿及双脚在地板上支撑站立，双臂执行迎球动作。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 262,
+      "text_zh": "观察：完整视频 0.0–2.40 s 只有机器人准备接球及传球机的来球飞行，未见机器人持球、向篮筐投出或球穿篮；log step 262 的最后现场尝试在接球阶段即报告非手触球并以 stages_reached=0 结束。投篮前置未完成，机器人尚未开始投篮。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 2.4,
+   "log_step": 262,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.32–2.40 s，机器人双臂仍在胸前等待来球，球到达其左侧身体附近而未被双手控制；log step 262 的最后一次现场尝试由裁判以球碰到非手部位终止，接球事件未成立。该断点属于接球操作，日志中的其他重置尝试及本地测试不计入本段视频进度。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.4,
+    "log_step": 262,
+    "evidence_zh": "观察：视频 2.36–2.40 s，来球进入机器人左侧身体轮廓，双手未将球共同承接；log step 262 的现场服务裁判确认球碰到手以外的身体部位，并终止本次尝试。该非手部碰撞发生于接球时，未见先接稳后掉球。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 261–262 显示 agent 将本地逆解得到的接球关节姿态写入预编程动作并直接运行最后一次尝试；视频 1.6–2.40 s 中机器人已伸臂迎球，但来球仍进入身体附近，现场服务在 log step 262 确认非手触球且接球未成立。该接球控制未实现合法双手承接；现有证据不足以进一步区分接触几何设计、逆解误差或实际关节跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；视频为单一远景，末帧不足以辨认具体非手触球部位、短暂手部接触及双手接触的毫秒时长。log step 262 提供最后评分尝试的服务判定，但未提供该尝试完整关节跟踪及接触对记录；log step 263 中 agent 关于左前臂位置和本地模型差异的解释仍待核实，因此不据此细分控制根因。"
+ },
+ "summary_zh": "本次评分视频中机器人站立伸出双臂迎接左侧来球，但没有完成双手接球，投篮尚未开始，最终完成 0/2 节点。视频约 2.40 s 来球到达身体附近，最后一次现场尝试的服务结果确认非手触球并终止，断点为双手接住球，根因保守归为控制。远景与缺少状态日志使具体触球部位和控制子原因无法确定，不能将会话中的本地测试当作本次完成证据。",
+ "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 0–2.44 s（视频时钟）只见机器人伸臂、球在末尾到达身体附近；log step 262 的服务判定为球碰非手部位、stages_reached=0，与标注的 ball_caught 未达、断点、被挡/碰撞现象及保守的控制根因一致，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:16Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--mxqsqwa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f55b6f307780525cc0b78bcec55ca4f0fdc5680106b1fe801da4da8b873888e4",
+   "video_sha256": "f0dd66d65af1d23452d11d15bfe5c01306433240e4bcd23872f884ef4070e528",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q.json
new file mode 100644
index 0000000000000000000000000000000000000000..923dbad0fa7ce9207e163108fb4030f5612bb72c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q.json
@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 4,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 7171.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 0.0,
+   "max_lag_s": 0.0,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.246,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "6624d12bfebe12839cfbb24ef9895764177edf78482ee6c37ce2f9a4358cc9dc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "观察：视频 0.00 s（全片唯一帧）中机器人站在初始位置，双手前方没有被共同控制的篮球；log step 4 的现场机器人服务返回 control_steps=0、rows=0、running=false。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的三次现场 get_obs(seconds=0.0) 均返回 running=False；评分器记录 n_actions=0、sim_steps=0、rows=0、resets=0，运行记录 sim_total.submit=0。推断：现场评分局始终未启动，未发生双手接球事件。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 的完整初态画面未见机器人持球、出手或篮球穿圈；评分器记录 n_actions=0、sim_steps=0、clock_s=0.0。推断：评分局没有推进，接球前置与投篮命中事件均未发生；此判断并非仅依据 success=0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_caught",
+   "t": 0.0,
+   "log_step": 15,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00 s 仅显示机器人初始站姿，整段视频只有这一帧；log step 4、15 的现场服务均显示未运行，评分器记录 n_actions=0、sim_steps=0，运行记录 sim_total.submit=0。推断：现场接球动作从未启动，断点为双手接住球之前；视频 0.00 s 仅作初态导航锚点。"
+  },
+  "unmet": {
+   "ball_caught": false,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 15,
+    "evidence_zh": "观察：视频 0.00 s 的唯一帧为机器人初态；log step 15 仅作三次不推进仿真的现场观测，返回 running=False，评分器的动作数与仿真步数均为 0。推断：本次现场评分局没有开始接球，离线测试不构成评分局中的尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本次视频存在但仅一帧，inputs/ 内无状态日志。log step 46 创建 agent 自建的 LocalSim，后续接触、接球及投篮数据来自该离线场景；log step 251 的最后一条 agent 自述仍为运行左臂接球解测试，log step 258 最后调用离线完整流程测试且没有返回文本。运行记录 wall_s=7200 与 time_limit_s=7200 相等。推断：会话预算结束前没有启动现场控制，但现有证据不能确定为何未能将离线方案用于现场，也不足以区分控制子类或认知根因，故根因留空；不将离线物理失败当作评分局现象，不将预算耗尽当作根因。"
+ },
+ "summary_zh": "现场评分局仅保留视频 0.00 s 的初态帧，评分器动作数和仿真步数均为 0，双手接球与投篮命中均未达到（0/2）。断点为双手接住球的首步前，现象为没尝试；agent 的会话工作停留在自建 MuJoCo 场景中的接球、持球转姿和投篮调试。缺少可确认未启动现场控制之深层原因的证据，根因留空，离线测试结果不计作本次进度或接触。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分局从未启动（n_actions=0、sim_steps=0、log step 4/15 running=False），两节点未达成、断点 ball_caught 首步前、现象没尝试均有证据支持；根因留空并附 gap_zh 合理，未把预算耗尽或离线测试当作现象/根因。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:19Z",
+  "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--srraf8q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c6edb475787c68d2597eed91882d7cec0f6b698016a0871514b44ba102c33da",
+   "video_sha256": "6624d12bfebe12839cfbb24ef9895764177edf78482ee6c37ce2f9a4358cc9dc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k.json b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k.json
new file mode 100644
index 0000000000000000000000000000000000000000..549be282441d4f2e9315a7ad64118b7c189fbcbe
--- /dev/null
+++ b/phase2/embodied-olympics-fun/catch_and_shoot/trajectories/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k",
+ "taskKey": "embodied-olympics-fun/catch_and_shoot",
+ "dag_sha256": "f6a6d84d578d7c1084b9432c694b8d43d8fa3421ae8d0142dbb9a316794fb326",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 315,
+   "sim_steps": 594,
+   "calls": 597,
+   "rows": 1200,
+   "resets": 1,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1989.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 6.33,
+   "max_lag_s": 0.2589,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.528,
+   "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/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/replay.mp4",
+  "duration_s": 3.16,
+  "fps": 25.0,
+  "frames": 79,
+  "sha256": "ae65ef5de60b0bf4190c3f6073b921a9ea106ae11fa75d76051e29299de7b2f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.56,
+      "log_step": 88,
+      "text_zh": "观察：视频 2.32–2.44 s，橙色篮球从左侧传球机飞至机器人胸腹前；视频 2.44–2.56 s 球停在两手共同形成的承接位置，未先触地。log step 88 的现场 episode 2 服务结果为 stages_reached=2、stages_total=3，log step 101 再次确认同一结果，支持接球事件已通过裁判；视频到达时刻取约 2.56 s，精确的双手接触累计时刻无法从远景测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 2.44–2.64 s，机器人两只手在胸腹前共同兜托橙色篮球；视频 3.04–3.12 s 腿间可见棕橙色球体轮廓向下移动，不能再称球持续在双手处。远景无法确认每只手是否形成拇指与其余手指的对向抓握，未凭闭合命令标抓握。"
+     }
+    ]
+   },
+   "shot_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.08,
+      "log_step": 89,
+      "text_zh": "观察：视频约 2.44–2.64 s 球处于双手承托区，视频 3.04–3.12 s 腿间出现并向下移动的棕橙色球体轮廓；机器人未朝右侧篮圈挥臂送球，也未见球飞向篮圈或向下穿圈。手边末段仍有橙色小块，不能仅凭这些像素认定球持续被持住，也无法据此确定精确离手时刻。log step 88 的现场 episode 2 服务结果为球触地、stages_reached=2、stages_total=3；log step 89 的服务终态文件记录 sim_time_s=3.15、outcome=\"the ball touched the floor\"，log step 101 再次确认。推断：球在短暂接住后失去承托而下落，画面末段与服务触地结果相容；未将仿真时刻直接换算为视频时刻。"
+     },
+     {
+      "t": 2.56,
+      "log_step": 88,
+      "text_zh": "观察：log step 81 的 make_plan 在准备结束后保持 qc 手臂目标，手指闭合后命令为 [1,1]；log step 86 仅在参数超过七项时启用 give 轨迹，log step 88 实际提交七参数方案，故接球后没有新增投篮挥臂或主动张手段。推断：投篮动作未启动；服务计入 release 的阶段不证明机器人进行了朝篮圈的投篮。log step 90–99 的离线投掷测试发生于该次现场尝试结束后，不属于本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 2.56 s 接球完成后，机器人双手仍在胸腹前维持承托姿态，随后视频 3.04–3.12 s 球体轮廓在腿间下降；未见朝篮圈挥臂送球。推断：该实际接触属于接球后为投篮持球的阶段，尚未完成主动出手；不据手指闭合命令断言包握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shot_through_ring",
+   "t": 3.08,
+   "log_step": 88,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.56 s 已完成双手接球，之后机器人维持胸腹前承托姿态，视频 3.04–3.12 s 腿间可见球体轮廓下移；没有朝篮圈的挥臂送球。log step 88、89、101 的 episode 2 服务结果为 2/3 阶段、球触地失败。推断：接球事件已完成并锁存，但接球后为投篮持球的阶段失去球，故断点仍为 shot_through_ring，位置为操作中；视频 3.08 s 是失球已可见的导航锚点，不是精确离手时刻。"
+  },
+  "unmet": {
+   "ball_caught": true,
+   "shot_through_ring": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.08,
+    "log_step": 88,
+    "evidence_zh": "观察：视频约 2.44–2.64 s 球被双手共同承接，视频 3.04–3.12 s 棕橙色球体轮廓已在腿间向下移动；机器人始终维持承接姿态，未见朝篮圈挥臂送球。log step 88 的 episode 2 服务结果为 stages_reached=2、stages_total=3、球触地，log step 101 再次确认。推断：已建立的双手承托未能持续保持，球在主动投篮前掉落，符合没保持住（docs/03_trajectory.md Step 3.2；docs/CASES.md FAIL-8）。精确离手时刻和持续持球时长受遮挡及远景限制。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "观察：视频约 2.44–2.64 s 双手在胸腹前形成兜托承接位置，而视频 3.04–3.12 s 球体轮廓在腿间下降。log step 81 的 make_plan 从准备姿态进入 qc 后保持手臂目标，手指闭合后保持 [1,1]；log step 86 的 give 分支需超过七个参数，log step 88 实际七参数调用未启用该分支，也未安排主动张手或投篮挥臂。推断：在持续保持承接目标且无主动释放段的方案下失球，支持所用双掌兜托的接触/承载设计不能稳定衔接后续持球阶段，归抓取和接触设计；不能从远景断言手指完全没有包握，也不能分辨接触几何、手臂回弹与实际握持力各自的作用。观察：参考 inputs/oracle/replay.mp4 的参考视频约 2.4–3.4 s 可见双手持球，参考视频约 3.6–4.4 s 持球下摆，参考视频约 4.8–5.2 s 双手上送并出球；inputs/oracle/oracle.json 的 success=1。推断：参考成功验证存在任务级可行替代，但不证明本次承接口袋可持续持球，也不把参考动作当成本次动作。",
+    "source_zh": "视频 / 日志 / 评分器字段"
+   }
+  ],
+  "gap_zh": "无状态日志；手部远景较小，无法独立测量各手接触对及 0.10 秒累计窗口，也无法确认各指是否形成对向包握。视频末段手边仍有橙色小块，但腿间球体轮廓的下降及 episode 2 服务球触地终态支持失球，删除原先“画面与触地无法解释”的判断；精确离手时刻仍不清楚。log step 89 的 track.py 球高仅为 agent 单目估计，未用来给视频定时。根因是由实际保持姿态的程序及失球结果作出的接触设计推断，缺少接触力、实际关节运动与接触几何数据，不能证明无包握或确定具体失稳机理。实际方案缺少投篮段仍由日志支持，但不把它替代已发生的失球现象。"
+ },
+ "summary_zh": "评分尝试完成双手接球，最终完成 1/2 个 DAG 节点；视频末段约 3.04–3.12 s 可见球体在腿间下降，服务确认 episode 2 球触地失败。断点仍为投篮命中步骤，在接球后持球阶段没保持住；结合实际方案保持承接目标且无主动释放段，根因推断为抓取和接触设计。远景无法确定精确离手时刻、手指包握与失稳机理，置信度维持 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "接球节点（约 2.56 s）与 1/2 进度基本正确；但多处观察性文字称视频 2.6–3.12 s 球「从手边滑落、在腿旁下降」，逐帧检查（2.0–3.16 s）显示球一直停在双手之间直到视频结束，该观察不成立，据此建立的「没保持住」现象与根因需要改写。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "接球节点（约 2.56 s）与 1/2 进度正确；但文件反复断言「视频 2.56–3.12 s 球一直在双手处」不成立：放大裁剪显示球在约 3.04 s 之后已离开双手，3.08、3.12 s 帧手处无橙色、球落在腿脚附近，与服务终态 stages 2/3『ball touched the floor』（sim 3.15 s）一致。因此「没尝试」现象、『差异无法解释』的 gap 及根因证据需据此重写。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "四条回应均成立：持续持球与『无法解释』的表述已删除，现象改为没保持住（含 FAIL-8 依据），根因改为抓取和接触设计并标为推断，接球接触说明已改；对审查中过强的『手处无橙色』的部分拒绝有据，我看帧也见手边仍有橙色、腿脚处橙色增多。",
+    "n_issues": 0,
+    "n_checks": 4
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "四条回应均成立：持续持球与『无法解释』的表述已删除，现象改为没保持住（含 FAIL-8 依据），根因改为抓取和接触设计并标为推断，接球接触说明已改；对审查中过强的『手处无橙色』的部分拒绝有据，我看帧也见手边仍有橙色、腿脚处橙色增多。",
+   "checks_ok": "4/4",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:19:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-catch-and-shoot-i00-standard-realtime--sywzh9k/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "07d5371815f0f38d8fbf6cb3e54bb3af9a3a7df8a0a58138fa69fd6da545b6e4",
+   "video_sha256": "ae65ef5de60b0bf4190c3f6073b921a9ea106ae11fa75d76051e29299de7b2f3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr.json
new file mode 100644
index 0000000000000000000000000000000000000000..642c53f4656353f0cc0c9e8f815299fa6db958f3
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr.json
@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 300,
+   "sim_steps": 300,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 5.3,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 0.375,
+   "metric_bar_max_height_m": 0.375,
+   "metric_elbow_flex_deg": 89.0,
+   "metric_knee_flex_deg": 20.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 47,
+   "agent_resets": 0,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.69,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr/replay.mp4",
+  "duration_s": 3.04,
+  "fps": 25.0,
+  "frames": 76,
+  "sha256": "4f1de7292b08d481a5be08442930d1017d97d3ef746f2551bd9c016cde9aa814"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00–3.00 s 中，机器人始终站在木台上，双手保持在杠杆上方且未伸向杠杆；杠铃始终横放在两只棕色支架上，没有离架或升至胸肩前方。已逐帧检查视频 2.00–3.00 s，末帧仍如此，上肩步骤未启动。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 137,
+      "text_zh": "观察：log step 109 的生成脚本在举重失败时另建回合并保存300步站立轨迹，log step 136 再次输出保存该备用轨迹，log step 137 确认交付文件仍为300行；这与本次视频中的站立行为一致。评分器 stages_reached=0、bar_max_height_m=0.375，支持未离架上肩。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00–3.00 s 内杠铃一直留在低位支架上，机器人双臂未上举；视频 2.00–3.00 s 的逐帧检查也未见杠铃到达头顶上方。杠铃过顶及伸臂保持均未发生，本步骤未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.375
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.375
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 89.0
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 20.6
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 0.0,
+   "log_step": 136,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–3.00 s 的机器人仅原地站立，双手未接触杠铃，杠铃始终留在支架上。log step 136 明示举重测试失败后保存站立备用轨迹，log step 137 确认最终文件为300行；故受评轨迹从未开始第一个上肩步骤。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.00、1.00、2.00、3.00 s 的局部放大图均显示机器人双手与杠杆分离、杠铃搁在两只支架上；全程及末秒逐帧检查未见下蹲取杠、抓杠或抬杠。受评轨迹只维持站立，上肩动作没有启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：未能生成稳定的举重控制轨迹，导致交付仅含站立备用动作。log step 132、136 的会话测试输出均显示双手已接触杠、lift-off阶段成立，随后骨盆速度升至超过2 m/s，裁判以非脚部触台终止；两次输出均接着说明未保存举重测试、改存站立备用轨迹。log step 109 可见该失败回退分支的代码，log step 137 确认最终300行文件。上述调试记录用于解释备用交付的成因，其离架和失稳不计入本次视频的节点或现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立核验调试阶段的接触细节、关节跟踪和失稳力矩来源；根因保留在“控制”层级，不据agent自述进一步确定前馈或参数问题。本次视频清楚显示杠铃未离架，两个节点的否定判断不受该缺口影响。"
+ },
+ "summary_zh": "受评视频全程为站立备用动作，杠铃始终留在支架上，上肩与过顶均未启动，最终完成0/2个节点。断点为杠铃上肩的首步前，现象为没尝试；日志显示举重控制测试反复失稳后，生成脚本保存了300步站立轨迹。缺少状态日志，具体控制失稳机制无法独立核验，调试中曾离架或后倒不计入本次受评进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "受评视频3.04 s全程站立，杠铃始终在支架上，两个节点为false、断点首步前/没尝试、根因控制（标为推断，来自会话测试，log 132/136 的 ABORT 与回退保存均已核对）均有证据支持；未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:58:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--7thjiwr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6e724fd2676c7118dd326238c67cae4659af62d0e971e8d99b91184f76b2cbf",
+   "video_sha256": "4f1de7292b08d481a5be08442930d1017d97d3ef746f2551bd9c016cde9aa814",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco.json
new file mode 100644
index 0000000000000000000000000000000000000000..094ee8b24fd8d0c0105cc4cd331ca16c1d602dc3
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco.json
@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 2737,
+   "sim_steps": 2737,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 46.44,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 2.133,
+   "metric_bar_max_height_m": 2.137,
+   "metric_elbow_flex_deg": 3.1,
+   "metric_knee_flex_deg": 0.6,
+   "metric_time_s": 27.37,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 176,
+   "agent_resets": 8,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.68,
+   "peak_processes": 47,
+   "peak_disk_gb": 0.248,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco/replay.mp4",
+  "duration_s": 27.4,
+  "fps": 25.0,
+  "frames": 685,
+  "sha256": "3dfbf3b4ad659c116ddcd7317539c2fc8869c94d51251ed480a9404c890fc480"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–5.8 s 机器人弯腰以左右手分握杠杆，视频 6.4 s 杠铃两端已离开棕色支架，随后机器人持杠逐渐伸膝站起。"
+     },
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–16.8 s 机器人继续屈肘抬杠，视频 17.0–18.4 s 杠轴停在肩前，双手持续握杠，躯干直立、双膝近乎伸直，双脚并列支撑在木台上；之后才开始向头顶推举。"
+     },
+     {
+      "t": 17.0,
+      "log_step": 88,
+      "text_zh": "推断：结合视频 16.8–18.4 s 的肩前停留和 log step 88 对所交付轨迹的新进程回放结果（success=True，stages 含 clean、overhead、down signal），上肩事件约在视频 17.0 s 达成，时间误差约 0.5 s；肩距、速度等精确阈值由裁判通过结果佐证。该节点为事件，之后离肩上举不撤销完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 4.0–18.4 s，机器人左右灵巧手分别合拢握住杠杆两侧并共同提离支架、抬至肩前；视频 6.4 s 后杠铃随两手离架上升。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 4.0–18.4 s，机器人双脚接触木色举重台，双腿和躯干在俯身抓杠、起身及肩前持杠时承重。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.6–22.0 s 机器人从肩前持续双手推举杠铃，杠铃到达头顶上方；视频 22.0–25.2 s 仍有小幅姿态调整，不能将刚过顶直接计作稳定保持完成。"
+     },
+     {
+      "t": 27.36,
+      "log_step": null,
+      "text_zh": "观察：视频 25.4–27.36 s 杠铃保持在机器人头顶上方，双手分别握住杠杆、双臂伸直，双腿近乎伸直且双脚并列留在木台上；已密集检查视频 26.4–27.36 s，包括最后一帧，未见脱手或下放。"
+     },
+     {
+      "t": 27.36,
+      "log_step": 88,
+      "text_zh": "推断：视频末尾的过顶保持姿态与评分器 reward 的 success=1、replay_success=1、stages_reached=4/4 一致；log step 88 的交付文件回放也记录 down signal 和成功。由于节点包含保持至下放信号，取视频最后一帧 27.36 s 为约完成时刻，精度约 0.1 s；不把更早仅举高的画面计作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 18.6–27.36 s，机器人左右灵巧手持续各握杠杆一侧，双臂共同上举并在头顶承载杠铃，终帧仍持杠。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 18.6–27.36 s，机器人双脚持续支撑于木色举重台，双腿与直立躯干承受上举及过顶保持时的重量。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.133
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.137
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 3.1
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 0.6
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": 27.37
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双手将杠铃提离支架，约在视频 17.0 s 完成肩前稳定上肩，随后推举至头顶并在视频末尾完成保持，两个目标节点最终均成立。评分器记录成功、四个原生阶段全部完成且回放确定，log step 88、94 的交付回放均成功；没有失败断点。缺少状态日志，视频不能独立量出肩距、速度、接触宽限和精确保持计数，上肩时间约有 0.5 s 不确定性，数值验收由裁判结果佐证。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两个目标节点（上肩约视频 17.0 s、过顶保持完成于视频末帧 27.36 s）与帧和评分器结果（stages 4/4、time_s 27.37）一致，接触标注合理，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": "2026-10-31T01:02:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--dhfwnco/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bbd15726de429d008a5b2e711dd50f7dd1a65432454332bf4864d7dcff8f689f",
+   "video_sha256": "3dfbf3b4ad659c116ddcd7317539c2fc8869c94d51251ed480a9404c890fc480",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd.json
new file mode 100644
index 0000000000000000000000000000000000000000..719e18fe0128e8feb08eff53ad114bad89711e18
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd.json
@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1797,
+   "sim_steps": 1797,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 39.49,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 2.19,
+   "metric_bar_max_height_m": 2.19,
+   "metric_elbow_flex_deg": 0.2,
+   "metric_knee_flex_deg": 3.2,
+   "metric_time_s": 17.97,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 70,
+   "agent_resets": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.728,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.252,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd/replay.mp4",
+  "duration_s": 18.0,
+  "fps": 25.0,
+  "frames": 450,
+  "sha256": "d2c4bcced8f4c00c88a0e427949d5753238a66e03dcb0e0d77de6890872dfda5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.12,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–4.8 s 机器人俯身屈膝，左右手分别合握杠杆两侧；视频 5.6–6.0 s 杠铃已离开两只棕色支架，并随机器人起身上升。"
+     },
+     {
+      "t": 11.12,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–10.6 s 机器人把杠铃从腰前抬至胸肩前；视频 10.6–12.4 s 双手持续持杠，杠轴在肩前基本静止，躯干直立、双膝近伸直、双脚并齐留在木台上。视频 11.12 s 为上肩完成的近似锚点，精度约半秒。"
+     },
+     {
+      "t": 11.12,
+      "log_step": null,
+      "text_zh": "推断：结合上述肩前停留画面与 inputs/run.json 的 success=1、stages_reached=4、replay_success=1、deterministic=1，判定上肩通过；后续上举不撤销该事件。画面不能独立精测肩距、速度及连续保持计数，具体阈值由成功裁判结果佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.8–6.0 s 左右灵巧手分别合握杠杆两侧并共同提杠离架，视频 10.6–12.4 s 两手持续持杠停在肩前。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–12.4 s 机器人双脚支撑于木色举重台，屈膝俯身取杠后伸膝站起，持杠上肩时双脚保持并齐。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.6 s 后机器人由肩前继续上举；视频 14.6–16.0 s 杠铃逐渐升至头顶上方，双肘逐渐伸直。视频 16.0–17.96 s 两手分握杠杆，双臂近伸直、躯干直立、双膝近伸直，双脚并齐留在木台上，杠铃基本静止；已逐段检查视频最后一秒，末帧仍持杠过顶。"
+     },
+     {
+      "t": 17.96,
+      "log_step": null,
+      "text_zh": "推断：将完成保持的时刻记在视频末帧 17.96 s 附近，而不把首次举过头顶记作完成。inputs/run.json 的 success=1、replay_success=1、stages_reached=4/4、deterministic=1 佐证裁判已接受过顶保持及下放信号；终态指标为杠中心相对台面高度 2.19 m、双肘屈曲 0.2°、双膝屈曲 3.2°。无状态日志，保持计数与细小距离、速度阈值不能由画面精确复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.6–17.96 s 左右灵巧手持续分别握住杠杆两侧，双臂共同上举并在头顶上方保持，未见放手。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.6–17.96 s 双脚持续支撑在木台上，双腿与躯干保持直立，承载持杠过顶的身体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.19
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.19
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 0.2
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 3.2
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": 17.97
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双手提杠离架，在视频约 11.12 s 完成肩前稳定上肩，随后上举并保持至视频末帧 17.96 s 附近，最终两节点均完成；评分器记录成功、四阶段全达成且回放一致，无失败断点。已对照参考成功视频的上肩与过顶姿态；本次无状态日志，节点时间为画面近似锚点，精确几何、速度及保持计数由成功评分佐证。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "抽查帧与标注一致：视频约10.6–12.4 s 杠铃在肩前稳定，14.6–17.9 s 过头顶保持；评分器成功、4/4阶段，无失败断点，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:17Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--esqglcd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4bbb564bf9e09a167822b4680272d1bbe2ffb55de04e28c6204b38f72c06feab",
+   "video_sha256": "d2c4bcced8f4c00c88a0e427949d5753238a66e03dcb0e0d77de6890872dfda5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub.json
new file mode 100644
index 0000000000000000000000000000000000000000..3175320a793d06447bace2c5f1f6e7e41b1781e6
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub.json
@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 976,
+   "sim_steps": 976,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 4,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 19.14,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 2.122,
+   "metric_bar_max_height_m": 2.123,
+   "metric_elbow_flex_deg": 0.3,
+   "metric_knee_flex_deg": 3.1,
+   "metric_time_s": 9.76,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 87,
+   "agent_resets": 0,
+   "agent_replays": 18,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.594,
+   "peak_processes": 21,
+   "peak_disk_gb": 1.31,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub/replay.mp4",
+  "duration_s": 9.8,
+  "fps": 25.0,
+  "frames": 245,
+  "sha256": "c38eeec8ae2b63cbf9ce24ee44cbba03495623481848077a145f4f488273a767"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.32,
+      "log_step": null,
+      "text_zh": "观察：视频 3.60–4.20 s 机器人蹲下以两手持杠，视频 4.32–4.92 s 杠铃离开两只棕色支架，随双手升至腰前，原支架上已无杠铃。"
+     },
+     {
+      "t": 6.3,
+      "log_step": 223,
+      "text_zh": "观察：视频 5.76–6.36 s 杠铃横停在机器人胸肩前，两手分别持杆，躯干直立、双膝接近伸直，双脚留在木台上且未见前后跨步；随后视频 6.48–7.08 s 机器人继续上举。log step 223 的最终保存候选状态记录 clean 阶段在仿真 6.30 s 通过，肩距为 0.117 m。"
+     },
+     {
+      "t": 6.3,
+      "log_step": 230,
+      "text_zh": "推断：log step 223 的候选终态哈希与 log step 230 最终交付的两次新进程成功回放一致，976 个控制步共仿真 9.76 s，即每步 0.01 s；视频最后一帧为 9.76 s，视频约 4.08 s 的离架及约 6.3 s 的肩前停稳也与该记录吻合。因此以视频约 6.3 s 标记上肩验收，通过后按事件节点保留至片尾；没有使用 agent 会话时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.32–6.36 s 左右手分别握住银色杠杆两侧，共同将其离架抬到胸肩前，持杠随手移动。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.60–6.36 s 双脚踩在木色举重台上，双腿由蹲姿伸展并支撑持杠的身体。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.76,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.48–7.80 s 机器人将杠铃由肩前举过头顶，逐渐伸直双臂；视频 7.80–9.76 s 杠铃持续高于头部、双手分握杠杆，双腿近乎伸直、双脚并列支撑，躯干与杠铃未见明显晃动。已逐帧检查视频 8.80–9.76 s，片尾仍持杠过顶。"
+     },
+     {
+      "t": 9.76,
+      "log_step": 223,
+      "text_zh": "观察：log step 223 的最终保存候选记录仿真 6.99 s 进入 overhead 阶段、仿真 9.76 s 收到 down signal 并成功；log step 230 的最终交付两次独立回放均成功且终态哈希相同。评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=4/4，末态杠高 2.122 m、肘屈曲 0.3 度、膝屈曲 3.1 度。"
+     },
+     {
+      "t": 9.76,
+      "log_step": 230,
+      "text_zh": "推断：依据已用离架和肩前停稳核对的控制步到视频时钟对应关系，976×0.01 s 对应视频 9.76 s；结合视频约 7.80 s 起的稳定过顶姿态和评分器通过，节点在视频 9.76 s 满足完整保持及下放信号验收。进入 overhead 阶段本身尚未完成保持，因此不从视频约 7.0 s 计为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.48–9.76 s 左右手分别握住杠杆两侧，双臂共同上举并持续持住头顶上方的杠铃。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.48–9.76 s 双脚持续踩在木色举重台上，双腿伸直支撑躯干和过顶杠铃。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.122
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 2.123
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 0.3
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 3.1
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": 9.76
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双手持杠离架，在视频约 6.3 s 完成肩前停稳，再举至头顶并保持，在视频 9.76 s 完成下放信号验收，两节点最终均达成。评分器记录成功且可确定性回放，log step 230 的最终交付两次新进程回放也均成功；日志中的早期调试失败不属于本次视频。缺少状态日志，细小的手指接触、距离和速度阈值不能仅凭远景逐项精测，精确验收由最终交付记录与评分器结果支持。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两节点时间与帧一致：约4.3 s离架、6.3 s肩前停稳、7.8 s后稳定过顶至片尾9.76 s；接触标注合理，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": "2026-10-31T01:02:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--hrohaub/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e16e701c4ebb10305ae5c15955763b62379023ca9ce7144c6bedd3fdf47f5e75",
+   "video_sha256": "c38eeec8ae2b63cbf9ce24ee44cbba03495623481848077a145f4f488273a767",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv.json
new file mode 100644
index 0000000000000000000000000000000000000000..064111c9ffcb41c995af3a8c05ef6ab0674c5394
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv.json
@@ -0,0 +1,236 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1904,
+   "sim_steps": 1904,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 0.25,
+   "stages_reached": 1,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 31.87,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 1.339,
+   "metric_bar_max_height_m": 1.347,
+   "metric_elbow_flex_deg": 144.4,
+   "metric_knee_flex_deg": 0.1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 154,
+   "agent_resets": 4,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.874,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.078,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv/replay.mp4",
+  "duration_s": 19.08,
+  "fps": 25.0,
+  "frames": 477,
+  "sha256": "fa7fb2abc0d5b24223e9cdd361b8068b3cb72118d00f6d1300fce140b211a35b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": 301,
+      "text_zh": "观察：视频约 7.0–10.0 s，机器人蹲下将双手合在杠杆两处；视频 10.5–12.0 s，杠铃离开两只棕色支架并随机器人站起，原支架顶部露出，说明确已拿起，但此时杠仍在髋前，尚非上肩。"
+     },
+     {
+      "t": 18.8,
+      "log_step": 307,
+      "text_zh": "观察：视频 14.0–18.7 s，机器人屈肘提杠，杠仍低于肩关节；视频 18.8–19.04 s，杠铃明显倾斜，未见肩前双手稳定持杠姿态。交付文件的裁判回放（log step 307）仅记录 stages=[lift-off]，以 let go of the bar 结束；生成同一交付的记录（log step 301）报告末态仅右手持杠，未达到 clean。"
+     },
+     {
+      "t": 19.04,
+      "log_step": null,
+      "text_zh": "推断：成功参考视频 17.0、18.48 s 可清楚看见杠杆停在肩前，而本次已检查的全程视频及末帧均无此姿态；结合本次交付裁判的阶段记录，杠铃上肩从未完成。参考视频只用于识别姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.0–18.7 s，左右灵巧手合拢在杠杆的两处并共同提起、承载杠铃；末段双肘弯曲提杠时握持丢失。手指细节分辨率有限；log step 301 的交付裁判终止记录补充说明最终仅右手仍持杠。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–19.04 s，机器人双脚在木色举重台上承重，双腿由蹲姿逐渐伸直，举杠及末段倾斜期间本体仍站立。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.04,
+      "log_step": 307,
+      "text_zh": "观察：已检查视频 0–19.04 s，杠铃始终没有高于头部，末段双肘仍弯曲、杠杆在胸腹前倾斜，机器人没有开始双臂向头顶伸直的推举。交付裁判回放（log step 307）仅通过 lift-off，没有 clean、过顶或下放信号阶段；成功参考视频 26.0、27.36 s 的头顶伸臂持杠姿态在本次全程中未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "value": 1.339,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "bar_max_height_m",
+   "value": 1.347,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "elbow_flex_deg",
+   "value": 144.4,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "knee_flex_deg",
+   "value": 0.1,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 18.8,
+   "log_step": 301,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.6–19.04 s，机器人正在屈肘把杠提向肩前，杠铃随后明显倾斜，未形成上肩姿态，机器人仍站立。log step 301 生成的最终交付为 1904 个控制步，裁判记录 let go of the bar、holding=[right]；log step 307 对该交付的独立回放得到相同末态哈希、指标与失败原因。未完成且未修复的是杠铃上肩。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 18.8,
+    "log_step": 301,
+    "evidence_zh": "观察：视频 10.5–12.0 s 显示机器人双手带杠离架并站起，握持曾经建立；视频 18.76–19.04 s 杠轴由近水平变为明显倾斜。最终交付的裁判记录（log step 301）明确因 let go of the bar 判负，终止时 holding=[right]；log step 307 回放复现该结果。这是上肩过程中丢失左手持杠，未见机器人按计划放杠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 277 给出的生成脚本在提杠阶段持续命令双手闭合，并用双臂雅可比伺服跟踪手部目标；log step 301 仅更改上肩路径后生成最终交付，仍在提杠过程中丢失左手持杠，log step 307 确认可确定复现。结合视频 18.76–19.04 s 的杠铃倾斜，支持上肩运动中的持杠控制未能维持接触。agent 在 log step 315 将其归因于握持几何勉强、转肘时易滑脱，但该细分归因尚无交付回放的逐指接触力或跟踪误差记录独立确认，故保留为控制大类。"
+   }
+  ],
+  "gap_zh": "无状态日志，视频远景不能精确核验每根手指的接触、握持力及瞬时跟踪误差；左手丢失持杠由最终交付的裁判记录补充确认。现有证据能确定上肩过程的持杠控制失败，但不足以区分抓取接触设计与轨迹跟踪问题。原生 time_s 未在 reward 指标中报告，保留 null。"
+ },
+ "summary_zh": "观察：机器人双手提杠离架并站起，但杠铃尚未稳定上肩，视频约 18.8–19.04 s 杠杆倾斜，交付裁判记录左手脱杠并终止；上肩与过顶两个语义节点均未完成（0/2），原生阶段进度为 1/4。推断：断点在杠铃上肩的操作中，现象为没保持住，根因归于控制；缺少逐指接触力与跟踪误差，无法可靠细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成与视频及裁判记录一致（lift-off 1/4，杠未上肩，末段 19.04 s 倾斜、右手单持、let go of the bar）；断点 bar_at_shoulders/操作中、现象没保持住、根因停在控制均有服务读数（log step 301/307）支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:04Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--nb2dojv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a312b5aad15d828476096bb22523a55415e7d5468cbd3fc4b8846ef68ea82524",
+   "video_sha256": "fa7fb2abc0d5b24223e9cdd361b8068b3cb72118d00f6d1300fce140b211a35b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx.json
new file mode 100644
index 0000000000000000000000000000000000000000..246f93a6d43ce086bb65c60dd7dd8e6ab8e669e4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx.json
@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1420,
+   "sim_steps": 1420,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 4,
+   "fell": 0,
+   "replay_s": 14.81,
+   "bad_trajectory": 0,
+   "metric_bar_height_m": 0.375,
+   "metric_bar_max_height_m": 0.375,
+   "metric_elbow_flex_deg": 4.0,
+   "metric_knee_flex_deg": 106.4,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 249,
+   "agent_resets": 49,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.725,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.894,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx/replay.mp4",
+  "duration_s": 14.24,
+  "fps": 25.0,
+  "frames": 356,
+  "sha256": "15b9c7107ed5a596e629cd4c1854cd1b1155c20d505ee9ea2b6318c8ce366ec6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 0–4.5 s，机器人由站立屈膝降低身体，双臂向支架上的银色杠杆下探；杠铃仍横跨两只棕色支架。"
+     },
+     {
+      "t": 14.2,
+      "log_step": 347,
+      "text_zh": "观察：视频 9.0–14.2 s 的密集帧中，机器人双手位于杠杆两侧握持位置，双脚支撑木台，始终深屈膝，杠铃套筒仍在支架顶面，没有离架或到达胸肩前。log step 347 对交付所用1420行前缀的执行反馈为双手 held、attempt=false；log step 348 保存该前缀，log step 360 的交付重放返回 stages=[]、最大杠高0.375米，与画面一致。"
+     },
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "推断：本次全段未出现成功参考视频 17.0 s 所示的直立持杠上肩姿态，且末帧仍在架上低位，故上肩事件从未成立。成功参考仅用于辨认目标姿态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频末段两只灵巧手分别包住杠杆的两处握持位置，并随小幅水平拉动保持在杆上；log step 347 对交付前缀的反馈也记录左右手均持杠。杠铃仍由支架承托，未抬起。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人下蹲接近和双手握杠时，双脚持续踩在木色举重台上，双腿与躯干维持屈膝支撑。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": 360,
+      "text_zh": "观察：视频全段及视频 13.2–14.2 s 的末秒密集帧中，杠铃始终在机器人膝部附近的支架高度；双手没有携杠向头顶运动。成功参考视频 26.0 s 和 27.36 s 可清楚看到头顶上方持杠、双臂伸直的姿态，本次没有出现；log step 360 的交付重放也返回最大杠高0.375米、stages=[]。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.375
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.375
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 4.0
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": 106.4
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": null,
+   "log_step": 348,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–14.2 s，机器人实际执行了下蹲、伸手握杠及末段小幅水平拉动，交付结束时仍屈膝持着架上的杠铃，上肩未完成。log step 347–348 明确截取并保存1420行前缀；log step 341 的后续伸腿试举不在该前缀内，log step 359 与最终报告 log step 366 均说明保留未离架的稳定检查点。该节点已经开始操作，但交付中没有可定位的突发失效时刻，因此视频断点时刻留空。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 356,
+    "source_zh": "日志",
+    "evidence_zh": "推断：未能形成可在双手持杠条件下离架的控制动作，使交付停在抓持检查点。log step 356 从同一1420行前缀继续向上运动的会话试验中，模拟器反馈 held 从双手变为右手再到空，杠中心高度仍为0.475米；log step 362 再从最终交付文件执行站起，反馈在追加动作第5步已无手持杠、第10步双手接触均失去，杠仍留在原高度。agent 在 log step 359 明确据试举结果保留稳定前缀。上述仅作为会话层的控制能力证据，不作为本次评分视频的滑脱现象；不足以区分抓取几何、逆解与跟踪问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志；视频能确认杠铃未离架及双手在杆上的姿态，但像素不足以分辨逐指接触和精确接触力。交付在稳定抓持与水平拉动后结束，未包含会话日志中继续向上运动后滑脱的片段，因而现象层留空：不能把会话试验的“没保持住”移入评分轨迹，也不能仅因未上肩而虚构位姿控制失准。根因只依据日志中的重复试举反馈归为控制，具体子类仍不确定。",
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  }
+ },
+ "summary_zh": "机器人完成下蹲接近和双手握杠，但交付视频截至 14.2 s 杠铃仍在支架上，上肩与过顶均未达到，最终为0/2节点。断点是上肩操作；会话中从该检查点继续试举反复失去抓持，支持控制方面的困难，而最终保存的是试举前的稳定前缀。缺少状态日志及可分辨逐指受力的画面，评分轨迹也未包含后续滑脱，故失败现象留空、根因不细分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成与视频、grader 字段（stages=0、杠高0.375 m）一致；断点在上肩、现象留空（交付不含上举动作，符合 FAIL-23）、根因停在“控制”均有日志支撑，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-privileged--nsqtcqx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fbc574f5137a6c76877f8e34c24245c3a2df33ce48428c2b16e509d96c2ab91f",
+   "video_sha256": "15b9c7107ed5a596e629cd4c1854cd1b1155c20d505ee9ea2b6318c8ce366ec6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf19d35288217489fa1cb9d5b287c374212d8003
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 1,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2209.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.036,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.3,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "8e8ef36d37cebc8157c6ec733ba26e6e99595c291f0274cd3f0d3f364cf24532"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 8,
+      "text_zh": "观察：视频 0.00 s 的唯一帧中，机器人站在木台上，双手位于杠铃上方，杠铃仍横放在两只棕色支架上，未离架或到达胸肩前方；这也是视频末帧。log step 8 的现场服务初始观测为 control_steps=0、done=False，评分器最终记录 n_actions=0、sim_steps=0、rows=0，与初态画面一致，杠铃上肩未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0、rows=0；log step 89 记录提供方过滤拦截，现场没有交付执行轨迹，本节点的轨迹接触不适用。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 8,
+      "text_zh": "观察：视频 0.00 s 的唯一帧（亦为末帧）中，杠铃仍在两只支架上，明显低于机器人头部，双臂没有持杠伸直过顶。评分器最终记录 n_actions=0、sim_steps=0，未出现任何现场上举运动，杠铃过顶未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0、rows=0；log step 89 记录提供方过滤拦截，现场没有交付执行轨迹，本节点的轨迹接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 89,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 8 只调用现场机器人服务的 get_obs(seconds=0.0)，返回 control_steps=0、done=False；评分器最终记录 n_actions=0、sim_steps=0、rows=0。log step 86 启动的是 agent 自建 LocalSim 的本地测试，log step 87 仍称等待该测试，log step 89 随后记录“blocked by Gemini's filters”；视频 0.00 s 的唯一帧为未抓杠的初态。推断：提供方过滤在任何现场举重动作或有效交付前中断了会话，无法定位某个物理步骤的失败时刻。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 89 记录提供方过滤拦截，之前 log step 86–87 仍在启动、等待本地 LocalSim 测试；评分器最终 n_actions=0、sim_steps=0、rows=0，视频仅有视频 0.00 s 的一帧初态，inputs/ 中没有状态日志。推断：这是现场动作开始前的外因中断，应留待重测并排除出机器人失败归因；保留目录评分 success=0，但不标“没尝试”或任何机器人根因。本地测试不属于评分回合，也无法提供该回合的接触或控制失败证据。"
+ },
+ "summary_zh": "观察：视频 0.00 s 的唯一帧中，机器人尚未抓杠，杠铃仍置于两只支架上；评分器记录 n_actions=0、sim_steps=0，因此上肩和过顶均未达成，最终为0/2。观察：log step 86–87 仍在启动、等待 agent 自建 LocalSim 测试，log step 89 随后记录提供方过滤拦截。推断：会话在现场执行前因外因中断，保留目录 success=0，断点记 unknown／首步前，现象和根因留空；单帧视频与无状态日志不能支持机器人能力归因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分器 n_actions=0、sim_steps=0，现场未执行任何动作，两节点未达成；log step 89 为提供方过滤拦截（外因），无交付，故断点 unknown、现象/根因留空并有 gap_zh，处理正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:05:51Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--8hf7zba/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4084ffcdb750f342162109fc81fde170515e83a73c49bc5a7d9c3414e1eea403",
+   "video_sha256": "8e8ef36d37cebc8157c6ec733ba26e6e99595c291f0274cd3f0d3f364cf24532",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec7d32b755f77f3fe19e84cd7cb782be23eb28d0
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 938,
+   "sim_steps": 1648,
+   "calls": 24,
+   "rows": 1648,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6580.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.333,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.476,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq/replay.mp4",
+  "duration_s": 9.4,
+  "fps": 25.0,
+  "frames": 235,
+  "sha256": "6fbf5db40461e23d74c0eb23a864991b076fc724b38b06e3c27276721695d4b2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.8 s，机器人由站立转为屈膝俯身，双手向低位杠杆靠近；视频 3.8–5.8 s 双手仍在杠杆上方，杠铃搁在两只棕色支架上，未出现持杠起身或胸肩前停杠。"
+     },
+     {
+      "t": 6.16,
+      "log_step": null,
+      "text_zh": "观察：视频 6.04–6.16 s，银色杠铃从支架前缘落到木台，双手没有随杠下落或承载杠铃；视频 6.2–9.36 s 杠铃留在台面，机器人继续俯身并最终前扑，始终没有上肩。"
+     },
+     {
+      "t": null,
+      "log_step": 129,
+      "text_zh": "观察：log step 128 启动重置后的最后一次现场回合；log step 129 的该回合输出中 descend、gripclose 及 GRASP 的 holding_left/right 均为 0.0，服务最终裁判结果为非脚部触台，stages 0/4。这与视频无持杠上肩的过程一致；此处不把日志中的仿真时刻换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–8.5 s，机器人双脚接触木色举重台，双腿和躯干在下蹲、俯身伸手过程中承担本体支撑；视频 8.6–9.36 s 支撑失稳并前扑。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 3.8–8.5 s，机器人两手同时下探接近杠杆，但未见手指包围并夹持杠杆。远景不能排除短暂擦碰，也不能确定杠铃滑离支架前是否被手或腿碰动，故不记为抓握。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.36,
+      "log_step": null,
+      "text_zh": "观察：视频全段 0.0–9.36 s 未出现举杠过顶，杠铃先在支架低位，视频约 6.16 s 后在木台上；末帧机器人向前翻倒，双臂没有持杠伸直。成功参考视频的肩前停杠（参考视频 16.0–18.0 s）和过顶保持（参考视频 24.0–27.2 s）在本次视频均未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 6.1,
+   "log_step": 129,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人正在俯身接近杠铃以完成上肩，但视频 6.04–6.16 s 杠铃滑落到木台，双手未形成承载握持；此后一直没有取回杠铃，视频 8.6–9.36 s 又失衡前扑。log step 129 的最后现场回合显示抓取后 holding_left/right 均为 0.0，并以非脚部触台判负。首次未修复的步骤为杠铃上肩。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.1,
+    "log_step": 129,
+    "evidence_zh": "观察：视频 3.8–6.16 s，机器人双手接近杠杆却未将其握起，杠铃随后落到台面；视频 6.2–9.36 s 未见杠铃被任何一手承载。log step 129 的最后回合抓取输出 holding_left/right 均为 0.0。所需双手握持没有建立，不能将杠铃落台解释为已抓住后滑脱。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 8.6,
+    "log_step": 129,
+    "evidence_zh": "观察：视频 8.56–9.36 s，机器人躯干持续向前下方旋转，双臂向侧后方摆动，身体由双脚支撑的俯身姿态翻成前扑姿态；视频 9.28–9.36 s 头和上身降到台面附近。log step 129 中服务裁判报告非脚部触台并结束最后回合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 119 的 agent 控制脚本以本地模型进行逆运动学和编码器前向运动学修正，log step 128 调整握距和悬停高度后在最后回合执行；但视频 3.8–6.16 s 双手未建立杠铃承载，杠铃落台后也未被取回，视频 8.6–9.36 s 支撑姿态进一步失稳。结合 log step 129 的 holding 均为 0.0，可归于抓取及全身运动控制未实现预定动作；现有证据不足以区分具体接触几何、逆解或反馈控制子类。",
+    "source_zh": "视频",
+    "log_step": 129
+   }
+  ],
+  "gap_zh": "本次无状态日志，只有单一远景，无法确定杠铃滑离支架前的具体触碰部位，也不能逐指核验短暂擦碰或触台的首个机器人连杆。log step 119 的脚本中段在输入记录中被截断；log step 132 关于抓取几何及本地模型误差的说法仅为 agent 自述，未用来细分根因。日志有三次重置，已只用最后回合核对本次视频，未将前两回合的脚本异常或碰支架记成本次失败现象。"
+ },
+ "summary_zh": "本次评分回合完成了俯身接近杠铃，但未建立双手持杠；杠铃在视频约 6.1 s 滑落木台，既未上肩也未过顶，最终完成 0/2 个节点。机器人随后在视频约 8.6–9.36 s 失衡前扑，服务以非脚部触台判负，断点为杠铃上肩，根因仅能定位到控制层。单一远景及缺少状态日志使具体触杠部位和控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点（两个均未达成、0/2）、断点 bar_at_shoulders 与首个现象「没建立接触」与视频一致；问题在于第二个现象「平衡」：视频 8.6–9.36 s 的前扑是评分器因非脚部触台终止回合前的跌倒，属于 S14 规定不单独标注的终止事件，且发生在断点之后。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点均未达成（0/2）、断点 bar_at_shoulders、现象（没建立接触、平衡）与视频一致；第一轮关于删除平衡的意见已被带证据驳回（03 文档将可见跌倒记为全身·平衡），无新证据，不再重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--husetxq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f27205ed94a2b5f6eaff0d8351ae672f4102ae2432a9426c20958f31b507f6af",
+   "video_sha256": "6fbf5db40461e23d74c0eb23a864991b076fc724b38b06e3c27276721695d4b2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju.json
new file mode 100644
index 0000000000000000000000000000000000000000..389e163dfaa98474c058740cf9c2e2f5e5030b09
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju.json
@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 6000,
+   "sim_steps": 12893,
+   "calls": 311,
+   "rows": 11958,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2028.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.878,
+   "peak_processes": 23,
+   "peak_disk_gb": 0.47,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju/replay.mp4",
+  "duration_s": 60.04,
+  "fps": 25.0,
+  "frames": 1501,
+  "sha256": "0558978f577a17ac23535ece1aed63278433ed055e8db4e7c70c810640642e66"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": 91,
+      "text_zh": "观察：视频 4–18.6 s，机器人屈膝俯身，两手在仍搁于棕色支架上的杠杆两侧反复闭合和调整；log step 91 的本次现场回合读数在仿真 18.7 s 报 holding_left/right=1/1，但这只表明双手接触握持，画面没有杠铃离架或上肩。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 92,
+      "text_zh": "观察：视频 19.8–22.2 s，机器人开始起身，两手逐渐离开杠杆，杠铃仍在两只支架上；log step 92 打印本回合服务本体读数，仿真 20.1 s 的双手 holding=1/1，在仿真 20.2 s 变为0/0。视频 24–30 s 机器人空手抬臂到胸肩附近，杠铃未随动。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 97,
+      "text_zh": "观察：视频 42–60 s 机器人重新俯身抓杠，视频 59.0、59.4、59.8、60.0 s 杠铃仍在支架上；log step 93、96 的本回合服务读数反复为左手 holding=1、右手=0，log step 97 返回 episode=6、control_steps=6000、outcome=time、stages_reached=0/4。上肩从未达成。"
+     },
+     {
+      "t": 39.0,
+      "log_step": 91,
+      "text_zh": "推断：采用最后一次现场回合 episode=6 对应本视频；log step 5 给出 control_dt=0.01 s，log step 91 给出 control_steps=3920、sim_time_s=39.2，log step 97 为6000步，分别对应视频约 39.2 s 和60.0 s。已在视频 39.0 s 空手过顶保持、视频 40–43 s 重新下蹲的转折处核对，因此 log step 92 的仿真 20.2 s 可锚定视频约 20.2 s；没有使用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别在杠杆两侧闭合抓取；视频 18.6–20.1 s 双手位于杆上，本回合服务 holding 读数同时为1，随后抬手丢失接触，未形成成功离架抬升。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在木台上承重，双腿与躯干配合俯身抓杠、起身和重新下蹲。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 91,
+      "text_zh": "观察：视频 31–39 s 机器人将空手举向头顶并保持，银色杠铃清楚可见仍横在低处两只支架上；log step 91 的 press、hold 段服务读数均为 holding=0/0。动作脚本执行了上举段，但没有将杠铃举过顶。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 97,
+      "text_zh": "观察：视频 59.0–60.0 s，机器人俯身在低位杠铃旁，杠铃既未上肩也未过顶；log step 97 服务裁判返回本回合失败。成功参考视频可清楚看到杠铃随手举高，而本次全程没有该物体位移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 31–39 s 机器人执行空手上举段时双脚仍在木台上支撑本体；双手没有接触杠铃，不记持杠接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "bar_max_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "elbow_flex_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "knee_flex_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 20.2,
+   "log_step": 92,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 20.2 s 机器人在上肩步骤的离架抬升阶段丢失双手接触，视频 20.8–24 s 可见手臂向上而杠铃留在支架上；log step 92 的本回合服务 holding 读数由仿真 20.1 s 的1/1变为仿真 20.2 s 的0/0。视频 42–60 s 重抓仍未抬起杠铃，故该步骤一直未修复。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 20.2,
+    "log_step": 92,
+    "evidence_zh": "观察：视频 18.6–20.0 s 双手合在杠杆上，随后机器人起身时双手脱离，视频 21.2–24 s 两手已在杠杆上方而杠铃仍由支架承托；log step 92 的服务读数在仿真 20.1 s 双手 holding=1/1、仿真 20.2 s 双手=0/0。这里丢失的是已建立的握持接触，并非举起后的杠铃坠落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 20.2,
+    "log_step": 91,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 88、91 中 agent 的控制脚本在双手 holding 首次为1后切换到预计算抬升轨迹；log step 92 的实际服务读数显示抬升刚开始就双手失去握持，左手食指和中指已闭至1.7 rad，仍未带起杠铃。脚本没有以持续握持作为后续动作的门控，log step 91 在 holding=0/0 时继续执行 curl+rack、press、hold，视频 24–39 s 对应为空手抬臂。因此抓持和抬升的控制未维持所需接触；现有证据不足以进一步确定接触几何、握力或轨迹跟踪哪一项主导。"
+   }
+  ],
+  "gap_zh": "没有状态日志；场馆远景能分辨杠铃留在支架及双手离开，却不能精确还原手指包络、接触力和滑动路径。log step 92 保留了本回合服务 holding 及部分手指角度读数，可支持接触丢失，但不足以区分具体控制子类；原生指标未在评分器 reward 字段报告，均留 null。此前回合的跌倒及局部仿真结果只作会话背景，不计入本次物理进度。"
+ },
+ "summary_zh": "评分采用第六次现场回合：机器人完成俯身抓杠，但约视频 20.2 s 起身时丢失双手握持，杠铃始终留在支架，上肩与过顶均未达成，最终为0/2。随后脚本空手执行上肩和上举动作，末段重抓也未恢复，服务裁判在视频约 60 s 回合时限处判负。根因证据支持抓持及抬升控制失败；缺少接触力和近距离手指状态，不能确定更细的控制机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个目标节点均未达成（0/2）、断点在上肩步骤离架抬升处、时钟映射（6000 控制步=视频 60 s，log step 91 的 39.2 s 与视频空手过顶对应）均与视频和日志一致；现象“没保持住”与根因“控制”有证据且已声明不确定性，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": "2026-10-31T00:58:04Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--jxozvju/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "580c29fbecc04a871fa1d7f7e7db42ccf86bc81bec35068f22e9d695e0387d83",
+   "video_sha256": "0558978f577a17ac23535ece1aed63278433ed055e8db4e7c70c810640642e66",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev.json
new file mode 100644
index 0000000000000000000000000000000000000000..9762ae226eead7b15aebbd3fa0ccfa1a3e0ca715
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev.json
@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 3679,
+   "sim_steps": 4279,
+   "calls": 39,
+   "rows": 4279,
+   "resets": 1,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 475.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "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/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/replay.mp4",
+  "duration_s": 36.8,
+  "fps": 25.0,
+  "frames": 920,
+  "sha256": "9c5a696f1f57d6912e9e953a9abedad168de16c8bedee29395dea26a6855ee71"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 32,
+      "text_zh": "观察：视频 5.6–6.8 s 机器人俯身将左右手分别合在杠杆两处，视频 8.4–9.6 s 银色杠铃随双手升起、两侧套筒离开棕色支架，支架留在原处；机器人双脚持续踩在木台上。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 45,
+      "text_zh": "观察：视频 22.0–23.0 s 机器人把杠铃从胸前抬至肩前，视频 23.0–24.4 s 杠铃停在肩前，双手持杠，躯干直立、双腿近伸直且双脚并齐；与参考视频 17.0–18.0 s 的上肩姿态相符。log step 45 的机器人服务返回第 2 回合 control_steps=2300 和2450，对应肩前停顿。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 56,
+      "text_zh": "推断：按视频 23.0–24.4 s 的肩前稳定停顿，将上肩事件完成锚点取为视频约 23.5 s，误差约0.5秒；缺少逐控制步阶段计数，精确首次通过时刻不可见。log step 56 的服务裁判报告 stages_reached=4/4、outcome=success，支持该回合已通过上肩及其数值验收；后续举杠离肩不撤销本事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 6.4–24.4 s，机器人左右灵巧手分别合握杠杆的左右两处，双臂共同将杠铃离架、提起并转至肩前。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 0–24.4 s，机器人双脚支承于木色举重台，双腿和躯干在俯身取杠、起身及上肩停顿时承重。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.79,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 56,
+      "text_zh": "观察：视频 25.0–35.0 s 机器人双手持续持杠，从肩前缓慢上举并伸肘；视频 35.0–36.76 s 银色杠铃保持在头顶上方，双臂、双腿近伸直，双脚仍并齐落在木台上，未见脱手或回落，与参考视频 25.0–27.36 s 的终态相符。已逐0.2秒检查视频 35.8–36.6 s，并检查最后一帧视频 36.76 s。"
+     },
+     {
+      "t": 36.76,
+      "log_step": 56,
+      "text_zh": "观察：log step 56 中，机器人服务先返回第 2 回合 control_steps=3550、done=False，随后返回 control_steps=3679、sim_time_s=36.79、done=True、reason=success、stages_reached=4、stages_total=4；inputs/run.json 的评分器字段 live_success=1、graded_by_live=1，表明成功验收属于此现场回合。"
+     },
+     {
+      "t": 36.79,
+      "log_step": 56,
+      "text_zh": "推断：log step 7 的服务规格 control_dt=0.01秒，log step 25–26 重置后开始第 2 回合；以该回合 control_steps×0.01 映射视频时间，已用 log step 45 的2300–2450步对应视频 23.0–24.4 s 肩前停顿核对，3679步对应视频 36.79 s，且与视频总长36.8秒及末帧姿态吻合。节点包含稳定保持至下放信号，故在裁判成功时视频 36.79 s 记为达成；无逐帧速度及接触计数，不能仅从较早的举高画面确认全部验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 25.0–36.76 s，机器人左右手分别环握同一杠杆的左右两处，双臂持续承载、上举并维持头顶持杠。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频 25.0–36.76 s，机器人双脚在木色台面上并齐支撑，双腿与躯干在上举和过顶保持期间承重。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分视频对应重置后的第2回合：机器人双手握杠离架，约视频 23.5 s 完成肩前稳定上肩，随后上举并保持，服务裁判在映射后的视频 36.79 s 报告成功及全部4个原生阶段完成，两个DAG节点最终均成立。log step 25–26 之前的第1回合已被重置，不属于本次评分轨迹，成功回合无失败断点。缺少状态日志，上肩首次通过时间约有0.5秒误差，精细距离、速度和接触宽限依据现场裁判成功结论确认；评分器reward未返回DAG列出的原生指标数值，故均留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功回合，两个节点均达成，时间与接触标注与视频和服务裁判读数一致，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": "2026-10-31T00:59:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d5a20a0ae00aae0aa7093da0a97e498974a3f054d91814faad2992711d403320",
+   "video_sha256": "9c5a696f1f57d6912e9e953a9abedad168de16c8bedee29395dea26a6855ee71",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1389b373aaff3a20cf67cda48f34c51166ba72
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb.json
@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 412,
+   "sim_steps": 2402,
+   "calls": 27,
+   "rows": 1202,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1194.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.293,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.289,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb/replay.mp4",
+  "duration_s": 4.16,
+  "fps": 25.0,
+  "frames": 104,
+  "sha256": "7bb3669d84346a3d68afe8625dc4ba89f23937f15282f118f396eebb1d51168e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.4 s，机器人从站立逐渐屈膝俯身，双手朝低位杠杆伸去；银色杠铃仍横跨两只棕色支架。"
+     },
+     {
+      "t": 3.48,
+      "log_step": 262,
+      "text_zh": "观察：视频 2.4–4.12 s，杠铃始终停在支架高度，没有离架并到达胸肩前方；机器人随后倾倒。log step 262 明确重置到第6回合后提交最终动作，服务返回双手 holding 均为0、原生阶段完成数0/4及非脚部触台判负；这里的0/4是服务阶段数，不是本DAG的节点数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.2 s，机器人双脚接触木色举重台，支撑屈膝和俯身伸手动作；视频 3.3–4.12 s 支撑失稳，最终发生非脚部触台（log step 262–263 的服务判负）。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.4–3.6 s 双手接近杠杆，手指区域像素不足，不能确认是否发生短暂接触或其方式；log step 262 的终态双手 holding 均为0，不能据此证明全程从未接触，也不记为已建立抓握。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.12,
+      "log_step": 262,
+      "text_zh": "观察：视频 0.0–4.12 s，杠铃一直在两支架之间的低位，机器人没有持杠上举，更没有杠铃过顶、双臂伸直的姿态；终帧机器人已倒下。log step 262 显示最终回合在第一段动作中判负，未继续提交包含上肩与过顶动作的第二段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 3.4,
+   "log_step": 262,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.3–4.12 s，机器人在俯身伸手取杠时逐渐向画面左侧倾倒，躯干降至近水平，杠铃仍留在支架上；未完成上肩，也未恢复。log step 262–263 的第6回合服务结果为非脚部触台判负，仿真 4.12 s、control_steps=412，与视频 4.12 s 的倒伏末帧相符；断点取正在尝试的上肩步骤，视频 3.4 s 为失稳导航锚点。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 3.4,
+    "log_step": 262,
+    "evidence_zh": "观察：视频 3.3–3.8 s，机器人俯身后支撑姿态持续偏斜，视频 3.92–4.12 s 身体向画面左侧翻倒、躯干几乎贴近台面；log step 262–263 的基准服务明确报告非脚部触台并终止最终回合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 160 的控制脚本用局部机器人模型计算重心和关节目标；log step 250 的最终修改预先生成俯身与合手轨迹，使用固定增益及静态逆动力学补偿后整段提交，没有根据执行中姿态观测重新调整平衡。log step 262 执行这段脚本时，视频 3.3–4.12 s 显示机器人持续倾倒而未纠正，故可归为全身动作的控制失败；现有证据不足以进一步确定是逆解、动力学模型、增益还是跟踪反馈中的哪一项主导。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频已检查至末帧，但手指接触细节和最先触台的具体身体部位不能可靠分辨。log step 270 中 agent 将最终失败解释为力矩失衡导致膝部触台，这只是其自述，缺少本回合重心、接触对和跟踪误差记录，不能验证手部质量或踝部柔顺性是否为具体原因；因此根因只保留“控制”。评分器未报告DAG所列的五项原生指标值，均留null。"
+ },
+ "summary_zh": "最终评分的是 log step 262 重置后执行的第6回合：视频 0.0–4.12 s 只出现屈膝俯身伸手取杠，杠铃始终留在低位支架上，上肩与过顶均未完成（0/2）。视频约 3.4 s 起机器人明显失稳，最终倒伏并由服务判定非脚部触台，断点为“杠铃上肩”，现象为全身平衡失败，根因归于控制。缺少状态日志，无法确认短暂手指接触及具体失稳机制，agent 对力矩失衡和膝部触台的解释未独立证实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：最终评分的是 log step 262 重置后的第6回合，视频 0–4.12 s 只有屈膝俯身伸手，杠铃始终留在支架上，两节点均未达成；约 3.4 s 起失稳，4.0 s 前后倒伏，服务判非脚部触台。断点、平衡现象和控制根因均有证据支持，未发现需要修改的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--vk7mymb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e494cb4236ed537e93ea2b3fd1727e5167056b96586b038350d842bf76ca4a9",
+   "video_sha256": "7bb3669d84346a3d68afe8625dc4ba89f23937f15282f118f396eebb1d51168e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9c279b3e600ee83e49561fe5f18ceabdc0929c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 6000,
+   "sim_steps": 9617,
+   "calls": 918,
+   "rows": 9617,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1891.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.308,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.454,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb/replay.mp4",
+  "duration_s": 60.04,
+  "fps": 25.0,
+  "frames": 1501,
+  "sha256": "7f8cded28dc21bf6bcd10a7be2b5f941b4975ef3c0f44d968c74cf09bcaaffdb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.6–5.3 s，机器人屈膝下探，双手仍在杠轴上方，杠轴贴近小腿前侧后向前移出两只棕色支架；视频 5.5–6.5 s 杠铃落在木台上，未随双手抬起。"
+     },
+     {
+      "t": 26,
+      "log_step": 136,
+      "text_zh": "观察：视频 16、18、20、23、26、28 s，机器人由蹲姿空手起身并做屈肘动作，杠铃始终留在脚前木台，未到胸肩前；log step 136 的末次回合输出中，下降搜索、合手、起身和上肩后的 holding_left/right 均为 0。"
+     },
+     {
+      "t": 60,
+      "log_step": 146,
+      "text_zh": "观察：视频 59.2、59.6、60.0 s，杠铃仍在脚前木台，机器人保持空手举臂姿势；log step 146 的现场服务在 control_steps=6000 时返回 done=True、failed、outcome=time、stages_reached=0/4。未见上肩所需的持杠与抬升，故本事件从未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "推/扫",
+      "note_zh": "推断：视频 4.6–5.3 s 双手尚高于杠轴，前伸的小腿区域与杠轴相交并将其向前碰离支架；实际是腿部碰推杠铃，未见双手包握。单一斜前视角不能区分左右小腿各自的接触时刻。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–28 s 机器人双脚在木台承重，双腿屈膝下蹲、再伸膝起身以尝试取杠上肩。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32,
+      "log_step": 136,
+      "text_zh": "观察：视频 30–35 s 机器人双臂向头顶上举，但手中没有杠铃，银色杠铃清楚地留在脚前木台；log step 136 的末次回合 overhead hold=(0.0,0.0)。这只是空手上举，杠铃过顶条件从未成立。"
+     },
+     {
+      "t": 60,
+      "log_step": 146,
+      "text_zh": "观察：视频 37.2、45、58.8、59.2、59.6、60.0 s，机器人维持空手举臂姿态，杠铃未离开台面；log step 146 的现场服务最终给出 0/4 原生阶段，与未举起杠铃的画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 30–60.0 s 双脚持续支撑于木台，机器人空手做过顶举臂并保持姿势，双手没有与仍在台面的杠铃接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 5.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.6–5.3 s，机器人正在屈膝接近杠铃，双手尚未握杆，杠铃在小腿前侧受碰向前离架，至视频 5.5–6.5 s 已落在木台；此后机器人空手起身、上举，直到视频 60.0 s 也未把杠铃拿起。首次未修复的失败发生在取杠上肩步骤。"
+  },
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 5.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.6–5.3 s 杠轴与机器人前伸的小腿区域相交，杠铃随下蹲动作向前移离支架并下落，双手仍明显高于杠轴；视频 6.5 s 杠铃已停在脚前木台。机器人碰落了要抓取的目标，随后未恢复取杠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 4.6–5.3 s 显示，机器人为取杠而屈膝时，小腿先进入杠轴所在空间，双手尚未下降到可包握位置，接近姿势没有为腿部避让杠铃、双手先建立抓握留出几何关系，因此杠铃先被碰离支架。视频 16–28 s 的空手起身和台面上的杠铃进一步确认没有建立承载抓握。可行替代仅由成功参考验证：inputs/oracle/replay.mp4 的参考视频 16–18 s 可见双手持杠于肩前，参考视频 25–27.36 s 可见持杠过顶；该参考不用于认定本次进度。"
+   }
+  ],
+  "gap_zh": "无状态日志，单一斜前方视频不能精确区分左右小腿的接触对及短暂指尖接触，也不能测出所有姿态阈值，但杠铃从未被举起足以判定两节点均未达成。agent 在 log step 150、155 自述由手掌或前臂碰落杠铃；视频 4.6–5.3 s 双手仍高于杠轴，画面支持小腿区域碰推，故不采用其具体部位解释。评分器未报告 DAG 所列的五项原生指标数值，均保留 null。"
+ },
+ "summary_zh": "评分轨迹为第五次重置后的末次现场回合：机器人下蹲取杠时在视频约 5.2 s 将杠铃碰离支架，随后空手起身和上举，杠铃一直留在木台，杠铃上肩与过顶均未完成，最终进度为 0/2。断点在杠铃上肩的操作中，视频支持小腿区域先碰杠、双手未建立承载抓握的接近几何问题；现场服务在 log step 146 返回回合时限结束、0/4 原生阶段。没有状态日志，具体左右接触对及细小阈值不可核验，agent 对碰撞部位的自述未获视频支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 4.6–5.4 s 杠铃被小腿区域碰离支架并落在台面，之后全程空手，两节点均未达成，断点、现象和根因与证据相符，未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:19Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--wm5mamb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "32bf3950159e1c935e51300cc3f3e3def41ad3288c569465d660b40b570e06ed",
+   "video_sha256": "7f8cded28dc21bf6bcd10a7be2b5f941b4975ef3c0f44d968c74cf09bcaaffdb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth.json b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth.json
new file mode 100644
index 0000000000000000000000000000000000000000..1290707da20f66f430dad7dbdc10184330e717cc
--- /dev/null
+++ b/phase2/embodied-olympics-fun/clean_and_jerk/trajectories/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth.json
@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth",
+ "taskKey": "embodied-olympics-fun/clean_and_jerk",
+ "dag_sha256": "f530c1d45bf82223dabd69c9d30cf24e240db1d588782640954595693a7015ca",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 478,
+   "sim_steps": 1636,
+   "calls": 131,
+   "rows": 1636,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1596.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.575,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.261,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth/replay.mp4",
+  "duration_s": 4.8,
+  "fps": 25.0,
+  "frames": 120,
+  "sha256": "532018c3b77a1be395bfeab39a970596d822c997cc22f1a9e066deaa7771e301"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bar_at_shoulders": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.2 s，机器人在木台上小步移动后站立，双手保持在腰胸前方，银色杠铃仍横放在两只棕色支架上；没有双手下探合握或抬杠动作。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.4–3.8 s，杠杆在机器人小腿前方移动，两个套筒随后滑离支架并落到台面；视频 4.2–4.76 s，机器人前倾倒下，双手始终未将杠铃持至肩前。杠铃离架是滑落，未完成上肩。"
+     },
+     {
+      "t": null,
+      "log_step": 37,
+      "text_zh": "观察：log step 36 重置后只提交向前行走和停步动作；log step 37 固定读取到的关节目标并循环提交 lowcmd 姿态反馈，未提交下蹲抓杠或闭手动作。这与本次视频的站立、失衡过程一致，先前下蹲测试不属于本次评分回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.2 s，机器人双脚在木台上交替踏步、随后承重站立；视频 4.24–4.76 s 支撑失稳并倒向台面。双手没有合握杠铃。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "推/扫",
+      "note_zh": "推断：视频 3.4–3.76 s，机器人小腿与低位杠杆相交，杠铃随即向前移并从支架滑落，表明下肢意外推碰了杠杆；不是双手抓握或主动举起。视角不足以区分具体哪侧小腿。"
+     }
+    ]
+   },
+   "bar_overhead": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.76,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.76 s，杠铃一直处于支架或台面低位，机器人双臂没有持杠上举；末帧机器人已侧倒在木台上，杠铃仍在脚前台面。没有过顶伸臂保持的姿态。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 的参考视频 16–18 s 显示双手将杠铃持在肩前，参考视频 25–26 s 显示杠铃在头顶、双臂伸直；这些在同一场馆视角可见的标志均未出现在本次视频中。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "bar_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "bar_max_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "elbow_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "knee_flex_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "time_s",
+   "unit": "s",
+   "threshold": 60.0,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bar_at_shoulders",
+   "t": 3.4,
+   "log_step": 37,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–3.2 s，机器人只踏步和站立，没有开始双手抓杠；视频 3.2–4.12 s 躯干逐渐后仰，随后视频 4.24–4.76 s 前倾失去双脚支撑并倒在台上。log step 36–37 的最后回合动作仅为行走、停步和固定关节目标的平衡控制，尚未进入下蹲抓杠；上肩步骤此后没有完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 37,
+    "evidence_zh": "观察：视频 0.0–4.76 s，机器人双手始终未向低位杠杆下探合握，没有双手举杠动作；log step 36–37 的最后回合只执行行走与姿态保持，尚未启动上肩所需的抓取和抬升。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 3.4,
+    "log_step": 37,
+    "evidence_zh": "观察：视频 3.2–4.12 s 机器人持续后仰摇摆，视频 4.24–4.76 s 转为向前扑倒，双脚支撑丧失、躯干降至台面。agent 在 log step 44 自述最终因“非脚部触台”结束，与末段倒地画面一致；不另标违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：log step 33 的控制函数使用骨盆 IMU 姿态和角速度给髋、踝叠加恢复力矩；log step 36 在行走后停步，log step 37 保持当时关节目标并循环运行该反馈控制。视频 2.2–3.0 s 尚能站立，随后视频 3.2–4.76 s 摇摆扩大直至倒地，说明该模式切换后的姿态反馈未能稳定机器人，导致抓杠前回合就结束；不是从未尝试本身反推根因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；最终回合 log step 36–39 的工具文本输出为空，log step 42、44 中的精确结束原因和原生阶段数只能作为 agent 自述，倒地事实由视频核验。视频可判断两个节点均未完成，但不能测量精确关节力矩、增益是否不当或推碰杠杆的具体腿侧；五项原生指标未出现在评分器字段中，均填 null。",
+  "unmet": {
+   "bar_at_shoulders": false,
+   "bar_overhead": false
+  }
+ },
+ "summary_zh": "观察：评分视频只包含最后一次重置后的踏步、站立和倒地回合，杠铃未由双手持起，杠铃上肩与杠铃过顶均未达成，最终为 0/2。推断：机器人在上肩首步开始抓杠前，姿态反馈未能抑制摇摆并于视频 4.24–4.76 s 倒地；先前调试回合的下蹲不计入本次进度。缺少状态日志和最终工具返回文本，无法进一步确认失稳的具体参数与精确接触对。",
+ "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（4.8 s，仅最后一次重置回合）与标注一致：杠铃未上肩/过顶，机器人踏步站立后后仰倒地，节点、断点（首步前）、没尝试+平衡、反馈控制根因均有视频和 log step 36–37、44 支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:01:16Z",
+  "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/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-clean-and-jerk-i00-standard--ykz3cth/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3f9bcac36b41b316b3c59b0d4747d4d76ee9a29186407d4a6da6ce26f408626e",
+   "video_sha256": "532018c3b77a1be395bfeab39a970596d822c997cc22f1a9e066deaa7771e301",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp.json
new file mode 100644
index 0000000000000000000000000000000000000000..00bc31c4f7c90d4a7a15a915feb0db5b1fb65037
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp.json
@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1806,
+   "sim_steps": 1806,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.2,
+   "stages_reached": 1,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 18.29,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.119,
+   "metric_basket_touch_s": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.728,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.243,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp/replay.mp4",
+  "duration_s": 18.08,
+  "fps": 25.0,
+  "frames": 452,
+  "sha256": "b34d6fcc6cc28c950e82090b7f991cc5574b8fe3425b32040882f5897e4f4379"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s机器人双手在胸前夹持篮球，视频0.2–0.4 s双手张开后球落到脚前地面；视频0.6–0.8 s球在机器人前方反弹，没有从两腿之间穿过。"
+     },
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频1.0–2.8 s机器人手臂向球的方向调整，但球持续在手下方自由反弹，没有再次手触球；视频4.0–18.04 s球留在脚前地面，未见胯下穿越及对侧手触球确认。"
+     },
+     {
+      "t": 18.04,
+      "log_step": 125,
+      "text_zh": "观察：log step 123的最终生成脚本只运行release和walk阶段后追加站立并保存；log step 124重生成1806行交付轨迹，log step 125对该文件两次回放均只报告stages=[dribble]、progress=0.2、success=false，与视频中的释放及自由反弹一致。推断：原生首次合法触地阶段不等于本DAG的完整胯下运球步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持。视频0.0 s左右张开的手共同夹持胸前篮球，随后双手张开释放；结合输入任务对初态双掌侧夹的描述判断，没有单手包住球，不符合抓握，现有表缺少双掌侧夹项。未观察到释放后再次拍球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "视频0.0–18.04 s机器人通过双足站立及小幅踏步支撑躯干，尝试跟随脚前反弹的球；没有跌倒。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频0.2 s以后球离开双手，在视频0.6–2.8 s自由反弹，随后留在脚前；视频17.0–18.04 s机器人空手站立，球仍在地面，未见双手重新接住球。推断：开局持球不计本步骤，且胯下运球前置未完成，因此双手收球未达到。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.04,
+      "log_step": 125,
+      "text_zh": "观察：视频0.0–18.04 s机器人一直在开局位置附近活动，没有携球靠近篮圈、起跳或把球送入篮圈；末帧球在脚前地面。log step 125对交付文件的回放仅报告dribble阶段，未报告gather或dunk；评分器metric_basket_touch_s=0.0。推断：扣篮落地站稳未完成，单独站立不满足该节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 1.2,
+   "log_step": 124,
+   "where": "操作中",
+   "evidence_zh": "观察：视频0.4 s左右球首次落地后反弹，视频0.8–1.2 s机器人未用手再次触到反弹球；后续球的反弹逐渐变低，到视频4.0 s已留在脚前，直至视频18.04 s仍未收回或穿过两腿。log step 124生成并保存的交付轨迹只达到dribble阶段，log step 125回放一致。推断：胯下运球中的再次控球接触未建立，整个步骤始终未修复。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1.2,
+    "log_step": 124,
+    "evidence_zh": "观察：视频0.6–2.8 s篮球在机器人前方自由反弹，手部调整后仍与球分离，没有形成释放后的下一次手触球；视频4.0–18.04 s手保持在地面球上方。log step 124交付文件生成时打印的右手接触检测touch持续为0。推断：缺少的是运球下一次拍球所需的接触；开局夹持后的主动释放本身不属于没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 124,
+    "evidence_zh": "观察：log step 119–122修改手掌就绪门控、悬停位置与拍球窗口；log step 123把这些控制代码纳入最终生成脚本，log step 124运行该脚本生成交付文件时，打印st=hover、touch=0，球高度降低后仍保持悬停，最后仅stages=[dribble]。视频1.0–2.8 s手球分离及视频4.0–18.04 s球停地面与之相符。推断：该控制器未建立持续拍球所需的手球接触，也没有在球停地面后恢复控球，因而无法继续胯下运球；现有证据不能进一步确定是逆解、跟踪还是门控参数的主因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；场馆远景可判断球与手分离及球停地面，但不足以核验初态每根手指的接触位置和接触力。最终生成日志有部分中段输出被截断，未把它当作逐帧状态路径；手部控制失败的更细子类无法确定。agent在log step 127自述手掌滞后约0.15 s及弱伺服，缺少独立测量，故不据此标具体根因。会话内的扣篮测试未进入交付轨迹，不用于本次节点或现象。"
+ },
+ "summary_zh": "机器人释放篮球并获得原生dribble阶段（进度0.2），但球只在身前反弹，未完成胯下运球，DAG三个节点最终均未达到。断点在胯下运球：释放后手未再次触球，球逐渐停在脚前，控制器未恢复控球；双手收球和扣篮未进入实际交付动作。没有状态日志，细分手部控制根因及初态精细接触几何仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "远景视频与标注一致：球释放后在脚前反弹、未穿过两腿，三个节点均未达到，断点与现象有证据支持；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:53:36Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--2jlffhp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1fe4c8a1c1cb300990aac6f7236c0c2a6c63da86c2184d4ee73a6bb665465a17",
+   "video_sha256": "b34d6fcc6cc28c950e82090b7f991cc5574b8fe3425b32040882f5897e4f4379",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap.json
new file mode 100644
index 0000000000000000000000000000000000000000..811cb01a47a76b019fc5ed82c4aca8dfe16911ee
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap.json
@@ -0,0 +1,195 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 10,
+   "sim_steps": 10,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 1.93,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 1.105,
+   "metric_basket_touch_s": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 115,
+   "agent_resets": 12792,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.801,
+   "peak_processes": 28,
+   "peak_disk_gb": 0.239,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap/replay.mp4",
+  "duration_s": 0.12,
+  "fps": 25.0,
+  "frames": 3,
+  "sha256": "68e58a8e2fe8670b3138563742b6ad0cde523449876c02d4e9c6c1f6b0228c2c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 57,
+      "text_zh": "观察：视频 0.00、0.04、0.08 s 的全部三帧中，机器人均站在起始位置、双手在胸前持球，未见球离手、触地反弹或穿过两腿；log step 57 的交付生成脚本仅重复初始保持命令10次。"
+     },
+     {
+      "t": 0.08,
+      "log_step": 77,
+      "text_zh": "观察：log step 77 对交付轨迹的回放结果为 executed_rows=10、stages=[]、episode_over=false，与视频末帧仍在起始位置持球一致；胯下运球未启动。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": 77,
+      "text_zh": "观察：视频 0.00、0.04、0.08 s 中篮球始终留在机器人胸前双手之间，没有先反弹再接住的过程；log step 77 的交付回放也未达到任何阶段。推断：这是开局持球，不能计为完成胯下反弹后的双手收球，且其前置节点从未达到。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": 77,
+      "text_zh": "观察：视频 0.00、0.04、0.08 s 中机器人一直站在距篮圈数米的起始位置，篮球在胸前，未见向篮圈移动、扣球或扣篮后的落地过程；log step 77 的交付回放无已达阶段。推断：扣篮落地站稳节点未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 0.0,
+   "log_step": 57,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00、0.04、0.08 s 中机器人只在原地胸前持球；log step 57 的交付脚本只执行10次初始保持命令，log step 77 验证该文件执行10行、无已达阶段且未触发终止。推断：评分尝试在胯下运球启动前结束，断点为首步胯下运球。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 57,
+    "evidence_zh": "观察：视频 0.00、0.04、0.08 s 的全部三帧未见机器人释放或运篮球，身体保持起始站姿；log step 57 的生成脚本仅保持初态，agent 在 log step 86 也明确自述交付的是10行占位轨迹。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或成功参考视频，但评分视频的全部三帧与交付脚本、回放结果一致，足以判定三个节点均未达到。根因留空：log step 52 的会话测试曾因球碰左大腿失败，log step 76、86 另记录了跳跃与持球困难，但这些测试未被交付，证据不足以确定首步控制未建成的具体根因；不能仅由主动保留占位文件推断规划或交付操作出错。"
+ },
+ "summary_zh": "评分视频 0.00—0.08 s 的全部三帧显示机器人原地胸前持球；三个语义节点均未达到，开局双手持球不计作胯下反弹后的收球。断点为胯下运球的首步前，现象是没尝试：log step 57 生成并在 log step 77 验证的交付仅含10行初始保持命令。会话测试中的碰腿、持球及跳跃问题不属于评分录像，尚不足以确定这次未启动的具体根因，故根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频仅三帧（0.00–0.08 s），机器人原地持球；三个节点均未达到、断点首步前、现象没尝试与 log step 57/77 的10行占位轨迹（grader stages=[]、progress 0）一致。根因留空并有 gap_zh，符合规则（agent 主动放弃不算根因）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--bqmzhap/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "844208122cc37df711bfa7bb7a5d5c7b3933e4ebec45ab85aaea9b29972b119b",
+   "video_sha256": "68e58a8e2fe8670b3138563742b6ad0cde523449876c02d4e9c6c1f6b0228c2c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd8cdb4ad307392cddaf3f256d8dac2f95e7737
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz.json
@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 4000,
+   "sim_steps": 4000,
+   "horizon": 4000,
+   "episode_over": 1,
+   "progress": 0.2,
+   "stages_reached": 1,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 34.64,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.119,
+   "metric_basket_touch_s": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 174,
+   "agent_resets": 110,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.612,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.989,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/replay.mp4",
+  "duration_s": 40.04,
+  "fps": 25.0,
+  "frames": 1001,
+  "sha256": "9232d5270beed36be2094018cba1e2d8a5ed89e255ecb01e18add21a9445d620"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 71,
+      "text_zh": "观察：视频 0.00–0.48 s 机器人双手在胸前两侧夹持篮球；视频约 0.60–0.68 s 球从双手下方离开，机器人双脚仍在原处支撑。log step 71 的交付控制先给 HOLD，随后持续给固定 RELEASE；视频中未见向胯下通道推球或拍球的动作，只有松开开局夹持。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 177,
+      "text_zh": "观察：视频 0.68–1.44 s 球在机器人身前下降，约视频 0.96–1.00 s 触地后仍在身前上弹，没有从两腿间穿至身后；视频 1.5–4.9 s 后续弹跳逐渐降低，视频 5–40.00 s 球留在脚前地面，未再被手接住。log step 177 对最终交付文件的回放只报告 stages=[dribble]，即原生开始运球阶段，没有 between the legs。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.32,
+      "log_step": null,
+      "text_zh": "观察：视频 1.20–1.44 s 首次反弹的球在双手下方达到最高处后再次下落，没有进入双手；视频 1.5–4.9 s 球继续自由反弹，视频 5–40.00 s 机器人空手停在原位，球在脚前。开局胸前双手持球发生在胯下运球之前，不满足本步的合法收球判据。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": 177,
+      "text_zh": "观察：视频 0–40.00 s 机器人始终留在起始位置，篮球释放后在脚前反弹并落地，未被带至篮圈，也未从篮圈上方扣入；视频 39.00–40.00 s 末段及最后一帧仍为机器人空手站立、球在脚前。log step 177 的最终交付回放结果 success=false，stages=[dribble]。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 1.0,
+   "log_step": 71,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 0.60–0.68 s 机器人松开开局夹持，球向脚前下落，视频约 0.96–1.00 s 触地后仍在身前反弹；直到视频 40.00 s 结束，未见手推球穿过两腿或重新控球。log step 71 的交付控制在 HOLD 后持续给固定 RELEASE，log step 176 确认最终动作与此前交付相同，log step 177 的回放只达到原生 dribble 阶段。推断：交付是仅含静态松手的基线，胯下运球的操作从未启动；重力造成的首次触地不足以认定本语义步骤已开始。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "t": 1.0,
+    "log_step": 71,
+    "evidence_zh": "观察：log step 71 的交付控制先给 HOLD，再持续给固定 RELEASE；log step 176 确认最终交付动作相同。视频约 0.60–1.44 s 只见球离手后在身前下落、反弹，手未向胯下通道推球；视频 5.00–40.00 s 机器人空手站在原地，球在脚前。推断：胯下运球这一步在交付轨迹中从未启动，符合 docs/03_trajectory.md Step 3.1–3.2 的基线首步前与没尝试定义。",
+    "item": "没尝试"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "交付只含开局夹持后的静态松手：inputs/run.json log step 71 的控制函数先给 HOLD，随后持续给固定 RELEASE，没有瞄准胯下通道的摆臂、推球或后续跟球动作；log step 176 确认最终动作与此前交付逐项相同，视频约 0.60–4.80 s 显示球在身前下落、反弹，视频 5.00–40.00 s 机器人空手原地站立。原生 dribble 阶段及 progress=0.2 记录了离手后的首次触地，但被动落球不证明胯下运球操作已启动，依 docs/03_trajectory.md:253–258、280–281 标首步前和没尝试。开局持球及站立是初态接触，不作为从未尝试节点的 contact_actual（Step 2）。log step 105、109 的摆臂和释放时机测试属于会话探索，未进入被评分交付；这些测试不足以确定本次静态松手之后未实施胯下动作的具体技术根因，故根因层留空。log step 173、179 的 NOTES.md 中 agent 自述交付不是解，不据此将停止本身归为原因（CASES.md FAIL-22），也不为交付中不存在的定向运动标位姿不准（FAIL-23）。没有逐帧模拟器状态日志；远景视频也不能精确核验掌指接触点及接触力。"
+ },
+ "summary_zh": "交付仅完成开局夹持后的静态松手，篮球在身前触地反弹后停在脚前；三个语义节点均未完成，原生 progress=0.2 只对应原生开始运球阶段。交付没有推球穿越胯下或后续控球动作，按从未启动该步的基线标为胯下运球／首步前／没尝试；被动反弹不标位姿不准。会话测试未进入交付，现有证据不足以确定具体技术根因，根因层留空并在 gap_zh 说明。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（三节点均未达）、时间轴与 native progress=0.2 一致；但交付轨迹只是开局夹持后的被动松手（log step 73/177、NOTES.md），不含任何瞄准胯下的运球动作，因此“位姿不准”和“控制”根因声称了交付里并不存在的动作（CASES.md FAIL-23）。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、时间与 native progress=0.2 一致，位姿不准/控制根因的删除也正确；但交付只是松手让球自由落下，手从未推球运球，按 03 Step 3.1 属于“交付是从不启动该步的基线”，应为 首步前 + 没尝试，而不是 操作中 + 空现象层。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按提议完整落实：where=首步前，phenomena=没尝试，根因留空，证据与 gap_zh 一致，validate 通过。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按提议完整落实：where=首步前，phenomena=没尝试，根因留空，证据与 gap_zh 一致，validate 通过。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--nteudmz/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "845327a45b6605915eea5724e0fb4b01e635d58c2cdc6406aae8829737567c61",
+   "video_sha256": "9232d5270beed36be2094018cba1e2d8a5ed89e255ecb01e18add21a9445d620",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b01e7f7c7fa4fabcba6b904af55b33e7ab9cf8
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs.json
@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 452,
+   "sim_steps": 452,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.2,
+   "stages_reached": 1,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 5.0,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.143,
+   "metric_basket_touch_s": 0.0,
+   "metric_dribbles": 1.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 390,
+   "agent_resets": 132,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.059,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.268,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs/replay.mp4",
+  "duration_s": 4.56,
+  "fps": 25.0,
+  "frames": 114,
+  "sha256": "5407adff3fc9fbe3c62ea52958907bf6af69a0b18a44b8e18abdeecd9651986d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.16 s 机器人松开身前篮球，视频约 0.50 s 球在双脚前方首次触地反弹；视频 0.68–0.84 s 右手再次触球并向下拨球，球随后向身前弹离，未见从腿间穿到身体另一侧。"
+     },
+     {
+      "t": 4.52,
+      "log_step": 364,
+      "text_zh": "观察：视频 0.88–4.52 s 篮球持续在机器人前方低弹并逐渐远离双手，未再被手接触确认胯下穿越。log step 364 检查已保存文件为452行动行；评分器字段 stages_reached=1/5、metric_dribbles=1.0，与仅完成普通运球的画面一致，不能将该原生阶段算成本节点完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0.00–0.08 s 左右手在身前共同夹持篮球，随后分开释放；候选接触名“双掌夹持”，单手未包围整球，不能标为抓握，现有词表无双掌侧夹项。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 0.68–0.84 s 机器人右手掌/手指接触反弹到身前的篮球并向下拨送；左手在身后，未同时参与这次触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.84 s 双足接触球场支撑躯干及下蹲拨球动作，之后机器人起身并小幅踏步；未见篮球实际穿过腿间，故不追加腿部避开球的接触项。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.76,
+      "log_step": null,
+      "text_zh": "观察：视频 0.68–0.84 s 只有右手在反弹球附近接触，另一手在身后；此后至视频 4.52 s 球在地面附近自由弹跳，两手未重新共同接住球。开局双手持球发生在胯下运球前，不满足本节点。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.52,
+      "log_step": null,
+      "text_zh": "观察：全片视频 0.00–4.52 s 机器人始终在远离篮圈的起始区域，篮球在其身前地面附近弹跳，没有被举至篮圈上方或由手送穿篮圈；最后一秒视频 3.52–4.52 s 也未发生扣篮及其后的站稳验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 0.84,
+   "log_step": 355,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.68–0.84 s 机器人下蹲用右手拨动反弹球，视频 0.88–1.36 s 球却继续向身前落地反弹，没有穿过腿间；到视频 4.52 s 仍未收回或补成胯下穿越。log step 355 的交付生成脚本对应松手、下蹲、右手下拨及随后步行动作，log step 364 确认保存452行，与评分器 n_actions=452 一致。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 0.84,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.72–0.84 s 右手触球后，篮球在视频 0.88–1.36 s 向机器人身前弹出，落点和后续路径仍在双脚前方，没有进入所需的腿间通道；视频 1.40–4.52 s 继续在前方低弹，未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 355 的已保存轨迹生成程序用固定25步下蹲和12步右臂关节插值执行拨球，然后直接过渡起身和步行，未按球的位置或腿间穿越结果修正拨球。视频 0.68–0.84 s 已有右手触球，随后球向身前弹离而非穿过腿间，表明这次动作未控制出所需球路；只能定位到控制，现有证据不足以进一步区分接触几何、关节跟踪或参数问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，单一远景无法量化腿门法向速度、手球接触力和关节跟踪误差，故控制根因不细分。log step 130 等会话试验及后续人工设置收球阶段的扣篮试验不是交付轨迹，不用于补计节点。log step 496 记录模型过滤提示，但log step 364此前已确认交付文件有452行，log step 367已启动该文件回放，且现有评分视频明确显示已保存尝试的物理失败，按该尝试正常标注。"
+ },
+ "summary_zh": "评分轨迹仅完成身前的普通反弹及一次右手拨球，胯下运球、合法双手收球和扣篮落地站稳均未完成，语义进度为0/3。视频约 0.84 s 右手拨球后球向身前弹离，没有穿过腿间，断点为胯下运球，根因定位到控制。没有状态日志可细分控制误差；log step 496的模型过滤发生在452行交付文件已保存之后，后续会话调试中的收球或扣篮阶段不计入本次评分进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：视频 0–1.4 s 球松手、在身前触地反弹、机器人下蹲右手拨球后球继续在身前弹离，全程未穿腿间；三节点均未达成，断点 between_legs_bounce 与评分器 stages_reached=1/5 一致，位姿不准+控制（已保守不细分）合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:54:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--t63onfs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f2f60ade62fb42dbf0efbbb78a9d95289ddd62f2caa0c24ab3c313e48166d9ba",
+   "video_sha256": "5407adff3fc9fbe3c62ea52958907bf6af69a0b18a44b8e18abdeecd9651986d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c474fe39aebf71772f3c7dec0547c39e0527a67
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1465,
+   "sim_steps": 1465,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.6,
+   "stages_reached": 3,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 18.36,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 2.005,
+   "metric_basket_touch_s": 0.0,
+   "metric_between_the_legs": 1.0,
+   "metric_dribbles": 6.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 104,
+   "agent_resets": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5/replay.mp4",
+  "duration_s": 14.68,
+  "fps": 25.0,
+  "frames": 367,
+  "sha256": "b5064f35c0297a479ea3d954075c11254c4b3cd93f6303f75e27698dee01677e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.32,
+      "log_step": null,
+      "text_zh": "观察：视频4.16–4.40 s，机器人从身后低位释放篮球，球在两腿附近落地，随后反弹到机器人前侧；视频4.56–4.84 s，一只手随球下压，篮球继续反弹。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 236,
+      "text_zh": "推断：log step 236所载已交付1465行轨迹的裁判事件为仿真4.800 s确认between the legs，穿越记录为仿真4.276 s、inside=true、speed=1.618、z=0.346；评分器metric_between_the_legs=1.0支持合法穿越已被后续手触球确认。log step 6说明每控制步0.01 s，1465步对应仿真14.65 s，与视频14.68 s吻合；已在视频10.8 s收球处核对，故该事件锚定视频约4.8 s，非agent工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频0–4.1 s，机器人左右手共同夹持篮球并转至身后准备放球；候选接触名“双掌夹持”，未见单手包住篮球，现有词表无双掌侧夹项。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频4.56–4.84 s，机器人单手对反弹到前方的篮球作下压、推拨，另一手抬起；这是前述双手释放后的先后动作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0–4.8 s，机器人双足在球场地面承重，放球时双腿让出通路。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频4.16–4.40 s的球路与log step 236的合法穿越记录共同支持篮球无腿部阻挡地通过两腿之间；机器人双腿与篮球避开接触。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": 236,
+      "text_zh": "观察：视频5–10.7 s，机器人跟随反弹的篮球向篮下行走；视频10.7–10.9 s，两手从两侧合拢接住上升的球，视频11.0–12.4 s球留在双手间、不再自由反弹。log step 236的已交付轨迹裁判事件列出仿真10.774 s的gather；按每控制步0.01 s与视频核对后的时钟，记为视频约10.8 s。"
+     },
+     {
+      "t": 14.64,
+      "log_step": 232,
+      "text_zh": "观察：视频14.64 s末帧，篮球仍随机器人举起的双手停在头顶前方；log step 232的两次新进程回放均保留dribble、between the legs、gather三个阶段且末态一致。开局持球不计作此次收球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频10.8–12.4 s，机器人左右手从球的两侧共同承接并夹持篮球；候选接触名“双掌夹持”，没有单手包围球的证据，现有词表缺少此双掌侧夹方式。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频5–10.8 s，机器人双足交替着地跟随运球，收球时仍以足部支撑在球场上。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": 215,
+      "text_zh": "观察：视频12.4–13.6 s，机器人双手把胸前篮球抬到头顶前方，身体保持足部着地；视频13.6–14.64 s停留在举球姿态，球始终在篮圈左下方，未从圈上方向下穿入，也未见扣入后的松手。log step 215保存的是raised_16举球轨迹，后续起跳测试尚不在该交付中。"
+     },
+     {
+      "t": 14.64,
+      "log_step": 230,
+      "text_zh": "观察：log step 230所附交付文件回放结果为executed_rows=1465、success=false、failed=null、episode_over=false，只达到dribble、between the legs、gather，ball_height_m=2.005；评分器同样报告success=0、fell=0、metric_basket_touch_s=0.0。视频末帧可直接看到球未入圈，扣篮落地站稳判据不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频12.4–14.64 s，机器人左右手共同夹持并抬高篮球，末帧仍持球；候选接触名“双掌夹持”，未见每只手独立包住球，现有词表缺少双掌侧夹项。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频12.4–14.64 s，机器人足部支撑举球过程；没有看到实际扣篮起跳与随后落地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dunk_landed",
+   "t": 13.6,
+   "log_step": 215,
+   "where": "操作中",
+   "evidence_zh": "观察：视频12.4–13.6 s机器人为扣篮举球，视频13.6–14.64 s保持头顶持球而未把球送入篮圈；视频13.6 s用作举球后停留的导航锚点，没有可定位的脱手或跌倒瞬间。log step 215保存举球片段，log step 229与232确认交付1465行并在两次回放中只达三个原生阶段；后续起跳测试未被交付。"
+  },
+  "unmet": {
+   "between_legs_bounce": true,
+   "ball_gathered": true,
+   "dunk_landed": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 238,
+    "evidence_zh": "推断：agent的扣篮起跳与持球送圈控制尚未调通，因此保留了只到举球的交付。log step 238的后续控制脚本测试在提高球后被裁判判为收球后脱手，log step 233的另一路起跳测试52次触发第三步、12次触发脱手；log step 242总结该批64次测试无扣篮阶段、无成功。以上是会话测试对控制困难的证据，不将其中脱手或走步当成视频内现象；无法据此确定唯一控制子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs中有完整视频与运行日志，但无状态日志及成功参考录像；单个手指接触与合法穿越阈值不能仅靠远景逐项测量，前两节点结合了已交付轨迹的裁判事件和评分器字段。视频仅包含扣篮的举球准备，结束前没有送圈、脱手、碰撞或跌倒失败动作；按CASES.md FAIL-23，现象层留空，不能把后续会话测试的脱手、走步移植为本次交付的现象。控制根因由会话测试推断，具体子类证据不足。"
+ },
+ "summary_zh": "机器人在视频约4.8 s完成合法胯下反弹，继续运球靠近篮下，于视频约10.8 s双手收球，最终完成2/3个DAG节点（对应原生3/5阶段）。扣篮步骤仅做到双手举球，视频13.6–14.64 s球仍停在篮圈下方，交付未包含后续起跳送圈动作；会话测试支持扣篮控制未调通。无状态日志，精确接触与合法穿越由交付回放裁判事件辅助判断；未将会话中的脱手和走步标成视频现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间、接触与断点与视频和交付回放事件一致：胯下反弹约4.8 s、收球约10.8 s、扣篮未达成（球末帧仍在头顶、离篮圈较远）。现象层留空且有gap_zh，符合FAIL-23；控制根因基于会话测试属推断，证据偏弱但已标明推断，不强求修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:55:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--xbhryy5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "413fd158adae154d2d5f5896f483263b9c6792825999910d13823f0b28096bad",
+   "video_sha256": "b5064f35c0297a479ea3d954075c11254c4b3cd93f6303f75e27698dee01677e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55babcdc682400628de703a4d89a33e68791023
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.4,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 229,
+   "sim_steps": 229,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.4,
+   "stages_reached": 2,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 4.4,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.598,
+   "metric_basket_touch_s": 0.0,
+   "metric_between_the_legs": 1.0,
+   "metric_dribbles": 2.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 200,
+   "agent_resets": 182,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.916,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf/replay.mp4",
+  "duration_s": 2.32,
+  "fps": 25.0,
+  "frames": 58,
+  "sha256": "116dcaff5cad0cdbe06788135086c1bd645caa864c19a8a413d66a3a4a15129f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.36,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.04,
+      "log_step": null,
+      "text_zh": "观察：视频 0.20–0.56 s 篮球从机器人胸前双手间下落并触地反弹，视频 0.64–0.84 s 一只手向下后方拨压球；视频 0.96–1.16 s 球再次反弹并由机器人前方穿至腿后，双足仍支撑在地面。"
+     },
+     {
+      "t": 1.36,
+      "log_step": 273,
+      "text_zh": "观察：视频 1.32–1.40 s 机器人伸手向后，反弹球与手部相遇；评分器 metric_between_the_legs=1，交付文件的新进程回放（log step 273）仅记录 dribble、between the legs 两阶段，并报告穿越事件为仿真 1.061 s、inside=True、speed=1.873 m/s、z=0.347 m，确认阶段为仿真 1.352 s。"
+     },
+     {
+      "t": 1.36,
+      "log_step": 273,
+      "text_zh": "推断：结合视频中穿越后首次触手及交付回放的裁判确认，本步在视频约 1.36 s 达成并锁存；视频 1.04 s 左右的穿越本身尚不等于确认完成，锚点误差约一帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0.00–0.20 s 左右张开的手掌在胸前两侧夹持篮球，随后放开使球下落；候选接触名：双掌夹持，单手未包住球，不标抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 0.64–0.84 s 单手向下后方拨压反弹球，视频约 1.36 s 手部再次短暂碰到腿后的球；交付脚本（log step 271）指定前一拨压由右手执行，两次手触球依次发生。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人双足在运球与穿越确认过程中着地，支撑直立躯干。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.96–1.16 s 篮球通过两腿间，结合交付回放确认合法胯下阶段且 failed=None（log step 273），支持此次穿越未碰腿；侧视无法分辨毫米级间隙。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.48,
+      "log_step": 273,
+      "text_zh": "观察：视频 1.28–1.44 s 机器人双臂向后伸去迎接反弹球，手部虽短暂碰球，球在视频 1.48–1.76 s 继续向机器人后方飞离，未停在双手间；视频 1.80–2.28 s 球在远离双手的位置继续反弹。交付回放（log step 273）无 gather 阶段，只有 dribble、between the legs；开局双手持球不计本步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 1.36–1.44 s 手部短暂碰擦腿后的反弹球，球随即继续飞离；未建立双手同时夹住或单手包住球的接触，不能标抓握或双掌夹持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.28–2.28 s 机器人足部持续着地，站立伸臂尝试接球。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.28,
+      "log_step": 284,
+      "text_zh": "观察：视频全程 0.00–2.28 s 机器人始终在罚球线附近，未持球靠近篮圈；视频 1.48–2.28 s 球向篮圈相反方向飞离并反弹，没有球进入篮圈。最终交付文件的再次回放（log step 284）仍为 229 行、仅 dribble 与 between the legs，未出现 gather、dunk 或 stand 阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_gathered",
+   "t": 1.48,
+   "log_step": 273,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.36 s 机器人手部短暂触到已穿腿的反弹球，视频 1.48 s 球已离开迎接的双手并继续向后飞行，至视频 2.28 s 未被收住；交付回放（log step 273、284）均无 gather 阶段，failed=None、episode_over=False，说明交付在收球未成时结束，而非发生了日志中其他测试的触腿或超距判负。"
+  },
+  "unmet": {
+   "between_legs_bounce": true,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 1.48,
+    "log_step": 273,
+    "evidence_zh": "观察：视频 1.28–1.44 s 机器人伸臂追接正在上升并向后移动的球，只有短暂手球相遇；视频 1.48–1.76 s 球已从手前继续飞离，双手没有同步把运动中的球接住。交付回放（log step 273）确认未触发双手收球阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：最终交付脚本（log step 271）在穿越后用 12 个控制步把两臂移向接球位置，再追踪球并在任一手触球后才发出闭指命令；视频 1.32–1.56 s 显示该控制没有使双手与移动球同步形成收球接触。该文件已反复重建并回放一致（log step 272、273、284），因此有证据支持接球控制未奏效；缺少手部接触力及关节跟踪记录，不能进一步确定控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；侧视能确认球未被双手收住，但不能逐物理步辨明左右手各自的触点、接触力及逆解跟踪误差。后续测试的触腿、超距与可达性说法不是最终交付的结果，未据此增加现象或宣称任务不可行。"
+ },
+ "summary_zh": "评分尝试完成胯下反弹及穿越后触手确认（视频约 1.36 s），三个语义节点最终完成一个，原生五阶段完成两个。机器人在视频约 1.48 s 的双手收球过程中未跟上运动中的球，球继续向后飞离，扣篮未启动；交付回放无硬判负但任务未完成。没有状态日志或成功参考视频，控制根因可支持到大类，无法核实精细接触和关节误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "胯下反弹（评分器 stage 仿真 1.352 s ≈ 视频 1.36 s）已达成，双手收球与扣篮未达成，断点在 ball_gathered，现象为动态时机、根因为控制，均与视频及交付回放（log step 273、284）一致；未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:58:10Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--xty9uaf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c82f8c14fc8aacb34d2b566339367973d364d0acd0d534efb516b3cffca2a128",
+   "video_sha256": "116dcaff5cad0cdbe06788135086c1bd645caa864c19a8a413d66a3a4a15129f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn.json
new file mode 100644
index 0000000000000000000000000000000000000000..83542185234418506dd6bf472db16165546e5431
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn.json
@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 45,
+   "sim_steps": 45,
+   "horizon": 4000,
+   "episode_over": 0,
+   "progress": 0.6,
+   "stages_reached": 3,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 3.44,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.73,
+   "metric_basket_touch_s": 0.0,
+   "metric_between_the_legs": 1.0,
+   "metric_dribbles": 1.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 303,
+   "agent_resets": 576,
+   "agent_replays": 6,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn/replay.mp4",
+  "duration_s": 0.48,
+  "fps": 25.0,
+  "frames": 12,
+  "sha256": "636fe54105b9b8247d5e2380e5ea0cbd81a27f0cc55e0760bc4cfaee684388ec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.28,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00–0.44 s；机器人起初双手在胸前持球，视频 0.16–0.28 s 球下落至脚边，视频 0.32–0.36 s 球已反弹到身体后侧，视频 0.40 s 球到达身后双手处，双足始终着地。"
+     },
+     {
+      "t": 0.4,
+      "log_step": 580,
+      "text_zh": "观察：log step 580 是最终45行交付文件的回放结果，记录 dribble、between the legs、gather 三个阶段；胯下穿越记录为仿真 0.312 s、inside=true、速度2.437米/秒、高度0.243米，仿真 0.386 s 确认胯下阶段；评分字段 metric_between_the_legs=1。"
+     },
+     {
+      "t": 0.4,
+      "log_step": 580,
+      "text_zh": "推断：视频 0.28 s 的低位反弹及视频 0.40 s 的身后接球与最终文件回放事件一致，确认合法胯下反弹；用视频 0.40 s 的接球帧作为约略达到时间，事件锁存至结尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0.00–0.12 s 左右手共同在胸前两侧夹持篮球，随后向下释放。候选接触名：双掌夹持；单手未显示包住篮球，现有接触方式没有双掌侧向夹持项，故不标抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.40 s 机器人双足持续着地支撑身体完成放球、反弹及接球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.28–0.40 s 篮球从双腿间反弹至身后，最终交付回放在 log step 580 确认合法胯下阶段且 failed=null，支持该次穿越未发生球与腿的违例接触。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 580,
+      "text_zh": "观察：视频 0.36 s 篮球在身体后侧上升，视频 0.40–0.44 s 球抵达身后并与下垂双手会合，未继续自由反弹。log step 580 对最终45行交付文件的回放记录 gather 阶段发生于仿真 0.389 s，且直到仿真 0.45 s 文件结束仍 failed=null；这不是开局的胸前持球。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：将视频 0.40 s 作为合法双手收球的约略时刻；两手与球的局部相互遮挡，具体手指包围方式无法从这个远距离单视角确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 0.40–0.44 s 双手在身后与反弹篮球会合，最终交付文件回放在 log step 580 确认双手收球；手指细节和两侧接触面互相遮挡，无法确定是夹接、指面接挡还是包握，不将收球自动标为抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.40–0.44 s 双手收球时机器人双足仍着地支撑，身体保持直立。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.44,
+      "log_step": 580,
+      "text_zh": "观察：视频 0.00–0.44 s 机器人始终停在原地，视频 0.40–0.44 s 篮球仍低于腰部且在身体后侧，未见持球向篮筐移动、起跳或送球入圈。log step 580 最终文件回放只有运球、胯下及收球阶段，球高0.73米、success=false、episode_over=false，45行交付文件在扣篮启动前结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": 0.0,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dunk_landed",
+   "t": null,
+   "log_step": 580,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.40–0.44 s 机器人在原地低位收球后录像结束，整个视频没有向篮筐搬运篮球或起跳扣篮。log step 580 验证最终45行文件仅达到 dribble、between the legs、gather，episode_over=false；log step 589 的最终报告也明确交付不含扣篮和落地。这里的首步前指该扣篮步骤尚未启动，没有可定位的物理失误瞬间。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 580,
+    "evidence_zh": "观察：视频 0.00–0.44 s 只有原地放球、胯下反弹和身后收球，收球后未开始持球进攻、起跳或压球入圈；log step 580 的最终文件回放停在 gather，扣篮步骤没有启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话扩展测试中，log step 559–560 对收球后的四组腕角命令逐步记录均由双手触球变为双手失联，服务判定“the ball left your hands after the gather, before the dunk”；log step 583、585–586 的后续腕角测试仍只能短暂保持双手接触，log step 579 的交付说明记录持球抬升及接球后逆解未能保持球。结合 log step 580 最终仅保留收球片段、log step 589 明确报告未完成扣篮，支持接球后持续控球及后续动作的控制衔接未解决；这些是会话层面的根因证据，不表示交付视频内已经失球。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。视频仅12帧且为远距离单视角，胯下穿越的速度、门内位置及双手同时接触的精确判据由最终交付文件的回放事件补足，达到时间取视频约0.40 s；收球时具体指面接触方式未知。交付片段未包含扣篮或失球，控制根因依据会话扩展测试推断，不能进一步确定最终改良收球姿态的失效方式或具体控制子类。",
+  "unmet": {
+   "between_legs_bounce": true,
+   "ball_gathered": true,
+   "dunk_landed": false
+  }
+ },
+ "summary_zh": "观察：交付视频显示原地放球、胯下反弹及身后双手收球，最终文件回放确认对应阶段，三个语义节点完成两个；机器人未开始扣篮，文件即结束。推断：断点为扣篮落地站稳步骤启动前，会话测试反复无法在收球后维持控球，支持控制衔接问题；视频内没有失球或跌倒证据，精确接触方式仍因单视角遮挡未知。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度（胯下反弹、收球完成，扣篮未达）与评分字段 stages_reached=3/5、progress=0.6 一致；断点、没尝试、控制根因（会话测试推断，已注明非交付视频内失球）符合 FAIL-22 的处理方式；未发现需要修改的内容。视频仅12帧（0.48 s），12帧联系图可见放球、反弹至身后、站立不动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-privileged--yint9nn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "955c6f61dc31000b203fd4d2b62bd5518543e9a0cb36e8d53cb688ae7f50bb8a",
+   "video_sha256": "636fe54105b9b8247d5e2380e5ea0cbd81a27f0cc55e0760bc4cfaee684388ec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b102f743a3cb818981a4aab495badd205eed0b
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu.json
@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 526,
+   "sim_steps": 1169,
+   "calls": 20,
+   "rows": 1169,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 7104.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.532,
+   "peak_processes": 12,
+   "peak_disk_gb": 4.834,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu/replay.mp4",
+  "duration_s": 5.28,
+  "fps": 25.0,
+  "frames": 132,
+  "sha256": "2e9f5ae4a216aa583afa91c91aa9a76a5b6dfb344f75459d7a1ce16dc2f6f358"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.16,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.72–0.88 s 机器人张开双手，篮球从胸前落下；视频约 1.16 s 首次触地，随后反弹最高只到腿前，未穿到机器人身后。逐帧检查视频 0.40–5.24 s，篮球始终在身体前方，双手未再次触到球，未出现合法胯下反弹的确认。"
+     },
+     {
+      "t": 5.24,
+      "log_step": 157,
+      "text_zh": "观察：log step 156 重置到 episode 6，log step 157 在同一局先执行站立运球段再执行行走段；服务返回 stages_reached=1、reason=failed、outcome=\"the ball touched a part of you other than a hand\"，仿真时刻为 5.26 s。视频末帧 5.24 s 球靠近脚尖，机器人仍站立，与本局终止情形一致；此阶段数不代表完成了 DAG 的胯下运球节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0–0.72 s 左右张开的手从两侧共同夹持胸前篮球，随后向外打开使球落下。候选名：双掌夹持；单手没有包住球，故不标抓握，现有方式没有双掌侧夹项。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–5.24 s 双足接触球场地面支承身体，运球释放时保持站立，末段有小幅迈脚；未见跌倒。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：视频 5.20–5.24 s 篮球紧邻机器人脚尖，结合 log step 157 的本局服务判定“球碰到手以外身体部位”，发生非手部与球的碰撞；具体接触链接未记录。候选名：非预期碰撞；不是支撑或避开，现有接触方式无碰撞项。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.52,
+      "log_step": 157,
+      "text_zh": "观察：视频 1.28–1.64 s 球在膝部前方反弹，机器人双手仍在球上方，未接住篮球；视频 1.68–5.24 s 球继续在脚前弹跳并逐渐停在地面，双手回到胸前时为空手。log step 157 的脚本安排了双手向前合拢及抬起动作，但画面没有收球结果，且前置胯下运球未达成；开局持球不计入此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.28–3.80 s 机器人在双足支撑下作双手承接和回收姿态；球一直低于双手，未建立手球接触，故这里仅记录实际发生的足底支撑。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.24,
+      "log_step": 157,
+      "text_zh": "观察：视频 0–5.24 s 机器人始终在罚球线附近，球离手后在脚前弹跳，未被带到篮圈，未起跳或把球从上方送入篮圈；log step 157 的本局在行走段即被服务判负，未执行扣篮段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 1.16,
+   "log_step": 157,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.16 s 篮球在双脚前方触地，视频 1.28–1.64 s 反弹仍在腿前，双手未重新触球；后续直到视频 5.24 s 也没有胯下穿越和手触确认。最早未修复的失败是胯下运球；log step 157 的服务随后以球碰到非手部身体部位终止本局。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.16,
+    "log_step": 157,
+    "evidence_zh": "观察：视频 0.84–1.16 s 机器人释放的球落到脚前，视频 1.28–1.64 s 球在前方竖直反弹而未从两腿间穿到另一侧，后续反弹幅度逐渐减小，机器人没有把球导入胯下通道。这是球路相对两腿位置不对，释放本身是计划动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 157 的本局脚本以预先写定的双臂关节关键帧完成释放、承接与抬球，提交 stand 时 cameras=[]，期间没有根据球的位置修正动作；随后只因本局未结束就进入 walk。视频 0.84–3.80 s 显示篮球始终在双手下方及脚前，预定动作既未使球穿腿，也未重新接触球，说明该开环控球动作未实现所需球路与接触；证据不足以进一步区分释放接触几何、关节跟踪或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；单一远景侧视不能恢复球的三维穿越速度和精确接触链接，也没有接触力或关节跟踪误差，控制根因保留在大类。agent 在 log step 159 自述末局完成了“clean dribble bounce, re-catch and carry”，但视频 1.28–5.24 s 的球一直在双手下方、最后落在脚前，该自述不用于收球或持球进度；未报告 basket_touch_s，原生指标值留 null。"
+ },
+ "summary_zh": "评分视频对应 log step 156–157 的最后一局 episode 6：机器人由开局双掌持球张手释放，球在脚前反弹，未完成胯下运球、双手收球或扣篮落地，DAG 最终为 0/3。断点为视频约 1.16 s 的胯下运球球路偏差，预设开环控球动作未把球导过两腿并接回；随后服务因球碰到非手部身体部位判负。无状态日志，控制细分原因及精确碰撞部位不能确定，agent 所称已接回并携球与画面不符。",
+ "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 0–5.28 s 与 log step 156–157 一致：球释放后在脚前反弹，未穿腿、未收球、未扣篮，0/3 与断点（胯下运球）成立；现象与根因有证据且未过度细分。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--bnrewdu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "153ae7987008f08f1cd33131187b62494e9d6f9d6e9bb9ad95083ca049fbcbba",
+   "video_sha256": "2e9f5ae4a216aa583afa91c91aa9a76a5b6dfb344f75459d7a1ce16dc2f6f358",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n.json
new file mode 100644
index 0000000000000000000000000000000000000000..372fb917fdd7c64c629cf9e745b75cc6689ac56f
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n.json
@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 718,
+   "sim_steps": 2094,
+   "calls": 108,
+   "rows": 685,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 7076.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.81,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.02,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n/replay.mp4",
+  "duration_s": 7.2,
+  "fps": 25.0,
+  "frames": 180,
+  "sha256": "e3accffd51753eee9d983e9e2fc2f7521ead909539788407cfc2d238c245b965"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.28,
+      "log_step": 212,
+      "text_zh": "观察：视频 0.84–1.08 s 机器人把胸前的球向下释放，球在身体前方触地；视频 1.24–1.36 s 左手接触上升球并将其推下，视频 1.40–2.40 s 球仍在腿间通道外侧反弹，没有穿胯后再由手触球确认。"
+     },
+     {
+      "t": 7.16,
+      "log_step": 265,
+      "text_zh": "观察：视频 2.60–6.00 s 机器人转向并追随在身侧反弹的球，视频 6.20–6.48 s 下蹲，随后伸腿并继续追球；视频 7.04–7.16 s 球贴近脚部，仍未出现穿胯后手部确认。log step 265 的机器人控制服务返回 episode=6、control_steps=718、stages_reached=1/5，并判定“the ball touched a part of you other than a hand”。"
+     },
+     {
+      "t": 6.36,
+      "log_step": 259,
+      "text_zh": "推断：评分视频对应 log step 164 重置后最后一次 episode 6；该局控制步每步 0.01 s，log step 259 的 636 步对应视频约 6.36 s，已与视频 6.32–6.40 s 的深蹲核对，718 步终止对应视频约 7.18 s（录像末帧 7.16 s、总长 7.20 s）。服务仅达到普通运球阶段，与未完成合法胯下运球的画面一致；此前五局与离线模型中的穿胯预测均不计入节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持。视频 0.00–0.92 s 左右张开的手共同夹持并下移篮球，为本步释放作准备；单手未包住球，不能标为抓握，现有接触表没有双掌侧夹项。此为开局持球，不是完成胯下运球后的双手收球。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 1.28 s 左手直接将反弹的篮球向下推送；右手已离开球，没有双手同时接球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "双足在开局持球、单手推球以及随后追球和下蹲阶段支撑身体；视频 6.48 s 后伸腿，末段继续落脚追球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选接触名：非预期碰撞。视频 7.04–7.16 s 球与脚部位置重叠，log step 265 服务确认非手部身体触球，推断为下肢碰球；具体左右脚及连杆无接触日志可核实。该接触不是支撑、推扫或无接触避开，现有表无碰撞方式。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 164,
+      "text_zh": "观察：视频 0.00–0.92 s 的双手持球属于开局状态；视频 1.00 s 后篮球离手反弹，视频 1.28 s 附近只有单手推球，随后机器人追随自由反弹的球，直到视频 7.16 s 都没有重新双手接住。"
+     },
+     {
+      "t": 7.16,
+      "log_step": 265,
+      "text_zh": "推断：胯下运球未获确认，且 log step 265 的服务终局仅达到原生普通运球阶段（1/5），与视频未见后续双手收球一致；开局持球不能满足本节点的前置条件。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.16,
+      "log_step": 265,
+      "text_zh": "观察：视频 0.00–7.16 s 篮球一直在机器人身前或脚边活动，未到达篮圈；机器人也没有持球从篮圈上方向下送入的动作。视频末段的下蹲和伸腿用于追球，之后球仍在地面附近，服务在 log step 265 判负终止，未进入扣篮及落地站稳验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 1.4,
+   "log_step": 214,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.28 s 左手推球后，视频 1.40–2.40 s 球向腿间通道外侧反弹，机器人伸手追球仍未使本步完成；视频 2.60–7.16 s 持续追球、下蹲及伸腿也没有修复这一未达步骤。log step 265 的服务在该局第 718 控制步判非手部身体触球而结束，此时仍仅完成原生普通运球阶段。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.4,
+    "log_step": 214,
+    "evidence_zh": "观察：视频 1.24–1.36 s 机器人左手推下反弹球，但视频 1.40–2.40 s 的球路位于双腿通道外侧，随后仍朝身体侧方离开，未形成要求的胯下反弹。agent 在 log step 216 也自述本次推球未把球向后送过双腿；该自述与视频中的球路一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的目标是把球向后压送穿过双腿；log step 209 的离线模型预测球可穿过腿间通道，log step 210、212、214 的脚本据此分段发送左臂控制动作。但视频 1.28–2.40 s 实际球路偏向通道外，后续追球和低位伸手未纠正，视频 7.04–7.16 s 又由非手部碰球终止。目标顺序与任务一致，偏差出在击球方向和追球动作的实际控制；现有资料不足以进一步区分接触几何、模型偏差或反馈跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触对或成功参考视频；单一场馆视角分辨率有限，末次非手部触球由 log step 265 服务判定确认，但不能确定具体接触连杆。没有足够证据将控制根因细分为接触设计、模型误差或反馈参数；basket_touch_s 未在评分器字段中报告，保留 null。"
+ },
+ "summary_zh": "评分对应最后一次重置后的 episode 6：视频约 1.08 s 完成普通触地反弹、约 1.28 s 有单手推球，但未完成合法胯下运球，三个 DAG 节点最终为 0/3；服务的原生 1/5 只表示普通运球阶段。左手推球后的球路偏出腿间通道，机器人持续追球，最终在视频约 7.18 s 因非手部身体触球被判负，断点为胯下运球，根因归为控制。缺少接触日志，无法确定末次触球的具体连杆或进一步细分控制原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点、断点、时钟与视频一致（0/3，断点 between_legs_bounce）；仅第二个现象（被挡/碰撞）是裁判终止规则触发的事件，不应单列为现象。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 0/3、断点 between_legs_bounce、时钟与视频一致；第一轮意见已采纳，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:09:19Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--f4apv7n/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "be972c8a1d4720bd9db786b6603ff52ff2876847b82709508638ed0a6c693779",
+   "video_sha256": "e3accffd51753eee9d983e9e2fc2f7521ead909539788407cfc2d238c245b965",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn.json
new file mode 100644
index 0000000000000000000000000000000000000000..41501fde3cfb4d1c9f799faa124a1614350ce2b4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn.json
@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 582,
+   "sim_steps": 1784,
+   "calls": 45,
+   "rows": 1459,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1511.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "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/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn/replay.mp4",
+  "duration_s": 5.84,
+  "fps": 25.0,
+  "frames": 146,
+  "sha256": "e3aa2a2988c36378d1f8e444cd552859e22f6bf4de6820859fbd9b5313716676"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.76,
+      "log_step": null,
+      "text_zh": "观察：视频 2.56–2.88 s，机器人双手分开，篮球向下、向后运动，在双脚附近触地后从腿间反弹到机器人身后。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 73,
+      "text_zh": "推断：视频 2.96–3.12 s，反弹球与身后的手部短暂相交，随后继续向后飞行；log step 73 的最后一次实时尝试由裁判服务报告 stages_reached=2、stages_total=5，结合胯下穿越画面，支持胯下运球已获确认。首次确认锚点取视频约 3.04 s，接触细节及精确控制步无法由此侧视分辨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0–2.56 s，左右张开的手从篮球两侧共同夹持、随双臂摆动后分开释放。候选接触名：双掌夹持；单手未包住球，不能标为抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.04 s，机器人双脚承重，开局短暂抬一脚扩大站距，之后站立完成释放和反弹。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 2.72–2.96 s，篮球从双腿间穿到身后，未见腿部阻挡或碰偏；log step 73 裁判确认达到两个阶段，终止原因是球远离机器人，支持本次穿越未因碰腿作废。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.12,
+      "log_step": 73,
+      "text_zh": "观察：视频 2.88–3.28 s，机器人把两手移至身后接球，篮球上升经过手部后继续向后飞离，没有停在双手间；视频 3.60–5.80 s，球在机器人身后继续弹跳并远离。log step 73 裁判服务最终报告仅达到 2/5 阶段，并以球超出控制距离终止，未进入双手收球阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频约 3.04 s，篮球反弹到身后手部，短暂触拨后继续飞离；log step 73 的胯下阶段确认按 DAG 需要再次手触球，而双手收球未获确认，支持至少一手短暂触球，未形成双手夹持。侧视无法确定是哪只手及具体手指。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.88–5.80 s，机器人脚部持续支撑，双臂在身后尝试接球，未见倒地。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": 73,
+      "text_zh": "观察：视频 0–5.80 s，机器人始终在罚球线附近，篮球在其身后弹跳并逐渐远离，未运至篮圈、未从上方入圈；log step 73 裁判服务以球超出控制距离结束最后一次尝试，扣篮落地站稳未完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_gathered",
+   "t": 3.12,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.88–3.28 s，机器人双臂在身后迎接反弹球，但球经过手部后持续向后飞离，未完成双手收球，此后直至视频 5.80 s 均未追回。log step 69 启动的是最后一次 ep6 实时尝试，log step 73 裁判服务以“the ball got away: it was further from you than the control distance”终止，达到 2/5 阶段；断点取此前未修复的接球失败。"
+  },
+  "unmet": {
+   "between_legs_bounce": true,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "动态时机",
+    "t": 3.12,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.88–3.28 s，反弹球上升经过机器人身后的手部，两手没有同时截住球；球继续越过接球区域并向后下落，视频 3.60 s 后再次弹跳远离。这是对运动篮球的拦接失败，未形成一次双手持球。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.12,
+    "log_step": 50,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 50 的脚本预先生成摆臂、转到身后和定时合拢的关节指令，log step 64、68 修改后由 log step 69 用于最终 ep6；该接球段未依据实时球位置更新手部轨迹。视频 2.96–3.28 s 显示双手执行身后接球动作却未与反弹球形成同步拦接，球经过后手仍停在接球位置，支持接球运动与球轨迹不匹配的控制失败；无法进一步确定是接触布局还是运动时序占主导。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；提供的单一场馆侧视分辨率有限，无法确定反弹后短暂手球接触的左右手、具体接触点及精确控制步，胯下确认时刻约取视频 3.04 s 并由最后一次实时裁判的 2/5 阶段结果支持。不能将 agent 在 log step 74–75 自述的手球高度差直接当作精确测量，故根因保留在控制大类；basket_touch_s 未在评分器结果中报告。"
+ },
+ "summary_zh": "最后一次实时尝试中，机器人扩大站距后把球向下、向后送过两腿，完成胯下运球，三个语义节点最终达到 1/3（裁判原生阶段为 2/5）。视频约 3.12 s，身后双手接球未能截住反弹球，球继续弹跳远离，最终裁判以超出控制距离终止；双手收球和扣篮落地站稳均未完成。接球指令与球轨迹未匹配，根因标控制；无状态日志，短暂接触的左右手与精确确认时刻仍有不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点、断点（ball_gathered）与时间和视频、裁判 2/5 阶段一致；球在身后越过双手后弹走，现象与根因（控制，已声明无法细分）有视频和日志支撑。未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:54:42Z",
+  "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/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--hxusxbn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6b36956c1fef2f868a843420f7844c8be01a7e36b939fafdd3188ab7a7a91ba7",
+   "video_sha256": "e3aa2a2988c36378d1f8e444cd552859e22f6bf4de6820859fbd9b5313716676",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3be8e5a621601ba6fddfc8eaf17a4115eacaa4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 187,
+   "sim_steps": 738,
+   "calls": 37,
+   "rows": 66,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 687.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.673,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.458,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5/replay.mp4",
+  "duration_s": 1.88,
+  "fps": 25.0,
+  "frames": 47,
+  "sha256": "9a209956f56282fcfddb3c640a8952b10ef9cd972bb0f5f6162ed80d354d5d4a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 67,
+      "text_zh": "观察：视频 0.00–0.72 s 机器人双手在胸前持球并向前伸，随后分手放球；视频 0.84–1.20 s 篮球在机器人前方下落并触地，视频 1.24–1.84 s 球反弹后仍在双手下方，未见穿过双腿后由手再次触球确认。"
+     },
+     {
+      "t": 1.84,
+      "log_step": 68,
+      "text_zh": "观察：log step 67 重置到 episode 6，log step 68 同一回合的服务裁判返回 stages_reached=1/5、done=true，原因是篮球碰到手以外的机器人部位；视频 1.84 s 球正贴近腿部前方。推断：该视频与最后一次实时回合一致，只完成开始运球的阶段，未达到 DAG 的合法胯下反弹确认判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "候选接触名：双掌夹持。视频 0.00–0.72 s 左右手共同在球两侧持球并前伸，随后分开；任务初态文字说明双手张开、靠两侧掌部及拇指承载，单手未包住球，故不用抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.84 s 机器人双足承重，放球和反弹期间始终保持站立；log step 68 发出后退步行指令。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选接触名：非手部碰撞。观察：视频 1.76–1.84 s 篮球接近腿部前方；log step 68 的裁判确认球碰到手以外的身体部位。推断：碰撞在腿部附近，未记录具体链接；这是非预期撞球，不属于支撑、避开或有意推扫。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.52,
+      "log_step": 68,
+      "text_zh": "观察：视频 1.24–1.84 s 反弹的篮球一直位于伸出的双手下方，机器人没有用双手接住球；开局视频 0.00 s 的双手持球发生在运球之前。推断：合法胯下反弹尚未确认，且之后没有双手收球，本节点未达到，也未开始有效尝试。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.84,
+      "log_step": 68,
+      "text_zh": "观察：视频 0.00–1.84 s 机器人始终在罚球线附近，篮球只在其身前释放并反弹，从未接近或进入右侧篮圈，也没有扣篮动作；log step 68 服务已判定回合失败。推断：本节点未尝试，未达到扣穿篮圈并离手站稳的联合验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 1.84,
+   "log_step": 68,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.24–1.84 s 篮球在机器人前方反弹，双手仍伸在球上方，末段球靠近腿部；log step 68 的实时服务裁判报告“the ball touched a part of you other than a hand”并终止 episode 6。推断：机器人正在开始胯下运球，尚未获得合法穿越及再次手触确认，失败发生在该步操作中，之后没有修复。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 1.84,
+    "log_step": 68,
+    "evidence_zh": "观察：视频 1.68–1.84 s 篮球从双手下方朝腿部前方靠近；log step 68 的服务裁判明确记录篮球撞到非手部身体部位并判负。推断：运球的球路受到本体碰撞阻断，未能完成合法胯下反弹。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 68,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 67 的脚本先伸臂并分手放球，log step 68 接着保持固定臂部目标、以 cmd_vx=-0.8 提交至多 1.0 s 的后退步行指令；视频 0.84–1.84 s 球落地反弹期间，双手持续在球上方，没有形成后续引导，球最终撞到身体并被裁判判负。释放、反弹球路与本体运动未协调好，支持一般控球控制失败；现有证据不足以区分接触设计、轨迹或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。单一远景可见球在腿部前方反弹，但不能辨认末次碰撞的具体身体链接、接触力或精确接触瞬间；以视频 1.84 s 为末段导航锚点，非手部接触由 log step 68 的服务裁判确认。没有足够证据细分控制根因；basket_touch_s 未由评分器报告。log step 68 的 orange_ball 未定义异常发生在动作已执行、裁判已判负后的图像分析阶段，不是本回合物理失败的原因。"
+ },
+ "summary_zh": "最后一次实时回合中，机器人前伸双手后释放篮球，球在身前触地反弹，但未完成合法胯下穿越后的手触确认，三个 DAG 节点均未达到。视频末段球靠近腿部，log step 68 的裁判以非手部触球判负，断点为胯下运球；证据支持一般控球控制失败，但远景和缺少状态日志限制了碰撞链接及控制子类的判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频仅 1.88 s，为最后一次实时回合（episode 6）；球释放、触地反弹、末段靠近腿部，与 log step 67/68 的服务裁判（stages 1/5，球碰到非手部）一致。三节点未达到、断点 between_legs_bounce、接触与现象标注均有证据支持，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--ke2sgc5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
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+   }
+  ],
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+  "review_model": "claude-sonnet-5-5",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c5c05616a01101c52595a93942c241986b8a44
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn.json
@@ -0,0 +1,220 @@
+{
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+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
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+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn/replay.mp4",
+  "duration_s": 2.32,
+  "fps": 25.0,
+  "frames": 58,
+  "sha256": "f788a211750a42db5c49209df8bf47057a014c6a3053844812ce50ec63aa9d71"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.84,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–0.60 s机器人从胸前双掌持球转为向前送球、分开双手；视频约0.84 s篮球在机器人身前触地并反弹。"
+     },
+     {
+      "t": 2.28,
+      "log_step": 304,
+      "text_zh": "观察：视频0.88–2.28 s篮球在身前继续反弹，末尾降至腿脚旁，未见穿胯后由另一侧手触球确认；log step 304的最终episode 6服务裁判回报stages_reached=1/5、outcome为篮球接触非手部部位。推断：结合原生阶段顺序，仅开始运球，胯下运球节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频0.00–0.60 s左右张开的手掌从两侧夹持篮球，向前送出后分开释放；候选接触名“双掌夹持”，单手没有包住球，现有抓握与托/舀不能准确描述该侧向夹持（D12）。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–2.28 s机器人双足在场地上支撑身体，放球后开始向前迈步。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：视频2.20–2.28 s篮球降至机器人腿脚旁，结合log step 304裁判的非手部接触判负，可确认下肢与球发生非预期接触，不能区分具体左右腿或足部；候选接触名“非预期碰撞”，不属于主动推/扫、支撑或避开。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.28,
+      "log_step": 304,
+      "text_zh": "观察：视频0.00 s的双掌持球属于初态；放球后至视频2.28 s未见机器人在合法胯下反弹后双手收球，末尾双手空置在身前、篮球在腿脚旁。log step 304最终裁判仅达到原生首阶段，脚本在第二段walk时提前返回，未执行收球阶段。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.28,
+      "log_step": 304,
+      "text_zh": "观察：视频0.00–2.28 s机器人始终远离篮圈，篮球没有进入篮圈，也没有扣篮后的落地站稳过程；log step 304显示最终episode 6在第二段walk中判负，未执行脚本的跳跃扣篮阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 2.28,
+   "log_step": 304,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.12–2.28 s篮球从机器人身前降至腿脚旁，机器人仍在向前迈步且未完成胯下反弹确认；log step 304的episode 6服务裁判以“the ball touched a part of you other than a hand”结束该局，stages_reached=1/5。推断：断点是仍在尝试的胯下运球。log step 26给出控制周期0.01 s，log step 304的231控制步对应仿真2.31 s，与视频2.28 s末帧及2.32 s时长核对相符；此前重置和本地测试不作为节点进展。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.28,
+    "log_step": 304,
+    "evidence_zh": "观察：视频2.20–2.28 s篮球下落进入机器人下肢附近；log step 304中最终实时episode 6的服务裁判明确报告篮球接触非手部身体部位并判负。推断：球与下肢的非预期碰撞中断胯下运球，具体接触链节不能由远景画面分辨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：log step 301记录的最终控制脚本先双手向前送球并张臂释放，随后保持固定手臂目标连续执行两段各1.5 s的前进行走，之后便进入双手收球；其间没有生成胯下穿越并在另一侧再次触球的动作，也没有检查该阶段是否完成。log step 303仅修正reset调用；log step 304实际执行该脚本并在第二段行走中判负。推断：脚本把放球后跟随行走作为收球前的策略，缺少实现及确认胯下运球的必要环节；视频0.60–2.28 s球在身前自由反弹、机器人迈入球路，与该规划缺口一致。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；远景录像无法确定篮球撞到的具体左右腿/足链节，也无法测量腿门穿越的法向速度。最终实时服务的明确判负和阶段计数结合全片逐帧检查足以确定三个节点均未达成；basket_touch_s未在评分器字段中报告，保留null。"
+ },
+ "summary_zh": "评分录像对应最后一次重置后的episode 6：机器人将球送出、让其触地反弹后前行，仅完成原生开始运球阶段，三个DAG节点均未达成。胯下运球在视频约2.28 s因篮球接触非手部身体部位而中断；最终脚本缺少胯下穿越及再次触球确认的动作安排，之后的收球和扣篮均未执行。无状态日志及成功参考视频，具体碰撞链节与穿越速度无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频、log一致：视频仅2.32 s，机器人送球、球反弹后向前走并在约2.28 s球落到腿脚旁，服务裁判判负（stages_reached=1/5，球触非手部位）；三个节点均未达成，断点在胯下运球，控制步231对应2.31 s与视频时长相符，根因（脚本无胯下穿越动作）有log step 301/304支撑。未发现需修改项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--uu4gszn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e10574c2244148021f6d221ee03a2c4548b96f74430617e136959c451ed815d",
+   "video_sha256": "f788a211750a42db5c49209df8bf47057a014c6a3053844812ce50ec63aa9d71",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4.json
new file mode 100644
index 0000000000000000000000000000000000000000..99b8cf3a3101485d3f47263b4b607b0e8e14782e
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4.json
@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 1,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 7162.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.342,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.309,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "8e1df9665320c3497a45014dcea84fd788989b0283ba6d713172926329a5ec1f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.00 s，文件总长0.04秒）；机器人站在起点，篮球仍在身体前方的初始持球位置，没有离手、触地反弹或穿过双腿的过程。log step 5 的机器人服务状态为 rows=0、control_steps=0；最终评分器字段 n_actions=0、sim_steps=0、rows=0，确认受评现场回合未执行动作，胯下运球未达成。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.00 s 仅显示机器人初始持球，整段视频只有这一帧；log step 5 的机器人服务状态 control_steps=0，最终评分器字段 sim_steps=0。推断：受评回合没有发生胯下反弹后的双手接球，开局持球不符合本节点判据，因此本步未达成。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 0.00 s 中机器人仍站在起始位置，篮球在身体前方，距离篮圈尚远；最终评分器字段 n_actions=0、sim_steps=0、rows=0。推断：受评回合没有执行受手控制的扣篮、离手及落地站稳动作，本节点未达成；log step 208 的本地模拟结果不能作为现场回合进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 0.0,
+   "log_step": 5,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00 s 为受评现场回合的唯一初始帧，机器人保持起始持球姿态。log step 5 只调用机器人服务的规格、状态和零时长观察接口，服务返回 rows=0、control_steps=0；最终评分器字段仍为 n_actions=0、sim_steps=0、rows=0、resets=0。推断：这次已初始化的现场回合始终没有开始首步胯下运球，断点为 between_legs_bounce，位置为首步前。"
+  },
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 5,
+    "evidence_zh": "观察：视频 0.00 s 显示起点持球姿态，完整视频仅一帧；log step 5 的服务状态 control_steps=0，最终评分器字段 n_actions=0、sim_steps=0、rows=0。推断：受评现场回合未启动运球动作；agent 在自建 LocalSim 中的测试不构成受评机器人尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中有完整 run.json 和一帧 replay.mp4，没有状态日志或成功参考视频。log step 17 记录 agent 计划先建立本地模拟器再向现场服务提交，所写驱动脚本只打印状态；log step 208 的脚本在自建 LocalSim 中平移机器人与球，并直接把运球、胯下和收球标志设为已完成，其局部扣篮成功并非现场回合成功。日志最后仍在调试本地扣篮脚本（log step 229、231），未给出为何始终不运行现场控制器的明确诊断；这些记录不足以区分具体控制能力问题与错误的跨阶段策略，故根因留空，不从零动作或预算耗尽反推根因。所有节点均未实际开展，省略 contact_actual；初始持球不作为运球后收球的接触。basket_touch_s 未由评分器报告，记为 null。"
+ },
+ "summary_zh": "受评现场回合只有视频 0.00 s 的初始持球画面，评分器记录实际动作数和仿真步数均为0，三个节点最终均未达成，断点在胯下运球的首步前，现象为没尝试。agent 日志中的扣篮测试发生在其自建本地模拟器，并手动跳过前序阶段，不能计入受评进度。日志没有足够证据确定未启动现场控制的具体根因，因此根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分局 n_actions=0、sim_steps=0、control_steps=0，视频唯一一帧为初始持球；三个节点未达成、断点 between_legs_bounce/首步前/没尝试、根因留空并写 gap_zh 均有证据支持，时钟与 log step 均有效。未发现需修改项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--xppmyk4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "487a7dc273cf1140ea934d927a3cb7dedb122586cc94434e7efd5b8b45e318eb",
+   "video_sha256": "8e1df9665320c3497a45014dcea84fd788989b0283ba6d713172926329a5ec1f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg.json b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b20e43162bbe2aeef50a3c0a1ebacf7405cb60
--- /dev/null
+++ b/phase2/embodied-olympics-fun/dunk_between_legs/trajectories/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg.json
@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg",
+ "taskKey": "embodied-olympics-fun/dunk_between_legs",
+ "dag_sha256": "b3a9022ee9aaa233f14f035ce0b249f6a6cd4ac0723730a08b64571a639c20ad",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 290,
+   "sim_steps": 1343,
+   "calls": 16,
+   "rows": 1143,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2477.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.514,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.932,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg/replay.mp4",
+  "duration_s": 2.92,
+  "fps": 25.0,
+  "frames": 73,
+  "sha256": "96366fa367fc817d79f9f6d4bfe83fe72ba5c99ed76ab54f26838b8788bda4dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "between_legs_bounce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.48,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人双手在胸前夹持篮球，随后双手移开，篮球下落并在视频约 0.48 s 首次触地；视频 0.52–2.88 s 球持续在脚前反弹，没有穿过两腿后被手再次触及。"
+     },
+     {
+      "t": 2.32,
+      "log_step": 232,
+      "text_zh": "观察：视频约 2.0 s 机器人开始屈膝，视频 2.32–2.88 s 身体向后倾倒，球仍在身前；log step 232 中最后一次实时尝试的服务返回 stages_reached=1、outcome=fell，该原生阶段计数不能等同于本 DAG 已完成一次胯下运球。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 0.00–0.12 s 左右手在篮球两侧共同夹持，随后分开让球下落；候选接触名：双掌侧夹。看不到单手包住球，不能标抓握；未将后续空手摆臂记为推球接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–约 2.3 s 双脚在地板上支撑机器人放球、摆臂及屈膝调整站姿；随后机器人失去平衡向后倒下。"
+     }
+    ]
+   },
+   "ball_gathered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": null,
+      "text_zh": "观察：视频 0.12–2.88 s 球在机器人身前自由下落、反弹，双手没有重新同时接住球；开局视频 0.00 s 的双手持球不满足胯下反弹后收球的条件。"
+     }
+    ]
+   },
+   "dunk_landed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.88,
+      "log_step": 231,
+      "text_zh": "观察：视频 0.00–2.88 s 机器人始终在罚球线附近，篮球没有到达篮圈；末段机器人向后倒地，没有扣篮或随后站稳的过程。log step 231 的最终实时尝试结果为 failed fell。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "basket_touch_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "between_legs_bounce",
+   "t": 2.32,
+   "log_step": 232,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.0–2.32 s 机器人在球于脚前反弹时屈膝调整站姿，随后重心明显后移，视频 2.60–2.88 s 躯干倒向地面，未恢复站立，也未完成胯下反弹。log step 230 明确重置并播放最终 rows6；log step 232 记录该次服务返回 outcome=fell。失败发生于正在进行的胯下运球步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.32,
+    "log_step": 232,
+    "evidence_zh": "观察：视频 2.32–2.88 s 机器人屈膝后持续向后仰倒，骨盆降低，上身倒向地板，双手未接住仍在身前反弹的球；log step 232 中该次服务判定 outcome=fell。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 229,
+    "evidence_zh": "推断：log step 229 的最终控制脚本按固定时间插值关节目标，以膝关节 1.0 rad、髋俯仰 -0.72 rad 及髋外展/偏航组合生成下蹲和穿腿摆臂动作，未按实时躯干姿态或支撑状态修正目标；log step 230 执行这份 rows6。视频 2.0–2.88 s 可见该站姿变换后机器人向后失稳，说明这段全身控制未维持支撑平衡；现有证据不足以区分目标轨迹、负载布局或反馈调节的具体问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中无状态日志，也无成功参考录像；现有单一场馆远景不足以分辨每根手指的接触及导致后倒的关节力矩，故根因仅标控制，不把更早测试中默认踝增益的诊断直接归于最终尝试。评分字段未报告 basket_touch_s，原生指标值保留 null。",
+  "unmet": {
+   "between_legs_bounce": false,
+   "ball_gathered": false,
+   "dunk_landed": false
+  }
+ },
+ "summary_zh": "观察：评分采用最后一次实时尝试；视频 0.00–2.88 s 机器人从双手持球开始放球，球在脚前反弹，未完成胯下运球、双手收球或扣篮落地站稳，三个节点均未达成。推断：机器人为胯下运球调整屈膝站姿时，全身控制未能维持平衡，视频约 2.32 s 开始明显后倒，末段跌倒结束运行。观察：缺少状态日志及近距离手部视角，无法进一步确认失稳的具体力矩或控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：三个节点均未达成，断点在胯下运球（球在脚前反弹，未穿过两腿），机器人约2.3 s后开始倾倒，平衡现象与控制根因有证据支持；原生stages_reached=1未被误当作节点完成。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-dunk-between-legs-i00-standard--ywjwwdg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac939ebd92707b699695d7037c75bdb9a08f9146db9808256932e4aae7600c20",
+   "video_sha256": "96366fa367fc817d79f9f6d4bfe83fe72ba5c99ed76ab54f26838b8788bda4dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--3fhtha8.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--3fhtha8.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe7c21526224e012742417c43efbf0d79eb57cb
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--3fhtha8.json
@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--3fhtha8",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 244,
+   "sim_steps": 244,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.6667,
+   "stages_reached": 2,
+   "stages_total": 3,
+   "fell": 1,
+   "replay_s": 5.09,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.216,
+   "metric_pelvis_to_ring_m": 1.069,
+   "metric_steps": 1.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 266,
+   "agent_resets": 1120,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.295,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.88,
+   "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/embodied-olympics-fun-layup-i00-privileged--3fhtha8/replay.mp4",
+  "duration_s": 2.48,
+  "fps": 25.0,
+  "frames": 62,
+  "sha256": "008690d4533f0fe260bc302e37e8d8194e9afe0d60f8fd83d2a4899b5dbdf10c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.12 s，机器人先用双手在胸前托扶橙色篮球并将球举高，脚部支撑在球场地板上；视频1.20–1.80 s机器人屈膝蓄力、向篮筐方向蹬地。"
+     },
+     {
+      "t": 2.08,
+      "log_step": 393,
+      "text_zh": "观察：视频1.84–2.04 s机器人持球向前腾空，视频2.08–2.12 s球与手分离；随后至视频2.44 s，球向前下方运动，始终低于篮圈，没有从上方穿篮，机器人同时前倾落向地面。log step 393中最终生成器及交付文件重放的裁判输出均只列approach和release in the air，未列穿篮，success=false；log step 396恢复了这份已验证交付。"
+     },
+     {
+      "t": 2.44,
+      "log_step": 390,
+      "text_zh": "观察：log step 390对交付文件的两次独立重放均为244个控制步、failed=fell，终态哈希相同；其中裁判事件报告出手球心高度1.791 m、球到圈水平距离1.228 m、腾空持续0.272 s、起跳向上速度1.5917 m/s，终态持球落步计数1。输入reward同样报告deterministic=1、stages_reached=2、stages_total=3、fell=1；这些阶段不等同于DAG的上篮命中节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.00–0.24 s，机器人右手在篮球下方承托，左手在侧方扶持，双臂配合把球举高；视频1.44–2.04 s双手随球向前上方运动，随后放开。可见的是托扶，不据手指闭合指令推定单手包围球的抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–1.80 s机器人脚部在地板上承重、屈膝并蹬地，随后腾空；视频2.20–2.44 s脚部重新接近并触及地板，躯干继续前倾，最终手部落地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 1.0
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": 1.228
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": 0.272
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": 1.5917
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 2.08,
+   "log_step": 393,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.08–2.12 s机器人在空中放开篮球时，球明显低于篮圈；视频2.16–2.44 s球继续下降，没有形成飞到圈上方再下穿的上篮路径。机器人随后前倾扑向地面，log step 393对应交付的裁判输出以fell结束，未达穿篮阶段；失败发生在正在进行的上篮命中步骤内。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.08,
+    "log_step": 393,
+    "evidence_zh": "观察：视频2.08–2.12 s球离开机器人双手后，视频2.16–2.44 s球沿低于篮圈的路线向前下落，未到圈上方。log step 393最终交付的裁判事件报告出手球心高度1.791 m；任务圈高3.05 m，该次球路未穿篮。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.36,
+    "log_step": 393,
+    "evidence_zh": "观察：视频2.20–2.44 s机器人落下时上身不断向前倒，视频2.36–2.44 s双臂向地面伸出、身体接近水平并扑地，未恢复站立。log step 393最终交付的裁判事件报告仿真2.44 s以fell终止，on_the_ground包含right_hand；视频末帧也显示手部落地。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频1.84–2.44 s显示机器人完成前跳和放球，却没有给球形成越过篮圈高度的出手运动，落地也未稳住；问题在该次跳跃、送球和落地的实际运动控制。log step 376展示的生成器在触发出手后把双手闭合量设为0并将双臂目标退回准备姿态；log step 387修改摆臂幅度和触发距离，log step 393实际交付的重放仍为低出手后摔倒。证据支持控制未实现所需运动，尚不能细分为接触设计、轨迹求解、反馈或某个已证实的不当参数。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有本次交付的逐帧状态日志、接触力及关节目标跟踪数据，无法细分低球路和失衡的控制根因；手球接触按视频可见的托扶标注。日志中的其他候选与搜索输出属于会话测试，未用于替代交付视频的节点值或失败现象。"
+ },
+ "summary_zh": "机器人持球蓄力后向前起跳并在空中放球，裁判确认接近和空中出手两个阶段，但球路过低且继续下落，上篮命中节点始终未达成，最终为0/1。机器人随后前倾扑地；最终交付两次重放结果一致，失败归于未实现所需球路和稳定落地的控制，缺少逐帧状态与受力数据，不能进一步细分根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 layup_scored 未达成（视频 0–2.48 s 球出手后始终低于篮圈并下落，机器人扑地）、断点、位姿不准+平衡两个现象及“控制”根因均有视频和 log（id 390/393 的裁判输出）支持，未发现需修改处。",
+    "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": "2026-10-31T01:03:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--3fhtha8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--3fhtha8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3437bb1f19b989253ccb8a38c1cc96f5428e37e5f35e909afa3a4f2d64f074f8",
+   "video_sha256": "008690d4533f0fe260bc302e37e8d8194e9afe0d60f8fd83d2a4899b5dbdf10c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--7b4ay7m.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--7b4ay7m.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ec95bf709c9837b63ace8e23984d7b35ce10846
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--7b4ay7m.json
@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--7b4ay7m",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1500,
+   "sim_steps": 1500,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 12.26,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 1.092,
+   "metric_pelvis_to_ring_m": 2.996,
+   "metric_steps": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 77,
+   "agent_resets": 157,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.501,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.242,
+   "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/embodied-olympics-fun-layup-i00-privileged--7b4ay7m/replay.mp4",
+  "duration_s": 15.04,
+  "fps": 25.0,
+  "frames": 376,
+  "sha256": "7e7a6f1b73737f71d026efda8dbe00aac1d9ad04fe597a4e943016c7dd051cdd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.00 s 起机器人就在初始位置双手托持篮球；逐秒查看视频全程并逐帧检查视频 0.00–0.96 s、14.00–15.00 s，机器人始终原地站立，球留在手边，没有向篮圈接近、起跳、出手或穿篮。上篮动作没有启动，故不为该节点添加操作中的 contact_actual；原有持球和双脚着地属于初态保持。"
+     },
+     {
+      "t": 15.0,
+      "log_step": 103,
+      "text_zh": "观察：视频 15.00 s 最后一帧仍是原地持球。log step 103 对已交付文件的重放返回 success=false、stages=[]、progress=0、failed=\"time\"，评分器 reward 也记录 stages_reached=0、replay_success=0、deterministic=1，与录像一致；未出现任何可锁存的上篮命中事件。"
+     },
+     {
+      "t": null,
+      "log_step": 97,
+      "text_zh": "观察：log step 12 将初始 hold 指令复制为 1500 行并保存；log step 95 检查所有行相同；log step 97 的生成脚本仍将零平移、零转向速度的初始 STAND 持球行重复 1500 次，log step 98、102 验证动作相同。agent 在 log step 110 明确自述最终保留这份静止持球基线，后续前跳原型没有替换交付文件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 0.0,
+   "log_step": 97,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–15.00 s 机器人持续原地持球，没有开始接近篮圈、起跳和投球；log step 97 生成的交付动作只有重复的初始 STAND 持球指令。断在“上篮命中”的首步前，视频 0.00 s 为未启动基线的导航锚点；log step 103 的重放以 failed=\"time\" 结束且裁判三个阶段均未达到。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 95,
+    "evidence_zh": "观察：视频 0.00 s、逐秒全程画面及视频 14.00–15.00 s 的逐帧末段都显示机器人在原位托住球，双脚留在地面，没有起跳出手；log step 95 的交付文件检查报告 all rows identical: True。评分尝试只保持初态，未启动上篮；会话测试中的动作不在此录像内。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在会话实验中未解决持球起跳的协调控制，最终保留静止基线。依据是 log step 104 的前跳测试由双手接触变为 touch=[] 并报出手离圈过远，log step 107 的补偿版本报篮球接触 left_forearm，log step 108 的限幅版本仍失去手球接触并报离圈过远；agent 在 log step 110 自述这些控制问题尚未解决、最终交付仍为原地持球。上述仅用于解释为何没有交付上篮动作，不能作为评分轨迹发生掉球或触臂的证据；尚不能唯一确定控制子类型。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；会话中的前跳、触臂和失球测试只有日志证据，未进入评分录像，不能为它们标本次视频时间或实际接触，也不足以将控制根因细分为抓取和接触设计、轨迹或逆解或反馈控制。评分器未报告 ball_to_ring_m、air_s、takeoff_speed_m_s，三项原生指标填 null；metric_pelvis_to_ring_m 不是球心距圈心距离，不能替代。"
+ },
+ "summary_zh": "评分录像中机器人全程原地持球，没有接近篮圈、起跳或出手，“上篮命中”最终为 0/1，断点是首步前的没尝试。交付日志确认动作是 1500 行相同的初始持球指令；会话实验反复出现持球起跳时失去手球接触或触臂，支持将未能形成有效上篮动作归于控制问题。无状态日志，控制子类型只能保留未定，会话测试中的物理失败不计入本次轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "录像全程（0–15 s）机器人原地持球，layup_scored=false、断点首步前/没尝试、根因控制（会话证据，已标明推断与缺口）均与视频、log 和评分器字段一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:01:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--7b4ay7m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--7b4ay7m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7da24d3b904018a4accd4168d93d6494b060d67d0d8a171a0b6a019b22645aaf",
+   "video_sha256": "7e7a6f1b73737f71d026efda8dbe00aac1d9ad04fe597a4e943016c7dd051cdd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--9ufgzdt.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--9ufgzdt.json
new file mode 100644
index 0000000000000000000000000000000000000000..da416b8ceb1a09298f59f0c8804d21b4fd027c5c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--9ufgzdt.json
@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--9ufgzdt",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 160,
+   "sim_steps": 160,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.6667,
+   "stages_reached": 2,
+   "stages_total": 3,
+   "fell": 1,
+   "replay_s": 5.93,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 2.646,
+   "metric_pelvis_to_ring_m": 1.407,
+   "metric_steps": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 308,
+   "agent_resets": 13922,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-privileged--9ufgzdt/replay.mp4",
+  "duration_s": 1.64,
+  "fps": 25.0,
+  "frames": 41,
+  "sha256": "2c4ea7ee71e96e35e92db34c97a0d4f684fe288217218b4f34538dfac48f90ed"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": 80,
+      "text_zh": "观察：视频 0.00–1.36 s 中机器人从双手持球站立转为下蹲、向篮圈方向蹬地前跳并举球，视频 1.40–1.44 s 球与举起的手分离后向前上方飞行。log step 80 生成并保存交付文件，其独立重放报告 stages=[approach, release in the air]、progress=0.6667、failed=fell；这两个裁判阶段是本节点的过程，尚非上篮命中。"
+     },
+     {
+      "t": 1.6,
+      "log_step": 80,
+      "text_zh": "观察：已检查本次视频全部 41 帧；视频 1.44–1.60 s 球尚在篮圈前方、低于圈面，机器人身体前扑并持续下坠，至视频 1.60 s 未见球从上向下穿圈。inputs/run.json 的评分器字段 success=0、replay_success=0、stages_reached=2/3、fell=1，与 log step 80 交付重放结果一致；上篮命中全程未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–1.20 s 机器人右手掌在橙色篮球下方承托，左手在球侧配合扶持；视频 1.32–1.40 s 左手撤开，右手向前上方托送篮球并完成出手。画面未显示单手合拢夹住球的对向接触，不记抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.08 s 机器人双脚接触球场地板，双腿承重、屈膝后蹬地，与双手托球同时发生；视频约 1.12 s 起双脚离地，随后身体前扑下坠，视频 1.60 s 仍未恢复脚下支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "value": 0.0,
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_to_ring_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "air_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 1.52,
+   "log_step": 80,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.40 s 出手后，机器人双腿向后伸、骨盆和躯干持续下降；视频 1.52–1.60 s 前扑至近地，未恢复脚部支撑，球还未到篮圈。log step 80 的交付文件独立重放报告 failed=fell、仅通过 approach 和 release in the air 两阶段；评分器也记录 fell=1。失败发生于上篮执行过程中。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.52,
+    "log_step": 80,
+    "evidence_zh": "观察：视频 1.40–1.60 s 中机器人出手后身体向前扑落，双脚留在身后，骨盆下坠至近地，无法建立落地支撑；篮球此时仍在飞行且尚未穿圈。log step 80 重放的 failed=fell 及评分器 fell=1 印证进球前摔倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 1.52,
+    "log_step": 107,
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：log step 22、34 的 Ctrl 代码按控制步计数切换蹲伏、双脚蹬地、右手托送和后续腿臂目标；log step 80 用该控制器及 b4 参数保存交付轨迹，独立重放仍为 fell；log step 107 从同一参数重建的 160×141 动作矩阵与交付文件最大差为 0。结合视频 1.12–1.60 s 前跳出手后骨盆持续下坠、双脚未恢复支撑，可将失败归于该运动控制未实现进球前的身体支撑恢复；现有证据不能进一步确定为哪一控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志；录像是场边单一全景，不能独立核验毫秒级手球接触、起跳速度和出手合法性阈值，也不足以区分落地轨迹设计与关节跟踪等控制子因。ball_to_ring_m、air_s、takeoff_speed_m_s 未在评分器 reward 字段中报告，原生指标保留 null；log step 41 的参数测试读数未代替评分器字段。后续双跳、落地反馈等会话测试不属于交付录像。"
+ },
+ "summary_zh": "机器人完成持球下蹲、前跳和空中出手，评分器记录通过 2/3 个内部阶段，但单一语义节点“上篮命中”未完成，最终为 0/1。视频 1.40–1.60 s 可见出手后机器人前扑、骨盆塌下，进球前摔倒使尝试终止；交付文件的独立重放与评分器结果一致，根因归于控制。缺少状态日志，无法进一步核验细粒度接触与控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 layup_scored（操作中）、平衡现象与控制根因均与视频及评分器字段（fell=1、stages 2/3）一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:01:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--9ufgzdt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--9ufgzdt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5aed8a442391d67a3f30b372d4f34008b72b8bdbfba3c0e9c9df799c2fc6f437",
+   "video_sha256": "2c4ea7ee71e96e35e92db34c97a0d4f684fe288217218b4f34538dfac48f90ed",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--ejetlkb.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--ejetlkb.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1db59d46b643ab76e6e7bf43a55f61e7bd3bed
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--ejetlkb.json
@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--ejetlkb",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 176,
+   "sim_steps": 176,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.6667,
+   "stages_reached": 2,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 4.14,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.115,
+   "metric_pelvis_to_ring_m": 0.852,
+   "metric_steps": 2.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 323,
+   "agent_resets": 25,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.308,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.266,
+   "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/embodied-olympics-fun-layup-i00-privileged--ejetlkb/replay.mp4",
+  "duration_s": 1.8,
+  "fps": 25.0,
+  "frames": 45,
+  "sha256": "4e0db78e8f7f8aea6bda82756f502eeee0ac4d4532a39a9a80fe4487116789e9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.24 s，机器人双手托扶橙色篮球向篮圈靠近，随后抬臂并腾空；篮球没有到达篮圈高度。"
+     },
+     {
+      "t": 1.32,
+      "log_step": null,
+      "text_zh": "观察：视频1.28–1.76 s，篮球离开双手后仅在机器人头部附近的高度飞行，明显低于篮圈，随后向画面左下方下降并在末帧触地；全片没有球从上方向下穿篮的过程。"
+     },
+     {
+      "t": 1.76,
+      "log_step": 409,
+      "text_zh": "观察：log step 409 重新执行交付生成脚本并重放同一交付文件，裁判返回 success=false、executed_rows=176、stages=[approach, release in the air]，结束原因为 the ball touched the floor，与视频1.76 s 球触地相符。评分记录 deterministic=1、stages_reached=2；这两个裁判阶段不等于完成唯一语义节点“上篮命中”。"
+     },
+     {
+      "t": 1.32,
+      "log_step": 409,
+      "text_zh": "观察：log step 409 的交付文件重放裁判事件报告 ball_to_ring_m=1.244、air_s=0.195、takeoff_speed_m_s=0.5267；末态 metrics.steps=2，评分器 reward.metric_steps=2。这些原生指标说明空中出手条件获认可，未记录穿篮成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.00–1.24 s，机器人左右手在篮球下方及侧面共同托扶篮球，并随抬臂送球；可见掌面承托，未见单手合拢包住球。视频约1.28–1.32 s 后球离手。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–1.08 s，机器人双脚交替支撑球场地面并蹬地，期间双手持球；其后腾空，视频约1.36 s 双脚重新落地承重。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "value": 2.0,
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_to_ring_m",
+   "value": 1.244,
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "air_s",
+   "value": 0.195,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "value": 0.5267,
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 1.32,
+   "log_step": 409,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约1.32 s，机器人已抬臂放球，但球只到头部附近，仍远低于篮圈；视频1.40–1.76 s 球持续下落，最终触地。log step 409 的交付文件重放确认只达到接近与空中出手阶段，随后因球触地结束，上篮未命中。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.32,
+    "log_step": 409,
+    "evidence_zh": "观察：视频1.28–1.76 s，机器人放出的篮球没有飞到篮圈上方，而是在机器人头部附近达到最高位置后向画面左下方落地，未接近篮圈开口；log step 409 重放返回 the ball touched the floor。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 1.32,
+    "log_step": 399,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 399 的交付生成脚本在起跳后设置手臂、手腕目标，并在循环 j>=26 时主动把双手开合指令设为零来放球；log step 409 重新运行此脚本并重放，裁判接受空中出手而球随后触地。结合视频1.28–1.76 s 球仅略升即侧向下落，机器人投球动作未产生足以把球送到篮圈上方的出手运动，归于控制；现有证据不足以细分控制子类。"
+   }
+  ],
+  "gap_zh": "本次无状态日志，单一远景无法分辨各手指的精确接触、接触力和出手球速，不能进一步区分接触设计、轨迹求解或反馈控制问题。原生出手指标来自 log step 409 对最终交付文件的裁判重放事件，不是由视频测量；视频时间均取自已检查帧，未用 agent 工作时间换算。"
+ },
+ "summary_zh": "机器人托球靠近篮圈并腾空出手，裁判确认达到接近、空中出手两个阶段，但唯一语义节点“上篮命中”始终未完成，最终为0/1。视频约1.32 s 球离手后始终远低于篮圈，随后侧向下落并于视频1.76 s 触地；交付文件重放与此一致，失败现象为位姿不准，根因归于投球控制。无状态日志及出手球速、接触力记录，不能细分控制问题。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 layup_scored、时间（视频约1.28–1.32 s 离手、1.76 s 触地）与 log step 409 的裁判事件（stage t=1.246/1.297 s，fail t=1.76 s）一致；接触标注符合画面，现象与根因有证据支撑，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:30Z",
+  "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/embodied-olympics-fun-layup-i00-privileged--ejetlkb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--ejetlkb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0a54c5dd8732826f02e94785fa6ca6afc5a68ce13cc2b3c8a98d356f13ec2f78",
+   "video_sha256": "4e0db78e8f7f8aea6bda82756f502eeee0ac4d4532a39a9a80fe4487116789e9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--n2mrheh.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--n2mrheh.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f8f6dd62ecd89872266acbfd40d4c1885d075c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--n2mrheh.json
@@ -0,0 +1,200 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--n2mrheh",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1500,
+   "sim_steps": 1500,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 21.85,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 1.092,
+   "metric_pelvis_to_ring_m": 2.996,
+   "metric_steps": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8154,
+   "agent_resets": 5,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 72.017,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.985,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1,
+   "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/embodied-olympics-fun-layup-i00-privileged--n2mrheh/replay.mp4",
+  "duration_s": 15.04,
+  "fps": 25.0,
+  "frames": 376,
+  "sha256": "7e7a6f1b73737f71d026efda8dbe00aac1d9ad04fe597a4e943016c7dd051cdd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.6 s 的逐帧画面中，机器人站在初始位置，双手位于橙色篮球周围；随后以约半秒间隔检查至视频 14.5 s，机器人始终原地持球，没有向篮圈接近、起跳或出手，球未飞向篮圈。"
+     },
+     {
+      "t": 15.0,
+      "log_step": 240,
+      "text_zh": "观察：视频 14.0–15.0 s 的逐帧画面直到末帧仍为原地站立持球。log step 236、238 的最终生成脚本只重复初始 stand 命令，log step 240 对该交付文件的重放结果为 success=false、stages=[]、steps=1500、failed=time；评分器字段 deterministic=1、stages_reached=0，与视频一致，上篮命中从未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "value": 0.0,
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_to_ring_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "air_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 0.0,
+   "log_step": 238,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–15.0 s 中，机器人持续原地持球，未开始接近、起跳和空中出手；log step 238 明确生成并保存仅重复初始站立命令的交付轨迹，log step 240 重放未达到任何裁判阶段。因此断在上篮命中步骤启动前，视频 0.0 s 作为未启动的导航锚点。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 238,
+    "evidence_zh": "观察：视频全程的半秒采样及视频 14.0–15.0 s 的逐帧画面显示机器人一直站立持球，没有迈向篮圈、起跳或投球；log step 236、238 的交付脚本只将 s.hold() 返回的初始命令重复1500次。评分尝试未启动上篮，会话中另行测试的动作未进入交付。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 243,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 未能把合法持球接近、起跳与出手组合成可用控制动作，最终保留站立基线。依据是会话测试 log step 27 在第三次落步时已走步而骨盆前移仅约0.14米，log step 147 的整合控制器被判出手离篮圈过远，log step 234 最后搜索输出的候选持球点距圈心仍约1.57米；agent 在 log step 242、243 明确自述未实现稳定的迈步控制器，log step 238 则保存全程站立轨迹。上述会话结果只用于解释控制开发未完成，不作为评分视频中发生过的动作或现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立复核会话测试中的接触力、重心及关节跟踪；控制根因由会话测试反馈与 agent 自述共同支持，尚不能区分轨迹求解、反馈控制或接触设计子类。原生指标 ball_to_ring_m、air_s、takeoff_speed_m_s 未由本次评分器报告，保留 null；pelvis_to_ring_m 不是球心到圈心距离。"
+ },
+ "summary_zh": "评分轨迹在视频 0.0–15.0 s 始终原地站立持球，上篮命中未达到，最终节点为0/1，断点位于首步前，现象为没尝试。最终交付脚本及两次重放确认只执行初始站立命令；会话测试反复未能实现合法接近和起跳出手，支持控制层面的根因。没有状态日志，控制的具体子类及未报告的出手指标无法独立核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分轨迹全程原地持球，上篮命中未达到，首步前/没尝试成立；根因控制来自会话测试并明确标为推断，未当作评分视频中的事实。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": "2026-10-31T01:01:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--n2mrheh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--n2mrheh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "49acd20312901a8084e7e3ff8f609b24b1f345d157cd837124008b506cf70a18",
+   "video_sha256": "7e7a6f1b73737f71d026efda8dbe00aac1d9ad04fe597a4e943016c7dd051cdd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qe3269k.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qe3269k.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f92bef9e794505dd14ccea677d3d66a20861c1
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qe3269k.json
@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--qe3269k",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 10,
+   "sim_steps": 10,
+   "horizon": 1500,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 2.42,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 1.091,
+   "metric_pelvis_to_ring_m": 3.001,
+   "metric_steps": 0.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 50,
+   "agent_resets": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.963,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.25,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-privileged--qe3269k/replay.mp4",
+  "duration_s": 0.12,
+  "fps": 25.0,
+  "frames": 3,
+  "sha256": "e81fd6e1fed3b136d2c66ecb829a411019c8fe72e4ab1c88b7993c8da644b72d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查本次评分视频的全部三帧（视频 0.00、0.04、0.08 s）；机器人始终在起点双手持橙色篮球，球保持在腰腹前方，未见向篮圈接近、主动起跳、出手或球穿篮。上篮步骤没有启动，因此不追加该步的实际操作接触。"
+     },
+     {
+      "t": 0.08,
+      "log_step": 11,
+      "text_zh": "观察：log step 10 的脚本仅执行十次 s.hold() 对应的保持指令后保存轨迹；log step 11 确认生成 trajectory.npz。评分器报告 n_actions=10、sim_steps=10、stages_reached=0、episode_over=0、fell=0，与视频 0.00–0.08 s 的初始持球状态一致。"
+     },
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：log step 48 的独立会话测试报告 approach 与 release in the air 两个阶段，但该测试没有保存轨迹；本次评分视频 0.00–0.08 s 没有这些动作。推断：这些会话测试不能计为所交付占位轨迹的节点进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 55,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.00–0.08 s 仅有起始持球姿态；log step 10–11 保存的是十步保持的占位轨迹，后续日志仍在开发和测试上篮动作。log step 55 以提供方 Gemini 过滤器拦截信息结束，没有完成报告；评分器 agent_replays=0、episode_over=0。推断：在有效上篮交付完成及验证前发生外部中断，无法把会话测试中的失败定位为本次评分轨迹的物理断点，按外因规则保留 unknown／首步前。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供评分视频与完整会话日志，但没有状态日志；视频只有三帧，所交付的十步保持占位轨迹未展示实际上篮。log step 55 记录提供方过滤器中断，之前没有更新占位交付或进行交付重放验证的记录（评分器 agent_replays=0）。推断：按 FAIL-5／D37，这是最终方案完成并验证前的外因中断，应重测并排除出机器人失败归因；保留目录中的 success=0，不标“没尝试”或由会话测试推入控制、交付根因。已有占位文件不等于最终结果已验证。"
+ },
+ "summary_zh": "评分视频 0.00–0.08 s 的全部三帧仅显示机器人在起点持球，上篮命中未达成，最终为 0/1 节点。log step 10–11 保存十步保持占位轨迹后，agent 继续独立测试，直至 log step 55 被提供方过滤器中断；未完成并验证最终上篮交付，按外因规则留空失败现象和根因。缺少状态日志及最终方案的评分动作，不能将会话中的起跳、出手或犯规计入本次轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频三帧只有起点持球，layup_scored 未达成（0/1）；log step 55 为提供方 Gemini 过滤器中断，此前交付的只是 10 步保持占位轨迹且无验证，按 FAIL-5 作为外因中断，breakpoint unknown/首步前、现象与根因为空并有 gap_zh，符合规则。",
+    "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": "2026-10-31T00:59:16Z",
+  "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/embodied-olympics-fun-layup-i00-privileged--qe3269k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--qe3269k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4def74b23c277d3fde581daca2a035dffdc9b4e5b7b1bf9d6fdb953bc0c2b2ed",
+   "video_sha256": "e81fd6e1fed3b136d2c66ecb829a411019c8fe72e4ab1c88b7993c8da644b72d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qvgsjvj.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qvgsjvj.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6e7038c1a78d73bc4d3ca6eeefe35efdfa3f4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-privileged--qvgsjvj.json
@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-privileged--qvgsjvj",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 237,
+   "sim_steps": 237,
+   "horizon": 1500,
+   "episode_over": 1,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 3,
+   "fell": 0,
+   "replay_s": 8.95,
+   "bad_trajectory": 0,
+   "metric_ball_height_m": 0.113,
+   "metric_pelvis_to_ring_m": 2.386,
+   "metric_steps": 1.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 350,
+   "agent_resets": 289,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.206,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.241,
+   "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/embodied-olympics-fun-layup-i00-privileged--qvgsjvj/replay.mp4",
+  "duration_s": 2.4,
+  "fps": 25.0,
+  "frames": 60,
+  "sha256": "81f887ee75a7ecca4d8cb7b751e873345b5fd8e5ae693f947e745bea45f5daec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人已用双手在胸腹前托扶篮球；视频 0.48–1.36 s 屈膝蓄力，视频 1.52–1.68 s 可见脚底与地面分离的小跳，球仍在双手之间。"
+     },
+     {
+      "t": 2.36,
+      "log_step": 244,
+      "text_zh": "观察：已检查完整视频 0.00–2.36 s，并逐帧检查视频 1.36–2.36 s；落地后机器人持续向前俯倒，手与球一起下降，末帧球到地面附近。全程未见球向篮圈飞行或穿篮；log step 244 对最终提交文件的两次独立回放均报告 success=false、stages=[]，并以持球期间球触地结束，指标与本次评分字段一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–1.68 s，机器人右手掌从篮球下方承托，左手在侧面扶持，两手随身体下蹲和小跳共同带球；末段两手仍贴近下降的球。画面未显示单手以相对手指夹紧球的明确抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.36 s 双脚接触球场地板，支撑下蹲和蹬地；视频 1.52–1.68 s 短暂腾空后，脚重新接地承担落地支撑，随后身体前倾塌下。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 1.0
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 2.0,
+   "log_step": 244,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.80–2.36 s，小跳落地后的机器人逐渐向前塌下，躯干由近直立变为接近水平，双手附近的篮球降到地面；尚未接近篮圈并完成空中投球。log step 244 的最终文件两次回放均以“the ball touched the floor while in your hands”结束，未修复这一上篮尝试。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.0,
+    "log_step": 244,
+    "evidence_zh": "观察：视频 1.80–2.36 s 机器人落地后没有稳住，膝髋继续下沉、身体向前栽至躯干接近水平，手和球被带向地板。推断：该连续前栽表现为落地后的平衡丧失；不据此声称裁判已判摔倒，评分字段 fell=0，log step 244 显示先由持球触地终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 225 展示的交付脚本在腾空循环中命令深蹲 Q_ABS，落地后再保持 Q_LAND；log step 244 确认最终由该 gen.py 重新生成并两次重放的文件均出现同一持球触地结果。结合视频 1.80–2.36 s 落地后持续前栽及手球一起下降，判断为整套起跳、落地和持球协调控制未能保持稳定；现有证据不足以进一步区分轨迹设计、跟踪或接触承载问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，场边远景不能分辨逐指接触、膝部首次触地或瞬时力；视频末段双手仍贴近球，不能证实 agent 在 log step 247 自述的“球被弹出手掌”，故不另标没保持住，也不把裁判 fell=0 改写为摔倒判罚。控制根因可定位到整体动作协调，无法确定更细机制；出手事件未发生，ball_to_ring_m、air_s 和 takeoff_speed_m_s 未报告。"
+ },
+ "summary_zh": "机器人持球下蹲并完成一次近乎原地的小跳，但未向篮圈出手，上篮命中节点始终未达成，最终为 0/1。视频 1.80–2.36 s 显示落地后身体前栽、手球下降，最终回放在 log step 244 因持球触地结束；结合脚本推断为起跳、落地与持球协调控制失败。没有状态日志，无法确认球是否脱离手掌或进一步细分控制机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 layup_scored 未达成（0/1）、断点、时间（视频时钟）和接触标签均与视频及最终回放结果一致；平衡与控制根因有保留地标为推断，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": "2026-10-31T00:58:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--qvgsjvj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-privileged--qvgsjvj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c44ad4aae4b8e0c97cfb66941ebdec797c3f8f4659c8b12a749c8ec5525daa67",
+   "video_sha256": "81f887ee75a7ecca4d8cb7b751e873345b5fd8e5ae693f947e745bea45f5daec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--fbwrymy.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--fbwrymy.json
new file mode 100644
index 0000000000000000000000000000000000000000..185d47c6b03b56e5506b9f4b77715669075c7eb5
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--fbwrymy.json
@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--fbwrymy",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 268,
+   "sim_steps": 7734,
+   "calls": 176,
+   "rows": 7734,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 2562.7,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.411,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.415,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--fbwrymy/replay.mp4",
+  "duration_s": 2.72,
+  "fps": 25.0,
+  "frames": 68,
+  "sha256": "0993234948b50719332be1daa04de186a751a309a0b490a3eb8dfef905ada57f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–2.68 s场边全景中，机器人双手在身前托持橙色篮球，前移很少；视频2.16–2.36 s屈膝，视频2.40–2.68 s伸腿抬身并向前上方送球，末帧球仍远离篮圈，完整视频没有球飞到圈上方或向下穿篮。"
+     },
+     {
+      "t": 2.68,
+      "log_step": 255,
+      "text_zh": "观察：log step 255的机器人服务返回最后一次现场回合episode 51已结束，outcome为“the ball was let go too far from the ring”，stages_reached为0/3；log step 257再次查询得到同一判罚。该服务字段是裁判对现场回合的判定；视频2.68 s的远篮位置与之相符，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.00、1.00、2.00及2.40–2.68 s的手球区域中，机器人右掌从下方承托篮球，左手在侧面扶持，双臂共同抬送球；未见可确认的合手包夹，不依据闭合指令认定抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–2.36 s机器人以双脚或交替脚接触球场地板，持球时小幅移动并屈膝；视频2.40 s后伸腿蹬地抬身。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 2.64,
+   "log_step": 255,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.40–2.68 s机器人开始蹬伸、双臂送球时，球仍在距篮圈明显较远的位置；log step 255的最终现场回合由服务裁判以“出手离篮圈过远”终止，log step 257复核仍为该结果。上篮命中从未完成，断点取该投篮步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.64,
+    "log_step": 255,
+    "evidence_zh": "观察：视频2.40–2.68 s机器人在原起点附近向前上方送球，球与篮圈之间仍有明显水平间隔，没有在篮圈附近完成出手；log step 255、257的最终回合服务判罚明确为“the ball was let go too far from the ring”。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频0.00–2.68 s中持球接近和蹬伸所产生的前移不足，未能把出手位置送入允许范围；log step 255显示脚本按预设步行时长和关节序列执行，服务随即判出手过远。日志还提供具体实现证据：log step 212将前倾写入腿部姿态的躯干目标，但log step 202所建row函数又用j[12:27]=av覆盖它；log step 263用最终回合参数构建命令得到torso target uniq [0.]，log step 265在回合结束后才修正覆盖。可确认控制命令未实现预期的躯干前倾，结合实际前移不足归为控制；不能确定该错误对距离不足的单独贡献，不细分控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有状态日志，视频为25 fps单一场边视角，末段篮球与双手投影接近，无法精确定位最后一次手球接触或独立核验毫秒级腾空条件；出手过远由最终回合的服务裁判记录确认。run.json的reward未报告DAG四项原生指标的数值，均填null；agent在log step 266给出的约2.15米距离是其自行估计，不作原生评分值。推断：脚本覆盖躯干目标的错误已证实，但其对最终前移不足的贡献及具体动力学机制不能分离。",
+  "unmet": {
+   "layup_scored": false
+  }
+ },
+ "summary_zh": "机器人在最后一次现场回合中完成持球、小幅接近、屈膝及蹬伸送球，但未在篮圈附近合法出手，上篮命中为0/1。视频2.40–2.68 s可见球仍远离篮圈，log step 255、257确认裁判以出手过远终止；控制脚本还存在躯干目标被覆盖的问题。缺少状态日志，无法精确核验最后手球接触和起跳数值，也无法分离代码错误对前移不足的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点layup_scored、位姿不准、控制根因均有视频与log step 255/257服务裁判读数支持；躯干覆盖的日志证据（step 202/212/263/265）核对属实，已标为推断。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": "2026-10-31T01:00:42Z",
+  "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/embodied-olympics-fun-layup-i00-standard--fbwrymy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--fbwrymy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b58c9555a48b1c2fcdd420d2275de93aedc2e205457390fd16cc2b1d5744cbf",
+   "video_sha256": "0993234948b50719332be1daa04de186a751a309a0b490a3eb8dfef905ada57f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--g5tggo6.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--g5tggo6.json
new file mode 100644
index 0000000000000000000000000000000000000000..023ee743c2ef4e752ab4e03a07a55f5a10dc5a8a
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--g5tggo6.json
@@ -0,0 +1,213 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--g5tggo6",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 23,
+   "sim_steps": 434,
+   "calls": 14,
+   "rows": 434,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1241.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.293,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.246,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--g5tggo6/replay.mp4",
+  "duration_s": 0.24,
+  "fps": 25.0,
+  "frames": 6,
+  "sha256": "8326385f1f1984e782f122f64aa6b7d7f33097a99a76bd11b96757a967878b4c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00、0.04、0.08、0.12、0.16、0.20 s；机器人双脚着地，橙色篮球始终位于胸前两手附近，仅有细微手臂和球体运动，没有向篮下行进、起跳、出手或篮球穿圈，上篮命中条件从未成立。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 33,
+      "text_zh": "观察：log step 33 的脚本重置到 episode 6 后仅执行持球准备动作 A，机器人服务返回 done=True、stages=0，以及“the ball touched a part of you other than a hand while in your hands”；这是服务裁判的持球碰身体判罚，非 agent 自述。log step 34 确认同一回合 control_steps=23、done=true、reason=failed；评分字段 graded_by_live=1、live_success=0，最后现场回合即评分对象。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–0.20 s，机器人右手掌在篮球下方承托，左手位于球侧共同扶持，随后左臂略动；未见单手完整包握球体。log step 33 的动作 A 试图移开左手、逐渐合拢右手，尚未完成单手持球转换。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.20 s，机器人双脚在球场地板承重，同时上肢处理篮球；没有离地或落步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 0.2,
+   "log_step": 33,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.16–0.20 s，机器人仍站在起始位置、球在手部附近，持球准备动作尚未完成；log step 33 的最后现场回合 episode 6 在动作 A 内收到裁判“持球期间篮球接触手以外身体部位”的终止结果、stages=0。log step 34 确认回合已失败，之后只有离线编写与检查脚本，没有后续物理修复。视频 0.20 s 为末段近似导航锚点，并非精确接触时刻。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 0.2,
+    "log_step": 33,
+    "evidence_zh": "观察：log step 33 中机器人服务的裁判结果明确报告“the ball touched a part of you other than a hand while in your hands”，即违反 DAG 的 held_ball_body_contact；log step 34 确认 episode 6 已终止。视频 0.00–0.20 s 球始终在胸前手部附近、双脚着地，没有可见的脱手坠落、摔倒或受阻过程；仅能确定此次违规触球，不据此补标没保持住或被挡/碰撞。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 0.2,
+    "log_step": 33,
+    "evidence_zh": "推断：log step 33 的动作 A 保持右臂原有持球目标，仅把左肩外展目标改为 0.9 rad、左手保持打开，并在计划持续 0.4 s 的片段中将右手闭合命令由 0.3 增至 0.65，意图从双手扶托切换为单手承托；服务在该片段内判持球碰身体，视频 0.00–0.20 s 也显示球仍贴近手臂而未被送出。结合这些动作与结果，接触转换未能保持球与非手部身体的间隙，属于具体承托与移手布局不适配。agent 在 log step 39 称球落到左腕/前臂，但该具体接触部位未由画面或接触对独立确认；本回合没有验证可行的替代移手方案。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本次视频只有 6 帧（视频 0.00–0.20 s，容器时长 0.24 s），无状态日志或接触对，不能确定违规触球的具体身体链接、接触力与精确发生时刻。log step 34 的最后回合计数为 23 个控制步，log step 33 脚本 dt=0.01 s，推断回合约持续 0.23 s，与视频末段相符；未将服务 time_s 或 agent 工作时间转换为视频时间。前五次重置回合及回合终止后离线生成的完整控制器不是本次评分轨迹；四项原生指标均未见评分器报告数值，保留 null。"
+ },
+ "summary_zh": "最后现场回合只进行了胸前双手扶托向单手承托转换的准备动作；视频 0.00–0.20 s 未见靠近、起跳或出手，上篮命中节点最终为 0/1。log step 33 的服务裁判因持球碰到手以外身体部位立即终止回合，结合移开左手与合拢右手的脚本，推断接触转换布局不适配。视频分辨率及缺少接触日志限制了具体碰球部位和精确时刻的判断，agent 所述左腕/前臂接触未获独立确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：最后现场回合 control_steps=23、服务裁判判持球碰身体、stages=0，上篮节点未达成；断点、约束违反现象和接触设计根因均有 log 与视频支持，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": "2026-10-31T01:10:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--g5tggo6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--g5tggo6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "844167b6106170b3ea1523fb7f799e95a2ed2fc37713ac194a776e4c1ca6417d",
+   "video_sha256": "8326385f1f1984e782f122f64aa6b7d7f33097a99a76bd11b96757a967878b4c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--j4ug7cw.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--j4ug7cw.json
new file mode 100644
index 0000000000000000000000000000000000000000..89224334d93c8aaf8bd5d05bdceeb0076f38d159
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--j4ug7cw.json
@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--j4ug7cw",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 123,
+   "sim_steps": 4692,
+   "calls": 145,
+   "rows": 4642,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3003.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.564,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.282,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--j4ug7cw/replay.mp4",
+  "duration_s": 1.24,
+  "fps": 25.0,
+  "frames": 31,
+  "sha256": "4b86b301aedaf2d6704ef1e7b7e7c7f4ffdfb3e7324e9159df21f8d61b478172"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.60 s，机器人双手在身体前方承托橙色篮球，双腿开始交替迈动；篮球随手移动，未飞向篮圈。"
+     },
+     {
+      "t": 1.04,
+      "log_step": 422,
+      "text_zh": "观察：视频 0.72–1.04 s，机器人持球时躯干逐渐后仰；视频 1.08–1.20 s 身体明显下沉、前折，球仍在双手附近且远低于篮圈，全段没有从上向下穿篮。log step 422 的机器人服务返回最后一次现场回合 Episode 51：outcome=fell、stages_reached=0/3、sim_time_s=1.23、control_steps=123；log step 423 确认该回合已结束，之后没有新回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–1.04 s，机器人右手掌从篮球下方承托，左手在球侧扶持，两手随迈步共同带球；可见的掌面承托不支持标为合手抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.04 s，机器人双脚在球场地板上交替支撑并迈步，同时双手持球；视频 1.08–1.20 s 腿部支撑姿态塌下，身体迅速降低。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 1.04,
+   "log_step": 422,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人正在持球迈步并尝试向起跳动作过渡，视频 0.72–1.04 s 躯干后仰，视频 1.08–1.20 s 身体迅速下沉、前折，球未接近篮圈；log step 422 的最后现场回合由机器人服务判为 fell、裁判阶段 0/3，未完成上篮且没有后续修复。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.04,
+    "log_step": 422,
+    "evidence_zh": "观察：视频 0.72–1.04 s 机器人持球后仰，视频 1.08–1.20 s 腿部支撑姿态塌下、上身快速降低并前折；log step 422 的机器人服务在该最终回合返回 outcome=fell、control_steps=123、仿真 1.23 s。末帧未显示明显躺倒，摔倒判定来自对应回合的服务输出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 419 的最终脚本先生成整段固定关节位置、速度、前馈力矩和增益序列，再一次性提交 lowcmd，未在迈步与起跳之间根据实际躯干姿态调整动作；log step 422 确认执行该脚本，视频 0.72–1.20 s 显示后仰继而支撑塌下，服务判 fell。该预定运动未维持全身稳定，支持控制层归因；尚不能确定具体关节、增益或接触力误差。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频最后采样帧为视频 1.20 s，早于 log step 422 返回的仿真 1.23 s 终止时刻，故不能从末帧单独确定哪一非足部部位首先触地。全段帧及最后回合服务结果支持失衡和未命中，但不足以区分具体控制子类，也无法测定指尖接触对。评分 reward 未报告 DAG 的 steps、ball_to_ring_m、air_s、takeoff_speed_m_s 原生值，均保留 null；n_actions=123 是控制动作数，不能替代持球落步计数。"
+ },
+ "summary_zh": "最后一次现场回合中，机器人双手承托篮球并交替迈步，但未完成上篮命中，节点最终为 0/1。视频 0.72–1.20 s 显示后仰后身体下沉，log step 422 确认该回合因摔倒终止、裁判阶段 0/3；固定动作序列未维持稳定，根因归于控制。末帧未覆盖判罚瞬间，且无状态日志，具体触地点和控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点未达成、断点 layup_scored（操作中）、现象 全身·平衡、根因 控制（停在“控制”未分子类）均与视频 0.7–1.24 s 帧（后仰、下沉）及 log step 422/423（outcome=fell、stages 0/3、control_steps=123）一致，时钟均标明，未发现需改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:02:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--j4ug7cw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--j4ug7cw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9facaeb2288861314bb812dbe5b310918c238848dac8be808f2496450b97825d",
+   "video_sha256": "4b86b301aedaf2d6704ef1e7b7e7c7f4ffdfb3e7324e9159df21f8d61b478172",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--kfvxofc.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--kfvxofc.json
new file mode 100644
index 0000000000000000000000000000000000000000..7997f6a51457d1c79172e0bedc8493ade25aca18
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--kfvxofc.json
@@ -0,0 +1,245 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--kfvxofc",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 172,
+   "sim_steps": 6361,
+   "calls": 1048,
+   "rows": 4920,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 1775.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.303,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.836,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/replay.mp4",
+  "duration_s": 1.76,
+  "fps": 25.0,
+  "frames": 44,
+  "sha256": "bb8506abdf255996f4048e4fecea89c5f6c6573e3001545de907093ecd2c9886"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 起，机器人在篮圈前方较远处双手承托篮球，双脚在地面支撑；逐帧检查视频 0.00–1.72 s，球始终随双手停留在身前，未出现离手飞向篮圈或从上向下穿篮。"
+     },
+     {
+      "t": 1.56,
+      "log_step": 133,
+      "text_zh": "观察：视频 1.44–1.72 s，机器人躯干后仰、腿部伸展并抬高手中的球，仍未到篮圈附近或完成空中出手。log step 133 执行最后一次重置后的上篮脚本；log step 134 的机器人服务状态为 episode=51、control_steps=172、done=True、reason=failed，后续重置被拒绝；评分器字段 graded_by_live=1、success=0。此前重置中的出手不计入本段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–1.72 s，机器人右手掌位于篮球下方承托，左手位于球侧协同扶持；末段双手随球抬高。画面未显示单手手指对球形成包围夹紧，不据闭合指令标抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.72 s，机器人双脚在球场地板上交替承重，末段腿部弯伸、身体后仰，手部同时持球；没有可见的膝部或躯干着地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 1.5,
+   "log_step": 133,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.44–1.72 s，机器人在持球上篮动作中后仰、伸腿和抬手，球未离开双手飞向篮圈，视频随即结束；log step 134 的服务状态确认最后一局 episode=51 已失败并结束。断点为尚未完成的上篮命中步骤。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：逐帧检查视频 0.00–1.72 s，机器人始终持球，末段后仰抬球，未见摔倒、出手或穿篮；log step 134 的服务状态为 episode=51、control_steps=172、done=True、reason=failed。inputs/ 未提供状态日志，log step 132–133 的 out.text 为空，服务未报告具体判罚条款、持球落步计数、触球明细或裁判阶段；“第三步走步、裁判 0/3 阶段”仅为 agent 自述（log step 134、137），不能当作独立裁判读数。推断：该局在上篮完成前已被判负结束，走步是可能解释，但视频不能精确复核接触去抖、滑步或同脚落步，也不能排除其他未记录的判罚条件，故不确认违反了哪条约束；短局中前进很少不足以证明步态过慢或步幅不足。现象层留空；现有控制脚本调用及失败结果也不足以区分规划、接触设计、轨迹或跟踪问题，根因层留空。评分器未报告 steps、ball_to_ring_m、air_s、takeoff_speed_m_s，四项原生指标仍为 null。"
+ },
+ "summary_zh": "观察：评分视频 0.00–1.72 s 中，机器人始终双手托持篮球，末段后仰伸腿并抬球，未见出手或穿篮，上篮命中节点最终为 0/1；log step 134 的服务状态确认最后一局 episode=51 在 control_steps=172 时已判负结束。断点仍为上篮操作中；走步可能导致提前结束，但具体判罚仅有 agent 自述而无独立明细，现象与根因均留空。由于判罚及根因证据不足，置信度从 7 降为 5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（节点未达成、断点 layup_scored、时间 ~1.5 s）与视频一致；问题在 phenomenon：视频只有 1.76 s 的末局，机器人直立持球、没有摔倒，服务在 1.72 s（control_steps=172）就判 failed，这是被规则（脚步/走步类犯规）提前终止，而不是“前进太慢/步态不足”，所以步态没有证据支持。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（layup_scored 未达成、断点 操作中、contact_actual）与视频 0–1.72 s 一致；现象/根因留空并写 gap_zh 可接受。仅剩一处不一致：summary_zh 称 conf 已从 7 降为 5，但文件 conf 仍为 7（第一轮已接受改为 5）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按接受意见落实：conf 现为 5，与 summary_zh 一致，未影响其他字段。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按接受意见落实：conf 现为 5，与 summary_zh 一致，未影响其他字段。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:15:10Z",
+  "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/embodied-olympics-fun-layup-i00-standard--kfvxofc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--kfvxofc/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1c07ea1862521ff0944d38ee4852b69da7aa4e1c0c5549c7970a3e67c61a352",
+   "video_sha256": "bb8506abdf255996f4048e4fecea89c5f6c6573e3001545de907093ecd2c9886",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--o9bhc8j.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--o9bhc8j.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5849ecb4f3a07f533c2a7534bc1cb5938908756
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--o9bhc8j.json
@@ -0,0 +1,213 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--o9bhc8j",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 213,
+   "sim_steps": 213,
+   "calls": 10,
+   "rows": 213,
+   "resets": 0,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 840.6,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.503,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.321,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--o9bhc8j/replay.mp4",
+  "duration_s": 2.16,
+  "fps": 25.0,
+  "frames": 54,
+  "sha256": "f07aa44b6a21413cf3f8e2a7de6a4a7e3362027deb343abe5969311a812e718e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.00 s至2.12 s的全景及全部54帧机器人局部图中，篮球一直在机器人胸腹前的手部位置；机器人先站立持球，后小幅交替屈膝踏步，没有起跳送球、球离手飞行或穿篮。"
+     },
+     {
+      "t": 2.12,
+      "log_step": 34,
+      "text_zh": "观察：log step 34中机器人现场服务返回episode=1、done=true、stages_reached=0/3，裁判outcome为“travelling: a third step with the ball in the hand”；run.json的reward同时记录resets=0、sim_steps=213、live_success=0。推断：这是唯一现场评分回合，与视频末帧仍持球一致，上篮命中未达到；后续LocalSim测试不计入本节点。"
+     },
+     {
+      "t": 2.12,
+      "log_step": 34,
+      "text_zh": "推断：log step 4报告control_dt=0.01 s，log step 34的control_steps=213对应回合仿真2.13 s；与视频2.00–2.12 s末段仍持球踏步并终止相符，采用视频2.12 s作判罚导航锚点，不使用agent工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频0.00、0.60、1.20及2.12 s局部图中，机器人一只手掌从球下方承托，另一只手在球侧扶持；双手随身体轻微运动，球一直留在手部。未见出手；按可见承托标注，不仅凭合手指令认定抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–2.12 s机器人双脚在球场地板上承重，后段交替屈膝、抬落脚，同时双手保持持球；未见摔倒或为投篮完成起跳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "value": 3,
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_to_ring_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "air_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 2.12,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频1.20–2.12 s机器人仍在持球踏步，球没有离手；log step 34中现场服务的裁判终止文字为“travelling: a third step with the ball in the hand”，且stages_reached=0/3。推断：上篮接近过程在持球第三次落步时被判负，尚未起跳出手，断点属于上篮命中步骤。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": 2.12,
+    "log_step": 34,
+    "evidence_zh": "观察：视频2.00–2.12 s机器人仍持球，未见投篮释放；log step 34的现场裁判明确报告持球第三步走步并置done=true。推断：违反DAG travelling所列持球落步至多两次的规则；这是规则性走步，视频没有摔倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 34中agent给机器人提交250行完全相同的walk指令，dt=0.01 s、前向速度命令0.8 m/s，双手合拢命令始终为0.60；这段动作没有按持球落步次数切换到起跳或出手的安排。现场服务实际执行152行后因持球第三步终止，视频0.60–2.12 s也显示始终持球而未起跳出手；因此该次实际执行的接近与出手阶段安排未满足两步上限，而非球飞行瞄准失误。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；视频足部较小，无法独立逐物理步复核裁判的落步去抖和全部手指接触，第三步判罚采用唯一现场回合的服务裁判读数。steps=3来自log step 34裁判终止文字明确报告第三步；ball_to_ring_m、air_s和takeoff_speed_m_s均未报告，保留null。log step 197的模型过滤发生在log step 34现场回合已判负之后，不改变本回合的物理失败；log step 196本地仿真自报成功不是评分回合证据。"
+ },
+ "summary_zh": "机器人只完成了原地持球调整和短暂踏步，上篮命中未达成，节点终值0/1。视频2.12 s附近球仍在手中，log step 34现场裁判明确因持球第三步走步终止；连续行走指令未安排两步内转入起跳出手，支持推理/规划根因。无状态日志，精细落步与手指接触依赖现场服务读数和有限分辨率视频，后续本地仿真及模型过滤不改变该回合判负。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成(0/1)、断点layup_scored/操作中、违反约束(走步)与推理/规划根因均与现场服务读数(log step 34: travelling, stages_reached=0/3, 213步)和视频持球画面一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:05:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--o9bhc8j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--o9bhc8j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "18bc41ff59f8701f099ec763c93a61bdb8c5566fe371c594d3a7523dd775a138",
+   "video_sha256": "f07aa44b6a21413cf3f8e2a7de6a4a7e3362027deb343abe5969311a812e718e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--uknssrb.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--uknssrb.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe2dbb63b672fa24f257114f720f45cdfa64c06
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--uknssrb.json
@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--uknssrb",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 560,
+   "sim_steps": 11056,
+   "calls": 5650,
+   "rows": 10684,
+   "resets": 21,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 7193.6,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.437,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.992,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--uknssrb/replay.mp4",
+  "duration_s": 5.64,
+  "fps": 25.0,
+  "frames": 141,
+  "sha256": "26a89197b1707769e66b89b6d8f7422fd012c99af4119cfef03cd8949a918c83"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人站在篮下区域外侧，右手从下方托住篮球，左手接触球侧；视频 1.52 s 左手已移至球上方，双手继续稳住篮球。"
+     },
+     {
+      "t": 3.52,
+      "log_step": 174,
+      "text_zh": "观察：视频 3.52–5.60 s 机器人屈膝、向篮筐方向缓慢迈步，篮球始终随双手停留在腹胸前；至最后一帧仍未腾空出手，球未飞向或穿过篮圈。log step 174 的现场服务记录为最后一次重置后的 episode 22，完成重心转移后开始 swing 阶段。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 177,
+      "text_zh": "观察：视频 5.60 s 篮球仍在机器人双手间，机器人仍由脚支撑；log step 177 的服务状态为 episode 22、control_steps=496、done=False、reason=None，预算监测记录 time_left_s=0。评分器字段 live_success=0、finalized=1；本节点未完成的判断以视频可见的未出手为依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–5.60 s 右手掌从球下方承托篮球，左手起初扶球侧，随后移到球上方协同稳球；末段双手持球随本体前移，未见释放。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–5.60 s 机器人双脚在球场地板上承重，随后屈膝转移重心并迈步；未见完成起跳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "ball_to_ring_m",
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "air_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 3.5,
+   "log_step": 174,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.50 s 起机器人持球迈步，视频 4.00–5.60 s 仍只在缓慢向前移动，球没有离手、机器人没有起跳，上篮动作未能推进至空中出手。log step 172、174、177 均指向最后一次重置后的 episode 22；此前测试的出手、失球或摔倒不属于本段评分视频。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 3.5,
+    "log_step": 174,
+    "evidence_zh": "观察：视频 3.52–5.60 s 机器人持球缓慢屈膝迈步，至视频最后一帧仍在原起点附近，脚部继续支撑，尚未推进到起跳和出手；整个评分视频未出现摔倒。推断：本次可见问题是持球接近阶段推进不足，结束时上篮所需的行进与起跳尚未完成，按仍在进行但推进过慢的步态标注。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，也没有本次最终回合的详细裁判阶段、手球接触对及原生 steps、ball_to_ring_m、air_s、takeoff_speed_m_s 指标。log step 177 记录预算耗尽时现场回合仍未结束，但没有说明最后回合中具体哪项控制机制使动作推进不足；此前回合的求解器异常和侧倾不能直接当作最后回合的根因，因此根因层留空。视频只含场边全景，能确认双手承托与稳球，不能核实逐指接触力及毫秒级出手条件。"
+ },
+ "summary_zh": "评分回合中机器人双手托持篮球，完成重心转移并缓慢迈步，但直到视频 5.60 s 仍未起跳、出手或穿篮，上篮命中节点为 0/1。断点位于上篮操作中的持球行进阶段，可见现象为步态推进不足；log step 177 显示预算耗尽时最终现场回合仍未结束。缺少状态日志及最后回合的具体控制故障证据，根因留空，未将此前测试中的摔倒或求解器异常归给评分回合。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频显示评分回合中机器人持球屈膝、缓慢前移，至5.60 s（视频时钟）未起跳出手，layup_scored=false、final 0 与帧一致；接触标注（双臂协作托/舀、腿/躯干支撑）符合所见，时钟均标明视频时间，无转换的agent时间。断点、步态现象及留空根因（有gap_zh）可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--uknssrb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--uknssrb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a0167fcf8691ec80bf264c18bb199bb8785b5d0d56fa2954d77de9b0f9e61ee",
+   "video_sha256": "26a89197b1707769e66b89b6d8f7422fd012c99af4119cfef03cd8949a918c83",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--wgub46z.json b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--wgub46z.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87a48559de3fe77c9a96c7cff5bb53f6ecf3875
--- /dev/null
+++ b/phase2/embodied-olympics-fun/layup/trajectories/embodied-olympics-fun-layup-i00-standard--wgub46z.json
@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-layup-i00-standard--wgub46z",
+ "taskKey": "embodied-olympics-fun/layup",
+ "dag_sha256": "cb7245d393b71eb13fe5757b27868d83a05141e8ffe5b75b752a5b5a686820f3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 313,
+   "sim_steps": 6266,
+   "calls": 78,
+   "rows": 6266,
+   "resets": 24,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 4698.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.823,
+   "peak_processes": 14,
+   "peak_disk_gb": 2.038,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-layup-i00-standard--wgub46z/replay.mp4",
+  "duration_s": 3.16,
+  "fps": 25.0,
+  "frames": 79,
+  "sha256": "cd63f106782969bd3c2456af5a3987548dd1d5871a5e0ab79f4aaab096afcada"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "layup_scored": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 机器人双手在身前托扶橙色篮球，篮圈位于其前方远处；此时球没有处于篮圈内。"
+     },
+     {
+      "t": 3.08,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.00–3.12 s；机器人持球屈膝，视频 3.04–3.12 s 双腿由屈膝趋于伸直、躯干后仰，右臂和篮球明显上移；球仍在机器人身前、明显低于篮圈，未见可确认的腾空、球手分离或从上向下穿圈。"
+     },
+     {
+      "t": 3.12,
+      "log_step": 316,
+      "text_zh": "观察：视频 3.12 s 末帧中篮球仍贴近机器人手部，离篮圈尚远。log step 316 的最后一次现场尝试重置到 episode 25，提交 stand 和 lowcmd 后，机器人仿真服务返回“the ball was let go too far from the ring failed”；run.json 的 graded_by_live=1、live_success=0、finalized=1。推断：末次尝试未进球；离圈过远时松球来自服务判罚，画面未直接显示被判罚的离手瞬间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "观察：视频 0.00–2.96 s 机器人右手从下方承托篮球，左手在侧面扶持，两臂保持身前托球姿态；视频 3.04–3.12 s 右臂和篮球明显上移，末帧球仍贴近手部，未见清晰离手。画面未显示单手合拢包围球体的抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.96 s 机器人双脚在球场地面承重，双腿屈伸；视频 3.04–3.12 s 双腿由屈膝趋于伸直，配合抬臂上举球。画面中没有可确认的完整腾空后落地过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "steps",
+   "value": null,
+   "unit": "count",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ball_to_ring_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "air_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "takeoff_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "layup_scored",
+   "t": 3.08,
+   "log_step": 316,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.04–3.12 s 机器人伸膝、后仰并抬臂上举球，篮球仍贴近手部、远低于篮圈，未见清晰离手或穿篮；log step 316 中机器人仿真服务对最后一次现场尝试判定“the ball was let go too far from the ring failed”。推断：上篮因离圈过远时松球而失败，此出手位置判定来自服务反馈；视频 3.08 s 仅为末段上举动作的导航锚点，不代表出手或服务判罚的精确时刻。"
+  },
+  "unmet": {
+   "layup_scored": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.08,
+    "log_step": 316,
+    "evidence_zh": "观察：视频 3.04–3.12 s 机器人右臂和篮球上移，但球仍贴近手部、远低于篮圈，未见清晰离手；log step 316 的最后一次现场服务反馈明确判为离圈过远时松球。推断：投篮的出手位置未到合法近圈范围，以位姿不准描述这一失败；画面仅显示持球上举动作，不能直接定位被判罚的离手瞬间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.08,
+    "log_step": 316,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：持球推进与抬臂上举的控制未实现足够的前移。log step 305 的脚本以离线腿部逆解生成关节目标序列，并将右臂摆动与腿部蹬伸同步；log step 314、316 继续修改这些姿态，最后一次 lowcmd 提交仍被服务判为离圈过远时松球；视频 0.00–3.12 s 中机器人主要在原位置屈伸，视频 3.04–3.12 s 右臂和球明显上移，球仍远离篮圈且未显示清晰离手。现有证据支持运动控制不足，不能区分轨迹生成与实际跟踪的具体问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志。视频时长为 3.16 s、帧率为 25 fps，最后可见帧为视频 3.12 s，球仍贴近手部，未记录清晰分离后的飞行；视频 3.08 s 只是末段动作的导航锚点，不能确定服务判罚对应的离手瞬间是否在视频结束之后。log step 316 的 rows 390 是提交行数，不是实际执行行数；不能据此认定视频只覆盖末次尝试的开头。无法独立核验最后一次手球接触、出手去抖、腾空持续时间和起跳速度。末次服务反馈提供离圈过远的判罚，但未报告 steps、ball_to_ring_m、air_s、takeoff_speed_m_s 的原生数值，故均填 null。agent 在 log step 317 自述“legal in-air release”和超出范围约 0.3–0.4 米，前者不满足服务判罚所要求的完整合法性，后者缺少独立数值证据；不据此确认两次完整跳跃或精确距离。"
+ },
+ "summary_zh": "机器人持球屈膝，视频 3.04–3.12 s 伸膝、后仰并抬臂上举球，但视频内未见篮球到达篮圈上方或穿篮；最后一次现场尝试的服务在 log step 316 判定离圈过远时松球，唯一节点“上篮命中”未达成，终态为 0/1。断点为上篮操作中的出手位置不准，根因归为控制。缺少状态日志和原生出手数值，末帧未显示清晰离手，无法精确定位判罚时刻或进一步细分控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（未进球、终态 0/1）、断点步骤、位姿不准现象与停在“控制”的根因都有服务判罚（log step 316 “let go too far from the ring”）和 run.json 字段支持，我同意。需要改的是证据表述：视频只有 3.16 s，只覆盖末次 390 行（约 7.8 s）仿真的开头，出手发生在视频之后，视频中看不到“蹬伸抬臂送球”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（0/1）、断点 layup_scored、位姿不准现象和停在“控制”的根因均由 log step 316 的服务判罚（离圈过远时松球）和 run.json 字段支持；视频只到 3.12 s，文件已如实标明未见离手，观察与推断区分清楚。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--wgub46z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--wgub46z/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--wgub46z/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-layup-i00-standard--wgub46z/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3bd7432f4fed0e30a9025d963efac751cd5adbf245a52f82c933a1c5f1e1a9ca",
+   "video_sha256": "cd63f106782969bd3c2456af5a3987548dd1d5871a5e0ab79f4aaab096afcada",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp.json
new file mode 100644
index 0000000000000000000000000000000000000000..8690655235da3dfa628c2f4bdec70086d8ad6944
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp.json
@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--a85gqxp",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.1667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 227,
+   "sim_steps": 227,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.1667,
+   "stages_reached": 2,
+   "stages_total": 12,
+   "fell": 1,
+   "replay_s": 11.23,
+   "bad_trajectory": 0,
+   "metric_jumps": 2.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 512,
+   "agent_resets": 365,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.196,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.24,
+   "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/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp/replay.mp4",
+  "duration_s": 2.28,
+  "fps": 25.0,
+  "frames": 57,
+  "sha256": "875c09c82b61c8978ceccace87da0f1bbbf993b2ccd5defe4e8c87e13340846f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 230,
+      "text_zh": "观察：视频 0.76–1.00 s，机器人在白框内屈膝、摆臂并跳起，长绳扫过双脚所在位置后向身后上行，机器人随后落脚；以视频 0.92 s 作为首次过绳的近似时刻。log step 230 对已提交文件的独立重放明确列出 jump 1、jump 2，并记录首次双脚通过事件在仿真 0.901–0.902 s；评分器 metric_jumps=2。远景不能直接量出瞬时净空，有效性由该交付文件的裁判记录确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在木地板上蹬地并承接第1次过绳前后的落地，身体依靠脚部支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人跳起，使转动长绳从双脚下通过；第1次有效过绳由提交文件的裁判计数确认，脚底瞬时净空无法从远景精确测量。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.92,
+      "log_step": 230,
+      "text_zh": "观察：视频 1.76–2.04 s，长绳再次下降并扫过机器人脚下位置，机器人再次腾起后落脚；视频 1.92 s 为第二次过绳的近似时刻。log step 230 的提交文件重放返回 stages=[jump 1,jump 2]、metrics.jumps=2，且与本次评分器 metric_jumps=2 一致；后续摔倒不撤销已锁存的两次计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人双脚在木地板上蹬地并承接第2次过绳前后的落地，身体依靠脚部支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "机器人跳起，使转动长绳从双脚下通过；第2次有效过绳由提交文件的裁判计数确认，脚底瞬时净空无法从远景精确测量。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：视频 2.04–2.24 s，机器人在第二次过绳后的连续跳跃动作中屈膝支撑，躯干逐渐后倾，骨盆下沉，末帧已向后塌倒；没有出现第三次完整过绳。log step 230 和 log step 239 对最终提交文件的重放均仅列出 jump 1、jump 2，终止原因是 fell。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "机器人在第二次过绳后的落地和下一次跳跃准备动作中以双脚支撑木地板，随后支撑失稳、身体向后塌倒；尚未完成第三次脚下过绳。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第4次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第4次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第5次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第5次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第6次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第6次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第7次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第7次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第8次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第8次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第9次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第9次未达到。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.24,
+      "log_step": 230,
+      "text_zh": "观察：本次视频 0.00–2.24 s 只出现前两次脚下过绳，随后机器人向后塌倒并结束，未进入第10次过绳动作；log step 230 的提交文件重放和评分器 metric_jumps=2 均确认累计仅两次，因此第10次未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 2.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_3",
+   "t": 2.12,
+   "log_step": 230,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.04–2.24 s，完成两次计数后的机器人继续屈膝支撑并准备后续跳跃，躯干持续后倾、骨盆下沉至接近地板，没有恢复；log step 230、239 的最终交付重放均为 fell，仅通过 jump 1 和 jump 2。推断：尚未完成且正在继续准备的是过绳3，因此断点归于该步骤，视频 2.12 s 为开始明显塌倒的导航锚点。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.12,
+    "log_step": 230,
+    "evidence_zh": "观察：视频 2.08–2.24 s，机器人双膝弯曲、骨盆快速降低，躯干向后倒，末帧身体已塌到低处，未重新站起；最终交付文件的裁判重放在 log step 230 返回 failed=fell，评分器 fell=1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 2.12,
+    "log_step": 227,
+    "source_zh": "日志",
+    "evidence_zh": "推断：连续跳跃的姿态与落地稳定控制未能维持身体平衡。log step 227 是保存最终交付轨迹的实际生成调用，其诊断输出在仿真 1.000 s、1.330 s、1.680 s、2.050 s 分别记录骨盆俯仰角 −10.0°、−13.1°、−4.9°、−28.8°；log step 229 确认生成器与提交动作逐值相同，log step 230、239 重放同一文件均以 fell 结束，与视频 2.08–2.24 s 的后倾塌倒一致。证据支持控制失稳，但不能唯一归因于反馈律、轨迹设计或某个增益。"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定远景与25 fps采样不能直接核实每只脚通过时的毫秒级净空及接触，因此前两次有效性结合最终提交文件的裁判计数确认，节点视频时刻为近似值。日志包含大量其他参数试验，均不作为本次节点进度；缺少最终交付的完整关节力矩、支撑力及控制误差记录，根因保留在控制层，不指定具体参数或反馈故障。"
+ },
+ "summary_zh": "本次交付在视频约 0.92 s、1.92 s 完成前两次有效过绳，节点最终为2/10；评分器 jumps=2 与最终文件独立重放一致。机器人在继续准备过绳3时向后失衡，视频 2.12–2.24 s 明显塌倒，断点为过绳3，日志支持连续跳跃姿态控制失稳。没有状态日志，瞬时净空依靠裁判计数确认，具体控制故障机制仍不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、log step 230/239 的裁判重放（jump 1、jump 2，failed=fell，under 事件 0.901 s）一致；节点 2/10、断点过绳3、平衡+控制均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:00:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--a85gqxp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2f83d36da7df6db598c72953fae1113929c9184f923b99e662b98e846d72dfdc",
+   "video_sha256": "875c09c82b61c8978ceccace87da0f1bbbf993b2ccd5defe4e8c87e13340846f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--bunehkm.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--bunehkm.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c66716e442d3789a198e257ad68c6c719f6d656
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--bunehkm.json
@@ -0,0 +1,491 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--bunehkm",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1068,
+   "sim_steps": 1068,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 12,
+   "stages_total": 12,
+   "fell": 0,
+   "replay_s": 21.78,
+   "bad_trajectory": 0,
+   "metric_jumps": 10.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 30,
+   "agent_resets": 72,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.753,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.252,
+   "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/embodied-olympics-fun-long-rope-i00-privileged--bunehkm/replay.mp4",
+  "duration_s": 10.72,
+  "fps": 25.0,
+  "frames": 268,
+  "sha256": "a77de52c79098237836c2fe2dae4ff4b0cb5f780c4999e0e9b9de3201174838e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 1.0 s 作为第1次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 0.76–1.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第1次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第1次有效过绳前后的脚部由木地板承重；视频 0.76–1.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第1次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 2.0 s 作为第2次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 1.76–2.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第2次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第2次有效过绳前后的脚部由木地板承重；视频 1.76–2.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第2次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 3.0 s 作为第3次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 2.76–3.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第3次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第3次有效过绳前后的脚部由木地板承重；视频 2.76–3.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第3次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 4.0 s 作为第4次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 3.76–4.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第4次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第4次有效过绳前后的脚部由木地板承重；视频 3.76–4.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第4次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 5.0 s 作为第5次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 4.76–5.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第5次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第5次有效过绳前后的脚部由木地板承重；视频 4.76–5.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第5次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 6.0 s 作为第6次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 5.76–6.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第6次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第6次有效过绳前后的脚部由木地板承重；视频 5.76–6.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第6次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 7.0 s 作为第7次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 6.76–7.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第7次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第7次有效过绳前后的脚部由木地板承重；视频 6.76–7.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第7次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 8.0 s 作为第8次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 7.76–8.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第8次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第8次有效过绳前后的脚部由木地板承重；视频 7.76–8.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第8次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 9.0 s 作为第9次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 8.76–9.12 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1、deterministic=1 支持本次交付回放完成全部十次有效过绳；结合连续转绳顺序，将本节点记为第9次有效过绳并锁存。逐次完成时刻及绳通过每只脚时的瞬时净空不能由25帧/秒远景直接验证，有效性依据本次回放的评分器结果判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第9次有效过绳前后的脚部由木地板承重；视频 8.76–9.12 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第9次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：将视频约 10.0 s 作为第10次有效过绳的导航锚点，是结合可见转绳节奏（约每圈视频1 s）与评分器总计10次估计的，并非逐帧确认的计数时刻。所检视频 9.76–10.16 s 仅见长绳在机器人身旁转过、机器人在白框内保持直立，远景不能辨清屈膝、腾空或脚部回落。"
+     },
+     {
+      "t": 10.68,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、success=1、replay_success=1、deterministic=1、fell=0，支持第十次有效过绳及末跳落地、连续站稳验收均通过。所检视频 10.20–10.68 s 显示机器人保持直立，结合本次回放评分结果，将本节点完成近似锚定在视频末帧 10.68 s；该时刻是末段验收的导航估计，不能由画面精确定位落地及站稳验收起止，骨盆速度、躯干竖直余弦和接地部位也不能直接量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "推断：第10次有效过绳前后的脚部由木地板承重；视频 9.76–10.16 s 可见机器人直立、脚部位于地板处，但不能辨清蹬地和落地瞬间。支撑判定结合本次回放10次有效计数及成功评分，未将起落动作当作直接观察。末段脚部支撑站稳由12/12阶段及成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：机器人在第10次有效过绳中避开长绳；inputs/run.json 的 reward.metric_jumps=10、stages_reached=stages_total=12、replay_success=1 支持全部有效过绳且未触绳。视频仅见绳在身旁转动，双脚离地、通过顺序及瞬时净空不能直接辨清。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 10.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付回放的评分器报告10次有效过绳、12/12原生阶段及确定性回放成功，十个节点最终均完成；前九个节点的约视频 1.0–9.0 s 整秒锚点按可见转绳节奏和总数估计，第十个节点含落地站稳验收，近似锚定视频末帧 10.68 s。无状态日志，25帧/秒远景仅能确认长绳转动、机器人保持直立，不能直接确认逐次屈膝、腾空、落地、净空和站稳阈值；动作有效性与接触标注结合评分结果推断，关键时间也属估计，因此置信度降为5。日志中的早期失败测试及最终过滤提示（log step 127）不改变已交付轨迹的成功裁判结果。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "成功结果（10次有效过绳、12/12阶段）有评分器支撑，节点全部达到且无失败无问题；但各节点证据中的“观察：屈膝完成小跳、脚部回落、逐帧检查”在视频中看不到：机器人头部高度在 0.6–1.4 s 恒定，未见屈膝或腾空，只见绳扫过。这些应降为推断，并且整秒锚点时间只是按节奏估计。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功结果有评分器支撑（metric_jumps=10、stages 12/12、replay_success=1、fell=0）；十个节点全部达成、无失败层，符合评分器结果。上一轮指出的“观察”措辞已改为推断，整秒锚点已明确为按绳周期与总数估计的导航锚点（视频时钟），无转换的代理时间，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": "2026-10-31T01:12:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--bunehkm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--bunehkm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--bunehkm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--bunehkm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b522c65e1c4a71b0fbdddce87d524a967cfde14382eeb2b8e5b19f14dd81380d",
+   "video_sha256": "a77de52c79098237836c2fe2dae4ff4b0cb5f780c4999e0e9b9de3201174838e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b29b8e287ea22a8e44e2ae13b4029d99f0e8cf0
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej.json
@@ -0,0 +1,379 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--dwv7eej",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.4167,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 521,
+   "sim_steps": 521,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.4167,
+   "stages_reached": 5,
+   "stages_total": 12,
+   "fell": 0,
+   "replay_s": 8.99,
+   "bad_trajectory": 0,
+   "metric_jumps": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 919,
+   "agent_resets": 421,
+   "agent_replays": 12,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 6.47,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.841,
+   "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/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej/replay.mp4",
+  "duration_s": 5.24,
+  "fps": 25.0,
+  "frames": 131,
+  "sha256": "851bdbad60769c33b14cd26a1736df81bd6d6e2a380ef4800df61fff72afc90a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": null,
+      "text_zh": "观察：视频 0.68–1.00 s，机器人完成第1次蹬地、腾空和落地，转绳机带动细绳向下经过双脚下方；评分器 reward.metric_jumps=5、stages_reached=5。推断：按画面中的五次顺序过绳及裁判累计值，本步在视频约 0.92 s 达到；25帧/秒远景下过脚瞬间约有0.1秒定位误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.68–1.00 s，机器人脚部在木地板蹬地起跳，并在该跳后承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频约 0.92 s，机器人双脚腾空让细绳从脚下通过；前五次过绳被裁判计数，支持此次全身避绳通过，非腿脚主动触绳。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.68–2.00 s，机器人完成第2次蹬地、腾空和落地，转绳机带动细绳向下经过双脚下方；评分器 reward.metric_jumps=5、stages_reached=5。推断：按画面中的五次顺序过绳及裁判累计值，本步在视频约 1.96 s 达到；25帧/秒远景下过脚瞬间约有0.1秒定位误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.68–2.00 s，机器人脚部在木地板蹬地起跳，并在该跳后承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频约 1.96 s，机器人双脚腾空让细绳从脚下通过；前五次过绳被裁判计数，支持此次全身避绳通过，非腿脚主动触绳。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.68–3.00 s，机器人完成第3次蹬地、腾空和落地，转绳机带动细绳向下经过双脚下方；评分器 reward.metric_jumps=5、stages_reached=5。推断：按画面中的五次顺序过绳及裁判累计值，本步在视频约 2.96 s 达到；25帧/秒远景下过脚瞬间约有0.1秒定位误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.68–3.00 s，机器人脚部在木地板蹬地起跳，并在该跳后承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频约 2.96 s，机器人双脚腾空让细绳从脚下通过；前五次过绳被裁判计数，支持此次全身避绳通过，非腿脚主动触绳。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.68–4.12 s，机器人完成第4次蹬地、腾空和落地，转绳机带动细绳向下经过双脚下方；评分器 reward.metric_jumps=5、stages_reached=5。推断：按画面中的五次顺序过绳及裁判累计值，本步在视频约 3.96 s 达到；25帧/秒远景下过脚瞬间约有0.1秒定位误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.68–4.12 s，机器人脚部在木地板蹬地起跳，并在该跳后承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频约 3.96 s，机器人双脚腾空让细绳从脚下通过；前五次过绳被裁判计数，支持此次全身避绳通过，非腿脚主动触绳。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.88,
+      "log_step": null,
+      "text_zh": "观察：视频 4.44–5.00 s，机器人完成第5次蹬地、腾空和落地，转绳机带动细绳向下经过双脚下方；评分器 reward.metric_jumps=5、stages_reached=5。推断：按画面中的五次顺序过绳及裁判累计值，本步在视频约 4.88 s 达到；25帧/秒远景下过脚瞬间约有0.1秒定位误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.44–5.00 s，机器人脚部在木地板蹬地起跳，并在该跳后承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频约 4.88 s，机器人双脚腾空让细绳从脚下通过；前五次过绳被裁判计数，支持此次全身避绳通过，非腿脚主动触绳。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.88–5.20 s，第五次过绳后机器人落地并持续倾倒，没有再完成一次腾空双脚过绳；评分器 reward.metric_jumps=5、stages_reached=5。推断：第6次过绳未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.96–5.20 s，机器人脚部落回木地板，继续屈腿和调整身体，但躯干逐渐倾至近水平；这是连续跳绳中为下一次起跳维持支撑的失败尝试，未见第六次起跳过绳。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.88–5.20 s，第五次过绳后机器人落地并持续倾倒，没有再完成一次腾空双脚过绳；评分器 reward.metric_jumps=5、stages_reached=5。推断：第7次过绳未达到。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.88–5.20 s，第五次过绳后机器人落地并持续倾倒，没有再完成一次腾空双脚过绳；评分器 reward.metric_jumps=5、stages_reached=5。推断：第8次过绳未达到。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.88–5.20 s，第五次过绳后机器人落地并持续倾倒，没有再完成一次腾空双脚过绳；评分器 reward.metric_jumps=5、stages_reached=5。推断：第9次过绳未达到。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.88–5.20 s，第五次过绳后机器人落地并持续倾倒，没有再完成一次腾空双脚过绳；评分器 reward.metric_jumps=5、stages_reached=5。推断：第10次过绳未达到，亦未进入末跳后的站稳验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 5.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_6",
+   "t": 5.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.88 s 前后已完成第五次过绳；视频 4.96–5.20 s，机器人脚部落地后没有恢复竖直，躯干继续倾倒、骨盆向白框边缘漂移，第六次过绳未出现。观察：log step 430 中 agent 自述交付轨迹在仿真 5.21 s 离开中心区；评分器记录五次过绳、episode_over=1、fell=0。推断：连续跳跃的落地恢复未成功，断在第六次过绳的准备与支撑阶段。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": true,
+   "rope_cleared_4": true,
+   "rope_cleared_5": true,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.96–5.20 s，机器人着地后躯干由倾斜逐步翻至接近水平，脚部未能把身体稳回竖直，机器人随之向白框外侧倒去。此处标可见的失衡；评分器 fell=0，不能据此宣称已触发其摔倒阈值。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 4.56–5.20 s，机器人完成腾空过绳后，腿部回收与落地动作未能制止躯干旋转和骨盆漂移，不能建立下一跳所需的稳定支撑；这是跳跃与落地控制未能维持姿态的证据。观察：log step 400 的会话测试脚本按预设时间切换髋、膝、踝及手臂目标，agent 自述仍未找到可到第六次的恢复动作；该脚本仅作会话旁证，不当作交付轨迹的逐帧状态。证据不足以区分轨迹、跟踪或具体参数问题，保留在控制大类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，25帧/秒远景无法精确核验毫秒级绳身接触和逐脚净空，过绳时刻由局部连续帧结合裁判五次计数近似定位。末段明显失衡可见，但评分器未提供失败原因字段；离开中心区的仿真时刻来自 log step 430 的 agent 自述，不能独立核实骨盆越界阈值。log step 428 的最终重放调用没有输出细节，亦无最终控制目标或力矩轨迹，无法细分控制根因。"
+ },
+ "summary_zh": "机器人在视频约 0.92、1.96、2.96、3.96、4.88 s 完成前五次过绳，与评分器 jumps=5 一致，最终达到5/10节点。第五次落地后机器人持续倾倒，未恢复第六次过绳所需的支撑；可见问题为失衡，根因保守归为控制。无状态日志，瞬时净空与精确出区时刻不能直接核验；成功参考录像仅用于对照可见过绳及落地线索。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "前五次过绳时刻（约0.9/1.9/3.0/3.8/4.7 s）与评分器jumps=5吻合，第6次未达成；末段失衡倒地可见，断点rope_cleared_6、平衡现象与控制根因均有证据支持，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--dwv7eej/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e8693b35186e43fe096428a634b1aaf1a3881aab6d9513df82cd53013332bf4d",
+   "video_sha256": "851bdbad60769c33b14cd26a1736df81bd6d6e2a380ef4800df61fff72afc90a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec390113e75246beac415a0caa7adfdf7d68df4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu.json
@@ -0,0 +1,446 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 652,
+   "sim_steps": 652,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.5,
+   "stages_reached": 6,
+   "stages_total": 12,
+   "fell": 0,
+   "replay_s": 9.95,
+   "bad_trajectory": 0,
+   "metric_jumps": 6.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 356,
+   "agent_resets": 352,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.941,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.982,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu/replay.mp4",
+  "duration_s": 6.56,
+  "fps": 25.0,
+  "frames": 164,
+  "sha256": "1718350f332e4683a0fac84cfb151333ae25c03a3899bfca2ba4d515dffc78ce"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.64–1.12 s 的逐帧局部画面中，机器人完成第1轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 0.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第1次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第1次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第1次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.64–2.12 s 的逐帧局部画面中，机器人完成第2轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 1.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第2次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第2次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第2次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64–3.12 s 的逐帧局部画面中，机器人完成第3轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 2.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第3次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第3次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第3次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.64–4.12 s 的逐帧局部画面中，机器人完成第4轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 3.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第4次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第4次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第4次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.64–5.12 s 的逐帧局部画面中，机器人完成第5轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 4.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第5次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第5次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第5次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.64–6.12 s 的逐帧局部画面中，机器人完成第6轮屈膝、双脚小幅离地和落地，长绳从前方降至脚底并转到身后；过绳完成时刻取视频约 5.96 s，细绳与脚底的瞬时间隙受远景及25帧/秒限制。"
+     },
+     {
+      "t": null,
+      "log_step": 221,
+      "text_zh": "观察：log step 221 对实际交付轨迹的独立重放列出 jump 1 至 jump 6，metrics.jumps=6；log step 237 再次重放同一652行文件，阶段列表及末态哈希相同。评分器 reward.metric_jumps=6、stages_reached=6、deterministic=1，支持第6次有效过绳成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第6次小跳前后，机器人双脚在木地板上蹬地和承接落地；两手没有操作绳或转绳机。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频第6次小跳与交付重放的有效计数相符，机器人腿脚及身体避开长绳，绳从离地双脚下穿过；不把脚底对地板的支撑记作对绳接触。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 237,
+      "text_zh": "观察：视频 6.12–6.52 s 中，第6次落地后机器人继续迈步调整姿态，身体向白框边缘移动；视频结束前未见第7次双脚腾空过绳。log step 237 对最终交付文件重放，裁判报告 the robot left the centre zone，阶段只到 jump 6。"
+     },
+     {
+      "t": 6.52,
+      "log_step": null,
+      "text_zh": "推断：评分器 metric_jumps=6 与六轮可见小跳一致，故第7次未完成；视频末段的连续调整步是下一轮过绳的准备，尚未形成第7次有效计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.12–6.52 s，机器人双脚交替在木地板上承重、迈步，为继续跳绳调整身体；未完成下一次双脚下过绳，不追加已成功避开的接触标签。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.52,
+      "log_step": 237,
+      "text_zh": "观察：视频全程至 6.52 s 只出现六轮小跳，结束前没有第8轮过绳；log step 237 的最终交付重放阶段列表也仅为 jump 1 至 jump 6。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.metric_jumps=6，按串行有效计数规则，第8次过绳节点为假；该步没有进入实际执行。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.52,
+      "log_step": 237,
+      "text_zh": "观察：视频全程至 6.52 s 只出现六轮小跳，结束前没有第9轮过绳；log step 237 的最终交付重放阶段列表也仅为 jump 1 至 jump 6。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.metric_jumps=6，按串行有效计数规则，第9次过绳节点为假；该步没有进入实际执行。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.52,
+      "log_step": 237,
+      "text_zh": "观察：视频全程至 6.52 s 只出现六轮小跳，结束前没有第10轮过绳及末跳后站稳验收；log step 237 的最终交付重放阶段列表也仅为 jump 1 至 jump 6。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.metric_jumps=6，按串行有效计数规则，第10次过绳节点为假；该步没有进入实际执行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 6.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_7",
+   "t": 6.4,
+   "log_step": 237,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.12–6.52 s，机器人在第6次落地后持续迈步并向白框边缘偏移，未完成第7次过绳，末段仍保持站立、未见摔倒。log step 221 和 log step 237 对实际交付的652行轨迹独立重放，均由裁判报告 the robot left the centre zone，且仅有 jump 1 至 jump 6；因此断点定位于正在准备的第7次过绳。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": true,
+   "rope_cleared_4": true,
+   "rope_cleared_5": true,
+   "rope_cleared_6": true,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 6.4,
+    "log_step": 237,
+    "evidence_zh": "观察：视频 6.12–6.52 s，机器人以连续调整步承接第6跳后继续向白框边缘移动，未能保持跳绳所需的中心位置；录像末帧仍直立，没有手膝或躯干触地。log step 237 的交付重放以离开中心区终止，评分器 fell=0。该事件是落地调整步偏离位置要求。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付控制器未能在落地恢复阶段抑制位置漂移。log step 220 写出的最终生成代码将 fal_vk 设为0，每逢 FALCON 恢复阶段都用速度命令为零的 walk_falcon 动作，没有将位置误差送入该恢复步的行进命令；log step 221、237 确认该代码生成并重放的文件均完成6跳后出区。视频 6.12–6.52 s 显示相应的迈步漂移，因此归为落地恢复与位置保持的反馈控制不足；不据 agent 的力矩解释进一步断言具体动力学参数错误。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；远景25帧/秒画面无法单独核实毫秒级脚底净空、全部绳身接触或精确骨盆越界坐标。六次有效过绳结合可见小跳与最终交付重放的裁判计数判断，节点时刻取相邻可见帧，约有0.1秒误差；出区依据实际交付重放裁决，具体力矩及角动量致漂机理未独立验证。"
+ },
+ "summary_zh": "机器人完成前6次有效过绳，语义节点最终为6/10；评分器原生阶段为6/12，jumps=6。视频 6.12–6.52 s 中第6次落地后的调整步把身体带向白框边缘，交付轨迹重放确认因离开中心区终止，断点为第7次过绳，根因指向落地恢复阶段的位置反馈控制不足。缺少逐帧状态日志，瞬时净空和骨盆越界坐标不能直接量出，计数由视频与最终交付重放裁判共同确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前6次过绳、第7次未达成、断点rope_cleared_7与出区原因均与视频及log step 221/237的重放结果（652行、jump 1-6、the robot left the centre zone）一致，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:10Z",
+  "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/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--pbrsjuu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a85ecdc4836a46338ed9005a571e29514573587d05639ac1099d18855c8359f2",
+   "video_sha256": "1718350f332e4683a0fac84cfb151333ae25c03a3899bfca2ba4d515dffc78ce",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg.json
new file mode 100644
index 0000000000000000000000000000000000000000..06ef860a9794b6e24b59bc2e1d2aed1aeb7a04f2
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg.json
@@ -0,0 +1,472 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--ucsugkg",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1074,
+   "sim_steps": 1074,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 12,
+   "stages_total": 12,
+   "fell": 0,
+   "replay_s": 13.1,
+   "bad_trajectory": 0,
+   "metric_jumps": 10.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 449,
+   "agent_resets": 36,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg/replay.mp4",
+  "duration_s": 10.76,
+  "fps": 25.0,
+  "frames": 269,
+  "sha256": "8fe335e54e65e3c11d426159953f6ff2ae5df31fb24aeeb00f4b257ddee79997"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.76–1.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第1次小跳。"
+     },
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第1次有效过绳已完成；取视频 0.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.76–1.04 s，机器人以脚部在木地板上蹬地、承接第1次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.88–0.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第1圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.76–2.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第2次小跳。"
+     },
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第2次有效过绳已完成；取视频 1.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.76–2.04 s，机器人以脚部在木地板上蹬地、承接第2次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 1.88–1.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第2圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.76–3.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第3次小跳。"
+     },
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第3次有效过绳已完成；取视频 2.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.76–3.04 s，机器人以脚部在木地板上蹬地、承接第3次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 2.88–2.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第3圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.76–4.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第4次小跳。"
+     },
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第4次有效过绳已完成；取视频 3.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.76–4.04 s，机器人以脚部在木地板上蹬地、承接第4次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 3.88–3.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第4圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.76–5.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第5次小跳。"
+     },
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第5次有效过绳已完成；取视频 4.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.76–5.04 s，机器人以脚部在木地板上蹬地、承接第5次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 4.88–4.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第5圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.76–6.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第6次小跳。"
+     },
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第6次有效过绳已完成；取视频 5.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.76–6.04 s，机器人以脚部在木地板上蹬地、承接第6次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 5.88–5.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第6圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 6.76–7.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第7次小跳。"
+     },
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第7次有效过绳已完成；取视频 6.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.76–7.04 s，机器人以脚部在木地板上蹬地、承接第7次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 6.88–6.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第7圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.96,
+      "log_step": null,
+      "text_zh": "观察：视频 7.76–8.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第8次小跳。"
+     },
+     {
+      "t": 7.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第8次有效过绳已完成；取视频 7.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.76–8.04 s，机器人以脚部在木地板上蹬地、承接第8次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 7.88–7.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第8圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.96,
+      "log_step": null,
+      "text_zh": "观察：视频 8.76–9.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第9次小跳。"
+     },
+     {
+      "t": 8.96,
+      "log_step": null,
+      "text_zh": "推断：结合本次小跳前后的绳位变化，以及本运行评分器 metric_jumps=10、success=1、replay_success=1、deterministic=1，确认第9次有效过绳已完成；取视频 8.96 s 为完成锚点，视觉时刻约有0.1秒不确定性，远景不能逐物理子步量出绳脚净空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.76–9.04 s，机器人以脚部在木地板上蹬地、承接第9次小跳的落地；上肢未与场地或绳建立可见接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 8.88–8.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第9圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.72,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.96,
+      "log_step": null,
+      "text_zh": "观察：视频 9.76–10.04 s 的连续局部帧显示机器人在白框内屈膝、身体上升，脚部短暂抬离原支撑位置；转绳机带动细绳从身前的低处扫过脚部下方，再转向身后，机器人没有倒地。这是从视频开头顺序计数的第10次小跳。"
+     },
+     {
+      "t": 10.04,
+      "log_step": null,
+      "text_zh": "观察：视频 9.84–10.04 s 显示末次身体上升、绳从脚部下方通过，随后脚部落回木地板；视频 10.04–10.24 s 机器人略向前倾并调整腿部，视频 10.28–10.72 s 恢复直立、位移减小，没有手、膝或躯干着地。"
+     },
+     {
+      "t": 10.72,
+      "log_step": null,
+      "text_zh": "推断：本运行评分器 stages_reached=12、stages_total=12、success=1、replay_success=1、fell=0，结合末跳落地后的连续画面，确认落地及连续50控制步的站稳验收均通过；本节点延至视频末帧附近的 10.72 s 才记为完成。录像无法直接测量骨盆速度、竖直余弦或站稳计时器，精确阈值通过由评分器成功裁决补足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.76–10.04 s，机器人以脚部在木地板上蹬地、承接第10次小跳的落地；上肢未与场地或绳建立可见接触。末跳后继续以脚部支撑，调整并站稳至视频 10.72 s。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 9.88–9.96 s 的脚部抬起和细绳扫过画面与评分器有效计数一致，机器人双脚及身体避开第10圈长绳；没有可见绳身碰撞，微小净空不能由远景直接量出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 10.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分录像中机器人在白框内随转绳连续完成十次小跳，前九次过绳约在视频 0.96–8.96 s 逐次完成，末跳约在视频 9.96 s 过绳后落地，并在视频末段恢复直立。推断：结合本运行评分器10次有效计数、12/12阶段及一致回放成功裁决，十个节点最终全部达成；第十节点包含落地和站稳，完成锚点放在视频 10.72 s。观察：本任务没有状态日志，25帧/秒的固定远景不能逐物理子步验证绳脚净空，也不能直接测出站稳阈值，节点时间为视觉近似，验收由评分器裁决补足。",
+ "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，评分器 metric_jumps=10、stages 12/12、fell=0，十个节点全部达成与视频一致（约1 Hz 一次，绳周期性越过头顶，机器人始终在白框内未倒）；各节点时间为视觉近似，接触标签（腿/躯干 支撑、避开）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": "2026-10-31T01:03:04Z",
+  "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/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--ucsugkg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "143ddc50e850ba9e6d7f9f72db8da73dc836e9eab00caec03a6200a3aa1211e5",
+   "video_sha256": "8fe335e54e65e3c11d426159953f6ff2ae5df31fb24aeeb00f4b257ddee79997",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce00de467717e11c725beefbe8c27e3250f0006f
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv.json
@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.1667,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 215,
+   "sim_steps": 215,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.1667,
+   "stages_reached": 2,
+   "stages_total": 12,
+   "fell": 0,
+   "replay_s": 6.53,
+   "bad_trajectory": 0,
+   "metric_jumps": 2.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 66,
+   "agent_resets": 106,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.701,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.239,
+   "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/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv/replay.mp4",
+  "duration_s": 2.16,
+  "fps": 25.0,
+  "frames": 54,
+  "sha256": "48ce8f822785c35c1e4781907b6b29e02e75ea38b84148273937025dc86f4107"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": 125,
+      "text_zh": "观察：视频 0.56–0.72 s 长绳越过机器人头顶；视频 0.88–1.08 s 机器人双脚腾空，视频 0.92–0.96 s 绳的低段从脚下通过，随后视频 1.12 s 脚部落地。log step 125 对最终交付文件的正式重放列出 jump 1、jump 2，评分器 metric_jumps=2；第1次完成时刻按已检查帧取约视频 0.96 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.84 s 机器人双脚由木地板支撑并蹬地，视频 1.12 s 左右脚部重新落回木地板承重。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 0.88–1.08 s 机器人腾空，双脚抬离木地板，让转动长绳从脚底下通过；正式重放将此圈计为有效过绳。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.92,
+      "log_step": 129,
+      "text_zh": "观察：视频 1.56–1.72 s 长绳再次越过机器人头顶；视频 1.84–2.04 s 机器人第二次双脚离地，视频 1.88–1.92 s 绳低段通过脚下；机器人同时向画面右前方偏移，视频 2.08–2.12 s 脚部落地后身体继续前移。log step 129 对最终交付文件的第二次正式重放列出 jump 1、jump 2，metrics.jumps=2，末态哈希与第一次相同；第2次过绳约取视频 1.92 s。该节点为过绳计数事件，后续落地出区不撤销已获得的第2次计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.12–1.80 s 机器人双脚在木地板上承重、屈腿并再次蹬地，视频 2.08–2.12 s 双脚承接第二跳落地，身体仍向前偏移。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 1.84–2.04 s 机器人双脚腾空，长绳由脚下通过；正式重放确认第2次有效过绳。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第3次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第4次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第5次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第6次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第7次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第8次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第9次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.12,
+      "log_step": 129,
+      "text_zh": "观察：视频 0.00–2.12 s 全部帧只显示两次腾空过绳，末段视频 2.08–2.12 s 为第二跳落地后的前移，没有第10次过绳动作；log step 125、129 对最终交付文件的正式重放均只列出 jump 1、jump 2，评分器 metric_jumps=2。 推断：未达到第10次过绳，其后的末跳落地和连续站稳验收亦未完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 2.0,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_2",
+   "t": 2.08,
+   "log_step": 125,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.84–2.04 s 机器人正在第二跳空中阶段并持续向画面右前方偏移；视频 2.08–2.12 s 双脚承接该跳落地，躯干前倾且骨盆继续向白框外移动，没有第三次起跳。log step 125、129 对已交付轨迹的正式重放都以 the robot left the centre zone 终止，计数保持2，评分器 fell=0。推断：出错发生在第二跳的落地动作中，故断点归到 rope_cleared_2；其计数事件已达成，仍保留为 true，不能仅因下一个未达计数是3就把断点移到第三跳。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 2.08,
+    "log_step": 125,
+    "evidence_zh": "观察：视频 1.20–1.80 s 机器人在两次跳跃之间已有前移，视频 1.84–2.12 s 第二跳及落地继续向白框外偏移；最后检查帧中脚部落地、躯干前倾，未见手膝或躯干着地。log step 125 的交付文件正式重放报告离开中心区，评分器 fell=0。推断：该跳未能保持在中心区，属于无摔倒的跳跃偏航，标全身·步态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：生成交付轨迹的跳跃控制器未抑制连续跳跃的前向漂移，第二跳落地时仍未能将身体稳定在中心区。依据是视频 1.20–2.12 s 的持续前移；log step 110、115 显示 agent 的脚本使用落地缓冲、落脚反馈及压力中心反馈制动，log step 121、123 生成并保存的同一控制配置仍报告骨盆前移至0.506米，log step 125、129 对最终文件的正式重放均确认出区。log step 122 的会话参数试验仍出区，log step 126、128 改落脚偏置后漂移减小但引入后续触绳；这些会话试验仅支持控制问题的归因，不作为本次录像中的接触或进度。现有证据不能唯一分开落脚几何、反馈及增益的作用，故停留在控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定远景为25帧/秒，细绳与脚底净空很小，不能从画面独立量出毫秒级碰触、每只脚通过的精确时刻或骨盆恰好越过0.5米边界的一刻。两次有效计数由视频腾空过绳线索与最终文件正式重放及评分器计数共同确认，时间为约数；末帧视频 2.12 s 接近出区，具体判负由正式重放确认。控制子类和具体参数机制缺少足够独立证据，未采信 agent 在 log step 130 关于踝位置伺服抵消力矩的解释为已证实原因。",
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  }
+ },
+ "summary_zh": "本次交付轨迹完成两次有效过绳，分别约在视频 0.96 s、1.92 s 达成，最终语义进度为2/10，原生指标jumps=2。机器人第二跳落地时继续向前偏移，正式重放因离开中心区终止；断点在第二跳操作中，现象为步态偏航，证据支持连续跳跃的控制未抑制漂移。没有状态日志，远景无法独立确认毫秒级净空及越界瞬间，具体控制子类仍不确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（两次有效过绳，2/10）、时间、断点（第二跳落地后出区）与步态现象、控制根因均与视频及 log step 125/129 的正式重放（jumps=2，left the centre zone）一致；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": "2026-10-31T01:04:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-privileged--uhwgfiv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e2b5e05d0286ba13827549a89949d6858120913687a49274e1ac56dfe92997d",
+   "video_sha256": "48ce8f822785c35c1e4781907b6b29e02e75ea38b84148273937025dc86f4107",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bea5068fb4a205655e23b4bc7a4c208e351ecc7
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7.json
@@ -0,0 +1,304 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--3mjbnj7",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 91,
+   "sim_steps": 2964,
+   "calls": 369,
+   "rows": 2873,
+   "resets": 28,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 3923.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.177,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.808,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7/replay.mp4",
+  "duration_s": 0.92,
+  "fps": 25.0,
+  "frames": 23,
+  "sha256": "7b47ab19280c88a1d46c2e4ec54615624c73d975f55e8e2a9a383fff01bfdb5a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频0.00–0.88 s全部23帧；机器人位于两台转绳机之间，手臂及腿部有小幅姿态变化，但双脚始终在木地板附近，绳从上方转到脚边时未见完整的双脚腾空过绳。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "观察：log step 259是最后一次运行控制脚本的调用，输出服务裁判的“the rope touched the robot”和stages 0/12；随后log step 260–262仅写说明、查看图片和结束汇报，没有再重置或执行动作。log step 138说明outcome、stages_reached/stages_total来自机器人服务返回的裁判元数据。"
+     },
+     {
+      "t": 0.88,
+      "log_step": 252,
+      "text_zh": "推断：视频中无有效首跳，且最后一次尝试裁判未通过任何阶段，故过绳1未达到；log step 252等较早测试的1/12不属于本次评分录像，不能计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–0.88 s机器人双脚在木地板上支撑身体，末段腿部略有屈伸；没有可确认的完整腾空过绳，故不标避开。远景无法分辨最终绳接触机器人的具体部位。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第2次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第3次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第4次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第5次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第6次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第7次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第8次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第9次有效过绳未达到，也未进入该次跳跃。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 259,
+      "text_zh": "推断：视频0.00–0.88 s只有第一圈绳运动，未见有效首跳，log step 259最后一次尝试的服务裁判结果为触绳、stages 0/12；依DAG串行计数要求，第10次有效过绳未达到，也未进入该次跳跃。第十跳后的落地及站稳验收亦未进入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 0.88,
+   "log_step": 259,
+   "where": "操作中",
+   "evidence_zh": "观察：视频0.76–0.88 s长绳由机器人身前向脚边下扫，机器人未呈现完整双脚腾空过绳，身体仍竖立；log step 259最后一次控制调用返回触绳、stages 0/12。推断：首跳动作未完成即终止，断点是过绳1；视频0.88 s是触绳前最后可见帧附近的导航锚点，不是精确碰撞时刻。"
+  },
+  "unmet": {
+   "rope_cleared_1": false,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 0.88,
+    "log_step": 259,
+    "evidence_zh": "观察：视频0.00–0.88 s机器人脚部一直在地板附近，绳下扫时未见双脚完全离地并让绳穿过，且末帧机器人没有倒地；log step 259服务裁判报触绳、0/12。推断：本次跳跃未获得过绳所需的腾空通过，属于未摔倒的跳跃动作不足；不能从远景区分净空不足与起跳配合偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 258–259显示agent控制脚本执行半蹲、伸腿、收腿阶段；agent在log step 259将收腿目标膝角从0.45改为0.80、收腿段从0.10秒改为0.08秒后再次运行，输出膝角由伸腿末段约0.47变为收腿末段约0.75，但服务裁判仍判首圈触绳、0/12。结合视频0.76–0.88 s未形成可见的有效过绳，支持控制动作未实现所需腾空与避绳配合；不将agent对弱起跳、具体碰绳部位的猜测当作已证实原因，也不足以细分为参数调试或某一种反馈故障。"
+   }
+  ],
+  "gap_zh": "录像为640×360固定远景、25帧/秒，最后采样帧在视频0.88 s；没有状态日志，无法定位触绳的身体部位或量出脚绳净空、实际起落时刻。log step 259的蹲伸和收腿遥测在录像中没有同等清楚的可见幅度，未据此认定双脚腾空；日志中的仿真时刻不换算成视频时刻。控制根因只到大类，无法证实是高度、动态时机还是跟踪环节造成触绳。reward没有单列jumps指标，native_metrics.value保留null。"
+ },
+ "summary_zh": "评分录像只到第一圈过绳附近，机器人没有完成有效首跳，十个节点最终均未达到（0/10）；log step 259最后一次现场尝试的服务裁判结果为触绳、0/12，早先测试曾通过首跳不计入本次。断点在过绳1操作中，现象为跳跃动作不足，日志支持控制层未实现腾空与避绳配合。远景未清楚呈现日志所列蹲伸收腿幅度，且无状态日志，具体触绳部位和控制失效子类无法确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分录像0.92 s对应最后一次尝试（log step 259，服务裁判触绳、0/12），帧中机器人双脚始终在地面，无过绳；10个节点全false、断点过绳1、步态现象与控制大类根因均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:04:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--3mjbnj7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "847fa3f758e89ada25811d2226df474537f4a1914ef01270e1b6714effc307d9",
+   "video_sha256": "7b47ab19280c88a1d46c2e4ec54615624c73d975f55e8e2a9a383fff01bfdb5a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c842e3bd0d42291ee2d11c209244906d067ecbf0
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv.json
@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--5gxcqtv",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 127,
+   "sim_steps": 5900,
+   "calls": 288,
+   "rows": 5805,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 2199.2,
+   "video_rendered": 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/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv/replay.mp4",
+  "duration_s": 1.28,
+  "fps": 25.0,
+  "frames": 32,
+  "sha256": "e052f081dcb8fafcb8597dd6dff7b1441e504a0b66e84414f1e4399fd0379ee8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": 111,
+      "text_zh": "观察：视频0.40–0.68 s机器人屈膝后蹬地，视频0.72–0.96 s双脚离地，转绳从身前向脚下扫过，随后绳转至身后；这是全片唯一一次腾空过绳。log step 111记录最后现场episode 51结束时stages_reached=1、stages_total=12，支持第一跳计数有效。"
+     },
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "推断：第一跳达到时间取视频约0.96 s（约有0.08 s不确定性）；细绳与脚底净空不能逐物理步量出，以画面和同一现场裁判的一次计数共同判断。该节点是计数锁存事件，随后落地摔倒不撤销已获的第一次过绳。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–0.68 s机器人以双脚在木地板上支撑、屈膝蹬地；视频约1.04 s起脚部落地承重，之后躯干持续倾倒，落地支撑未能保持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频0.72–0.96 s机器人腾空，长绳扫过脚下。推断：log step 111的第一跳有效计数与画面一致，双脚在本次过绳时避开长绳；不据此推定整次落地稳定。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第2次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第2次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第3次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第3次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第4次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第4次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第5次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第5次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第6次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第6次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第7次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第7次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第8次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第8次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第9次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第9次过绳未达到，后续计数未启动。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.24,
+      "log_step": 111,
+      "text_zh": "观察：视频0.00–1.24 s只有一次起跳，视频1.04–1.24 s机器人在该跳落地后倾倒，全片未出现第10次起跳或完整过绳；log step 111的最后现场episode 51以fell结束，原生阶段仅1/12。推断：第10次过绳未达到，后续计数未启动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 1.12,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约1.04 s机器人在第一跳后脚部落地，视频1.08–1.24 s躯干倾斜持续增大直至接近横倒；未见第二次下蹲起跳。log step 111显示最终episode 51仍处于recover_1即返回done=true、outcome=fell，仿真1.27 s、127个控制步。推断：出错的是第一跳的落地恢复，故断点记rope_cleared_1而不是尚未开始的第二跳；该节点的有效过绳计数仍锁存为真。控制步127×0.01 s=仿真1.27 s与视频1.24 s末帧的倾倒相符，仅用于核对本次现场尝试，不以agent工作时间换算视频时间。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.12,
+    "log_step": 111,
+    "evidence_zh": "观察：视频1.04–1.24 s机器人落脚后躯干没有回到竖直，倾斜不断加剧、身体向低处塌下；log step 111的最终现场裁判在recover_1报fell并结束。第一次过绳之后的落地失衡阻止继续跳绳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：第一跳的起跳及落地恢复控制未能保持全身稳定：视频0.72–0.96 s已腾空过绳，视频1.04–1.24 s落脚后倾斜持续增大；log step 111确认控制程序执行到recover_1时摔倒。会话中log step 52–66多种落地姿态及步行控制器恢复测试也反复在一次计数后报fell，支持落地控制能力不足这一归因；这些测试不计入本片节点进度。现有记录不足以进一步归为具体增益、轨迹或反馈环节。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定远景25 fps不能精确验证绳与每只脚在物理子步的净空或确定首个非脚部着地部位，第一跳计数由视频与log step 111的最终现场裁判共同确认，达到时间约有0.08 s误差。最终尝试未记录连续关节、接触力及控制器内部量，故控制根因不细分。run.json的reward未直接报告jumps指标，native_metrics相应value留null；原生1/12阶段另用于确认一次有效过绳。"
+ },
+ "summary_zh": "评分视频对应log step 111的最后现场episode 51：机器人在视频约0.96 s完成一次有效过绳，计数节点锁存，最终进度1/10。机器人在视频约1.04–1.24 s的第一跳落地恢复中失衡倾倒，服务报fell终止；断点仍属第一跳的操作中，根因支持到控制层级。缺少状态日志和落地控制内部量，瞬时绳脚净空及具体控制失稳机制不能进一步确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点1达成（log step 111 stages_reached=1/12，视频约0.7–1.0 s绳扫过脚下）、2-10未达成、断点rope_cleared_1操作中、平衡+控制根因均有视频与服务读数支持；时钟用控制步127≈视频1.24 s核对，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--5gxcqtv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "18dce1b7bf7c3c33af26af981f767a172fa5db5ca6337e1aabccc36cb4493e2a",
+   "video_sha256": "e052f081dcb8fafcb8597dd6dff7b1441e504a0b66e84414f1e4399fd0379ee8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--bug7owe.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--bug7owe.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd1f04929598d04cc07da3bd611df17b1571ca29
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--bug7owe.json
@@ -0,0 +1,311 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--bug7owe",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 91,
+   "sim_steps": 91,
+   "calls": 3,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 186.9,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.878,
+   "peak_processes": 10,
+   "peak_disk_gb": 2.298,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--bug7owe/replay.mp4",
+  "duration_s": 0.92,
+  "fps": 25.0,
+  "frames": 23,
+  "sha256": "d52a9c39ccdd59a692d23023ef0959df2f8abc4ffe8afee097c66b21106557c9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：逐帧检查视频 0.00–0.88 s（全部23帧），机器人一直在白框内双脚着地站立，没有蹬地、腾空或完成双脚过绳；视频 0.80–0.88 s 绳下降至脚边。log step 13 的现场服务返回 done=true、outcome=\"the rope touched the robot\"、stages_reached=0/12，确认首圈即触身终止。未启动首跳，站立的背景支撑不作为跳跃接触尝试记录。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第2次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第2次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第3次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第3次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第4次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第4次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第5次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第5次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第6次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第6次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第7次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第7次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第8次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第8次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第9次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第9次有效过绳及其前置计数均未达到，本节点未尝试。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.00–0.88 s 全部23帧仅显示机器人站立及绳的第一圈转动，无第10次跳跃；log step 13 的现场服务已在第一圈报告触身失败、stages_reached=0/12。推断：第10次有效过绳及其前置计数均未达到，本节点未尝试。 第十跳后的落地及连续站稳验收亦未开始。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 0.88,
+   "log_step": 13,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–0.88 s 中机器人始终站立，首跳从未启动，末段绳转到脚边。log step 10、13 中 agent 分别调用 get_obs(seconds=0.5) 和 get_obs(seconds=0.6)，现场服务在后一次观察中提前终止并返回绳触机器人、0/12 阶段；评分器字段 rows=0、resets=0，与录像无跳跃一致。推断：断在尚未开始的第一次过绳；视频锚点取最后可见帧 0.88 s，服务终止记录为仿真 0.91 s，二者在一帧范围内相符。"
+  },
+  "unmet": {
+   "rope_cleared_1": false,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.88,
+    "log_step": 13,
+    "evidence_zh": "观察：视频 0.00–0.88 s 全部帧中机器人双脚一直留在木地板上，没有起跳动作。log step 10、13 只有推进时间的观察调用，现场服务在 log step 13 报告绳触机器人并结束；评分器 rows=0，首跳控制未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "任务理解",
+    "t": 0.88,
+    "log_step": 13,
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "观察：log step 10 的调用标签为“Observing first 0.5s of rope motion”，实际调用 get_obs(seconds=0.5)，现场服务返回 control_steps=50、rows=0、done=false；log step 13 的调用标签为“Observing rope from t=0.5s until contact”，实际调用 get_obs(seconds=0.6)，服务仅推进0.41秒即返回 done=true、reason=\"failed\"、outcome=\"the rope touched the robot\"、stages_reached=0/12、rows=0、sim_time_s=0.91。视频 0.00–0.88 s 的全部23帧中机器人始终站立，未起跳；评分器 resets=0。推断：agent 把正在评分的现场局当作跳跃前的试探会话，先推进观察至触绳而未执行首跳；这种任务未要求的试探符合“任务理解”的定义。后续 log step 36–115 的跳跃搜索在 agent 自建 MuJoCo 模型中运行，未重置或改变已结束的现场评分局。"
+   }
+  ],
+  "gap_zh": "无状态日志；25 fps 固定远景不能辨认绳触身的精确部位或毫秒时刻，实际触身由 log step 13 的现场服务终止字段确认。评分器 reward 未单独报告 jumps 数值，故原生指标保留 null。log step 120 出现模型过滤提示，但在此之前 log step 13 的现场局已因触绳失败结束；本地仿真中的十连跳与站稳结果不属于评分片段。"
+ },
+ "summary_zh": "评分片段中机器人始终站立，首跳未启动，十个过绳节点均未达到，最终为0/10；视频 0.88 s 绳已转至脚边，log step 13 的现场服务确认触绳失败及0/12原生阶段。推断：agent 把现场评分局当作跳跃前的试探会话，先推进观察至触绳而未执行首跳，根因归为任务理解；后续本地仿真搜索未进入现场局，log step 120 的过滤提示发生在现场失败之后。缺少状态日志，具体触身部位及毫秒时刻只能由服务终止记录补充，原生 jumps 数值未单独报告。",
+ "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（全部未达）、时钟、断点（rope_cleared_1 / 首步前）、没尝试现象均与视频和服务读数相符：视频 0–0.88 s 机器人始终站立，log step 13 服务返回 failed、stages 0/12。问题在根因：agent 在计时的评分局里做'先观察绳'的试探，应归任务理解而非推理/规划。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "十个过绳节点均未达到，断点 rope_cleared_1 / 首步前 / 没尝试，根因任务理解，均与视频（0–0.88 s 机器人始终站立）及 log step 13 服务读数（failed、0/12、sim 0.91 s）相符；时钟标注清楚，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--bug7owe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--bug7owe/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--bug7owe/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--bug7owe/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7b11c9150b3dba06e79ebbf94a4efec44aeeb0427cbec6f9c46c7759a12d7a0",
+   "video_sha256": "d52a9c39ccdd59a692d23023ef0959df2f8abc4ffe8afee097c66b21106557c9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d82ccd4e29d118d41918f25ca5e4e42ae63cb94
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k.json
@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--hgp7a3k",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 95,
+   "sim_steps": 1212,
+   "calls": 45,
+   "rows": 1121,
+   "resets": 13,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 2373.2,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.948,
+   "peak_processes": 9,
+   "peak_disk_gb": 2.569,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k/replay.mp4",
+  "duration_s": 0.96,
+  "fps": 25.0,
+  "frames": 24,
+  "sha256": "cc1333d315ff00fe30bbd0ce019fcb662caecee8b761f66977854d3e649a2bd9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": 341,
+      "text_zh": "观察：视频 0.80–0.92 s，机器人在白框内伸腿起跳、抬起双脚，长绳下降到脚边；log step 341 的最后一次现场提交返回 done=True、stages_reached=1、stages_total=12，并在仿真 0.95 s 因“the rope touched the robot”结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：按 DAG 的十次过绳加落地、站稳共十二阶段，服务已接受第一次双脚过绳；结合视频 0.88–0.92 s 的抬脚与绳位置，将首次达到时间近似标为视频 0.92 s，误差约一个视频帧至数帧，精确计数瞬间未记录。该 event 达到后锁存，随后触绳不撤销已累计的第一次。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 368,
+      "text_zh": "观察：log step 368 重读最后一次提交的原始返回，仍为已达 1/12 阶段、仿真 0.95 s 触绳；log step 342 只读取结束后的图像，后续没有新的现场重置或动作提交。视频从初始站立到首跳共 0.96 s，与此次结束时长一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.80 s，机器人双脚在木地板上承重、屈腿并蹬地；视频 0.88–0.92 s 可见双脚抬起。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：log step 341 的裁判阶段计数为1，结合视频 0.88–0.92 s 的首跳，第一次过绳时双脚已避开绳；这不表示随后全身持续无碰撞。"
+     },
+     {
+      "who": "未知",
+      "how": "其他",
+      "note_zh": "观察：log step 341 的裁判返回长绳触及机器人；候选“碰撞”，现有抓握、支撑或避开均不能表达这次非预期触绳。视频末帧分辨率不足，无法判明具体受碰部位属于腿、躯干还是上肢。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第2次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第2次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第3次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第3次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第4次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第4次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第5次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第5次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第6次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第6次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第7次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第7次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第8次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第8次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第9次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第9次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "观察：已逐帧检查视频 0.00–0.92 s，机器人只进行首跳，未出现第10次过绳；log step 341 的最终现场回合以已达 1/12 阶段、仿真 0.95 s 触绳结束。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 341,
+      "text_zh": "推断：首跳后的后续绳圈尚未发生，第10次累计有效过绳未达到；此结论依据完整录像及最终回合的阶段计数，不依据总成功分为零。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 0.92,
+   "log_step": 341,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.88–0.92 s 仍处在首跳抬脚及回落动作中；log step 341 的脚本仅提交首跳的低层关节指令，裁判在仿真 0.95 s 报告触绳并结束，虽已有第一次计数，但第二跳尚未启动。推断：断点归于仍在执行的第一次跳跃，而非机械选取下一个未达节点；触绳发生在该跳计数后的连续动作中。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 0.92,
+    "log_step": 341,
+    "evidence_zh": "观察：视频 0.88–0.92 s，转动的长绳接近抬起的双脚，机器人没有摔倒；同一最后现场回合在 log step 341 返回裁判判词“the rope touched the robot”、done=True、仿真 0.95 s。该非预期碰撞结束了尝试；具体触绳部位在远景中无法分辨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 341 的控制脚本按预设时间发送双腿关节位置、速度和增益，目标是首跳抬脚过绳；实际现场服务仍返回触绳失败，视频 0.80–0.92 s 显示它确实执行了该跳跃。推断：这套跳跃控制未能让全身在绳经过期间持续保持净空；没有足够证据区分起跳高度、收腿姿态、时序或跟踪误差，故仅标控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；视频只有固定远景、25帧/秒，末帧为视频 0.92 s，服务终止时刻为仿真 0.95 s，无法逐毫秒定位首次计数和触绳部位。推断：首次达到时间以视频末段近似锚定；根因不能细分。log step 437 是模型过滤中断，但 log step 341 的现场回合此前已经物理失败并结束，故不能用后来的过滤替代该失败。原生 jumps 字段未直接报告，故 native_metrics 的值留 null；最终现场返回的 1/12 阶段结合 DAG 的阶段组成支持首跳节点已达。"
+ },
+ "summary_zh": "观察：受评录像只包含首跳，最后现场回合在 log step 341 获得第一次有效过绳计数后，于仿真 0.95 s 因触绳结束，十个语义节点最终完成1个。推断：断点是仍在执行的首跳动作，现象为非预期碰撞，控制未维持全身过绳净空；第二至第十次过绳没有启动。观察：无状态日志，远景录像末段不能确认具体触绳部位和精确计数瞬间，后续模型过滤发生在现场失败已确定之后。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "受评录像仅0.96 s，与最后一次现场提交（log step 341：stages_reached=1、仿真0.95 s 触绳结束）一致；过绳1达到、其余未达、断点与现象、根因均有日志与画面支持，未发现需改动的错误。远景分辨率有限，抬脚细节不能独立证实，但服务的阶段计数已支撑。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:59:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--hgp7a3k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d0d9cfb2867e7c2614c3d0753f7191b4c271a2d1be48dffab78f49d976476619",
+   "video_sha256": "cc1333d315ff00fe30bbd0ce019fcb662caecee8b761f66977854d3e649a2bd9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hqwybuc.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hqwybuc.json
new file mode 100644
index 0000000000000000000000000000000000000000..c56b321b1601e27d316deb455756806885122c9e
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--hqwybuc.json
@@ -0,0 +1,476 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--hqwybuc",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1070,
+   "sim_steps": 1161,
+   "calls": 1075,
+   "rows": 1072,
+   "resets": 1,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1271.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.562,
+   "peak_processes": 16,
+   "peak_disk_gb": 0.324,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--hqwybuc/replay.mp4",
+  "duration_s": 10.72,
+  "fps": 25.0,
+  "frames": 268,
+  "sha256": "fa7245bea5388581fca61402213ba002cfddefe59191b584c6fe09848ebc6920"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.80–1.12 s，白框内机器人做第1次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 0.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 0.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第1次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.80–1.12 s，机器人第1次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.80–1.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.80–2.12 s，白框内机器人做第2次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 1.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 1.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第2次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 1.80–2.12 s，机器人第2次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.80–2.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–3.12 s，白框内机器人做第3次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 2.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 2.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第3次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 2.80–3.12 s，机器人第3次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.80–3.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.80–4.12 s，白框内机器人做第4次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 3.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 3.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第4次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 3.80–4.12 s，机器人第4次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.80–4.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.80–5.12 s，白框内机器人做第5次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 4.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第5次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 4.80–5.12 s，机器人第5次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.80–5.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.80–6.12 s，白框内机器人做第6次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 5.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第6次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 5.80–6.12 s，机器人第6次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.80–6.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 6.80–7.12 s，白框内机器人做第7次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 6.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 6.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第7次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 6.80–7.12 s，机器人第7次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.80–7.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.96,
+      "log_step": null,
+      "text_zh": "观察：视频 7.80–8.12 s，白框内机器人做第8次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 7.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 7.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第8次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 7.80–8.12 s，机器人第8次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.80–8.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.96,
+      "log_step": null,
+      "text_zh": "观察：视频 8.80–9.12 s，白框内机器人做第9次短促双腿屈伸小跳，转绳机带动细绳从身前下降到脚边，随后向身后升起；机器人保持直立，未见摔倒。以视频 8.96 s 作为本次过绳完成的近似锚点，瞬时脚底间隙在远景中很小。"
+     },
+     {
+      "t": 8.96,
+      "log_step": 61,
+      "text_zh": "推断：log step 55 重置后启动第二次现场尝试，log step 61 的机器人服务裁判返回 episode=2、reason=success、stages_reached=12、stages_total=12；结合本次视频中依次出现的十次小跳，确认第9次过绳有效。此处时间取本次视频逐帧观察，非 agent 工作时钟；有效腾空与无触绳的瞬时条件由裁判成功结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 8.80–9.12 s，机器人第9次小跳让转动长绳从双脚下通过，全身避绳；细绳净空很小，无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.80–9.12 s 的小跳前后，机器人以脚部在木地板上蹬地和承接落地，躯干保持在白框上方。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.96,
+      "log_step": null,
+      "text_zh": "观察：视频 9.76–10.04 s，机器人进行第十次小跳，细绳经过脚边后向后升起；视频 10.08–10.68 s，机器人脚部回落木地板，躯干保持直立，手、膝和躯干没有着地，未再起跳或明显漂移。"
+     },
+     {
+      "t": 10.7,
+      "log_step": 61,
+      "text_zh": "观察：log step 61 的机器人服务（本次现场尝试的裁判接口）返回 episode=2、control_steps=1070、sim_time_s=10.7、done=true、reason=success、stages_reached=12/12，评分器字段 live_success=1、graded_by_live=1。该裁决包含十次有效过绳、末跳脚部首先落地及连续站稳验收。"
+     },
+     {
+      "t": 10.7,
+      "log_step": 61,
+      "text_zh": "推断：log step 5 的服务规格给出控制周期0.01秒；本次尝试的 log step 61 control_steps=1070 对应视频约 10.70 s，与视频时长10.72秒及视频 10.20–10.68 s 的最后站立阶段核对一致，采样误差约一帧。故本节点延至视频约 10.70 s 的成功验收才锁存；视频约 9.96 s 的第十次过绳本身不提前完成此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 9.76–10.04 s 的第十次小跳中，机器人双脚及全身避开转动长绳，随后站立期间继续避绳；瞬时无触绳由 log step 61 的本次现场裁判成功结果支持。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.76–10.68 s，机器人以脚部蹬地、承接末跳落地，随后持续以脚部支撑身体站立；未见手、膝或躯干接地。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分采用 log step 55 重置后启动的第二次现场尝试：视频约 0.96–9.96 s 可见十次依次过绳的小跳，最后落地并持续站立，log step 61 的现场裁判返回成功、12/12原生阶段，十个语义节点全部完成，末节点在视频约 10.70 s 验收。此前 log step 14 的首次触绳失败和离线调参试验不属于本次评分视频，未计入失败标签；成功参考视频只用于比较可见线索。缺口是没有状态日志，远景25帧/秒无法量出瞬时接触净空及精确站稳阈值，逐跳时刻为视觉近似、最终验收由本次服务结果支持；reward 未单列 jumps 数值，因此原生指标保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，十个过绳节点的视频时间（约每秒一跳，首跳约0.9 s，末跳约9.8 s）与帧及 log step 61 的 agent 描述（绳最低点约0.925 s 起每秒一次）一致；末节点按 control_steps=1070 对应 10.7 s 的映射已在视频时长10.72 s 处核对，无失败层合理。未发现需要修改之处。",
+    "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": "2026-10-31T01:03:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--hqwybuc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--hqwybuc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd1c98ec74c2eeb9283fd64a5eb3e9846812524fae935c8f310fc3fbb0a8334e",
+   "video_sha256": "fa7245bea5388581fca61402213ba002cfddefe59191b584c6fe09848ebc6920",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx.json
new file mode 100644
index 0000000000000000000000000000000000000000..6311dca386659016974e11e1aa40d6ab165caae1
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx.json
@@ -0,0 +1,476 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--mnb6mrx",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1063,
+   "sim_steps": 1063,
+   "calls": 1041,
+   "rows": 1033,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1316.4,
+   "video_rendered": 1,
+   "first_success": 1,
+   "first_reason_code": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.389,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.862,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx/replay.mp4",
+  "duration_s": 10.64,
+  "fps": 25.0,
+  "frames": 266,
+  "sha256": "1803ac7f957ed966c2e64cf33f8ed2d5c069a63819bd25efaca00b32ae3d69e3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.84–1.12 s 的逐帧局部图中，机器人在白框内完成第1次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第1次有效过绳，完成时刻约为视频 1.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.84–1.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 1.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.84–2.12 s 的逐帧局部图中，机器人在白框内完成第2次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 2.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第2次有效过绳，完成时刻约为视频 2.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.84–2.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 2.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.84–3.12 s 的逐帧局部图中，机器人在白框内完成第3次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第3次有效过绳，完成时刻约为视频 3.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.84–3.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 3.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.84–4.12 s 的逐帧局部图中，机器人在白框内完成第4次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第4次有效过绳，完成时刻约为视频 4.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.84–4.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 4.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.84–5.12 s 的逐帧局部图中，机器人在白框内完成第5次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第5次有效过绳，完成时刻约为视频 5.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.84–5.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 5.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.84–6.12 s 的逐帧局部图中，机器人在白框内完成第6次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第6次有效过绳，完成时刻约为视频 6.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.84–6.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 6.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.84–7.12 s 的逐帧局部图中，机器人在白框内完成第7次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第7次有效过绳，完成时刻约为视频 7.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.84–7.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 7.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.84–8.12 s 的逐帧局部图中，机器人在白框内完成第8次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第8次有效过绳，完成时刻约为视频 8.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.84–8.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 8.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.84–9.12 s 的逐帧局部图中，机器人在白框内完成第9次小跳，身体和双脚升高后回落，长绳从前方低处扫过脚下并继续转向身后；此前全程分镜可见绳先越过头顶。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 59,
+      "text_zh": "推断：结合该次跳跃前后的画面和 log step 59 中机器人服务返回的 episode=1、outcome=success、stages_reached=12/12，确认累计第9次有效过绳，完成时刻约为视频 9.0 s，目测误差约0.1秒；细绳与两脚的瞬时净空无法逐物理子步从远景量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.84–9.12 s，机器人的脚部在木地板上蹬地、腾起后承接落地，躯干与手臂未见着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 9.00 s 附近机器人以小跳让长绳通过脚下；结合 log step 59 服务裁判的成功结果，判定该圈双脚及身体避开了绳，画面未见绳被身体挂住或阻断。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.60–10.12 s 逐帧图显示长绳越过机器人头顶后下扫，机器人在白框内完成第十次小跳；视频 10.08–10.12 s 脚部落回木地板，未见手、膝或躯干先着地。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 59,
+      "text_zh": "观察：视频 10.12–10.60 s 的逐帧图中，机器人保持脚部支撑和近直立姿态，没有再次起跳或明显漂移；log step 59 的机器人服务终局反馈为 episode=1、done=True、reason=success、stages_reached=12、stages_total=12，随后 log step 60 读取保存的同一终局元数据仍为 success。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 59,
+      "text_zh": "推断：服务裁判的12/12阶段确认第十次有效过绳、仅脚部首次落地及连续站稳验收均通过，故本节点在视频末尾约10.6 s完成，而非在视频10.0 s刚过绳时完成。无状态日志，无法从远景独立量出躯干余弦、骨盆速度及连续50控制步，完成锚点精度约一帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.84–10.12 s，机器人的脚部蹬木地板起跳并落地；视频 10.12–10.60 s 脚部继续承重，保持站立，未见其他身体部位着地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 9.84–10.12 s 机器人小跳让长绳从脚下转过，并在视频 10.12–10.60 s 落地站立时继续避开绳；log step 59 服务裁判的成功结果支持全过程未触绳。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在白框内按约一秒的节奏连续小跳，完成十次有效过绳；前九个节点约在视频 1.0–9.0 s 依次达到，末跳落地并站稳的第十节点约在视频 10.6 s 达到，最终10/10。log step 59 的现场机器人服务确认单次 episode=1 成功、12/12原生阶段通过，与完整视频和末秒逐帧画面一致，没有失败断点。未提供状态日志，25帧/秒远景不能独立验证毫秒级绳脚净空及站稳数值阈值；reward未单列 jumps 数值，故原生指标保留 null，节点终值结合服务裁判结果确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，10 个节点均 final=true、无断点；节点时间（约 1.0–9.0 s 逐次过绳，第十节点 10.6 s 含 0.5 s 站稳）与视频全程分镜及 log step 59 的 sim 日志（air 在 1.0 s、9.9–10.0 s，done=True 于 10.63 s）一致，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": "2026-10-31T01:05:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--mnb6mrx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "87a836e90c86e3bb998394112d0341f3bf4b64690f209a2a2aaac16edb266ae8",
+   "video_sha256": "1803ac7f957ed966c2e64cf33f8ed2d5c069a63819bd25efaca00b32ae3d69e3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx.json
new file mode 100644
index 0000000000000000000000000000000000000000..58f55bf19e8ca329f473af011214ed99d496d652
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx.json
@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--qvf2jcx",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 239,
+   "sim_steps": 7390,
+   "calls": 100,
+   "rows": 7026,
+   "resets": 50,
+   "reset_budget": 50,
+   "sim_startups": 1,
+   "elapsed_s": 1735.8,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.463,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.394,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx/replay.mp4",
+  "duration_s": 2.4,
+  "fps": 25.0,
+  "frames": 60,
+  "sha256": "97c797f051db831b2d15f650e08439494124934a9494f0a0407748624b640580"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.04,
+      "log_step": 206,
+      "text_zh": "观察：视频 0.88–1.16 s，机器人第1次双脚离地，长绳扫过脚底后转到身后；以视频 1.04 s 作为本次过绳完成的近似锚点。log step 206 中服务返回最后一次尝试 stages=2、stages_total=12、outcome=\"fell\"；结合 DAG 原生阶段顺序（十次过绳后才验收落地与站稳），支持前两次有效过绳。远景不能逐毫秒量出绳脚净空，完成时间约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人第1跳前由双脚在木地板上承重并蹬地起跳。视频 1.20–1.76 s 双脚重新接地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 0.88–1.16 s 机器人双脚腾空，让转动的长绳从脚下通过；log step 206 的两次计数支持该次避绳成立。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.04,
+      "log_step": 206,
+      "text_zh": "观察：视频 1.88–2.16 s，机器人第2次双脚离地，长绳扫过脚底后转到身后；以视频 2.04 s 作为本次过绳完成的近似锚点。log step 206 中服务返回最后一次尝试 stages=2、stages_total=12、outcome=\"fell\"；结合 DAG 原生阶段顺序（十次过绳后才验收落地与站稳），支持前两次有效过绳。远景不能逐毫秒量出绳脚净空，完成时间约有0.1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：机器人第2跳前由双脚在木地板上承重并蹬地起跳。视频 1.80–1.84 s 仍由脚部承重；本跳下落时翻倒，未见正常完成落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 1.88–2.16 s 机器人双脚腾空，让转动的长绳从脚下通过；log step 206 的两次计数支持该次避绳成立。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：视频 2.04–2.36 s 机器人在第二跳下落时持续向前翻倒，视频结束前没有第三次起跳或过绳；log step 206 服务报告本次尝试仅 stages=2 并以 fell 结束。第3次过绳未达到。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第4次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第5次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第6次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第7次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第8次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第9次过绳均未发生。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.36,
+      "log_step": 206,
+      "text_zh": "观察：已逐帧检查视频 0–2.36 s，全程仅有两次腾空过绳，随后机器人翻倒；log step 206 服务返回最后一次尝试 stages=2、outcome=\"fell\"。第10次过绳及末跳后的落地站稳均未发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 2,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_3",
+   "t": 2.12,
+   "log_step": 206,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.88–2.04 s 机器人完成第二次腾空过绳；视频 2.04–2.36 s 第二跳下落阶段，机器人身体持续向前倾斜，最终接近水平并落向地板，第三次起跳和过绳未能开始。log step 206 的最后一次现场尝试由服务返回 stages=2、stages_total=12、outcome=\"fell\"、reason=\"failed\"、steps=239；log step 209 的服务状态为 episode=51、done=True、resets_left=0。推断：第二次过绳事件已达成并锁存，连续过绳动作在进入下一次过绳前失稳中断，因此断点归于第一个未达到的步骤 rope_cleared_3，视频 2.12 s 为失稳过程的近似导航锚点。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.12,
+    "log_step": 206,
+    "evidence_zh": "观察：视频 2.04–2.36 s 机器人第二跳下落时躯干持续前倾，由倾斜逐渐翻到接近水平，没有恢复脚部正常落地支撑；log step 206 的服务结果为 outcome=\"fell\"、reason=\"failed\"，本次尝试随之终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 2.12,
+    "log_step": 196,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 196 的最终 gen.py 先用 build_lowcmd 生成整段固定时间表，再以 chunk=10.0 一次提交；log step 115 的轨迹生成器按预定相位插值关节位置、速度及增益，落地腰部修正也是固定姿态，未根据机身倾角或着地状态更新全身动作。视频 1.20–1.76 s 第一跳落地后仍有前倾，视频 1.88–2.36 s 再次起跳后倾斜继续放大直至翻倒；该执行方式未能消除累计的全身姿态误差，支持反馈控制失稳。"
+   }
+  ],
+  "gap_zh": "无状态日志；固定远景及25帧/秒采样不能独立验证每个物理子步的绳脚净空，前两次有效计数结合最后一次尝试的服务 stages=2 判定，节点时间取可见过绳的近似锚点。log step 206 的239控制步乘0.01秒为仿真2.39秒，与视频末段翻倒及2.4秒时长相符，仅用于核对本次尝试；未将 agent 工作时间映射为视频时间。log step 202 的关节/姿态分析读取 U2 测试数据，并非最后一次尝试的逐帧状态，因此不据此认定本次尝试的踝关节偏差或力矩饱和数值。"
+ },
+ "summary_zh": "机器人在视频约1.04 s及2.04 s完成两次有效过绳，十个事件节点中最终达到2个，原生服务结果为2/12阶段（后两阶段为末跳落地及站稳）。第二跳下落时机器人持续前倾并翻倒，第三次过绳未能开始，断点为 rope_cleared_3（操作中）；固定时间表控制未能修正累计姿态偏差，后续八次过绳未发生。无状态日志且绳脚净空难以逐毫秒确认，计数由视频与最后一次现场尝试的服务结果共同支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "两次过绳（视频约1.04 s、2.04 s）与翻倒时序经帧核对成立，现象“平衡”与根因“反馈控制”可接受。但断点 ref 指向已达到的 rope_cleared_2，应指向第一个未达到、正在进行的步骤 rope_cleared_3。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：断点已改为 rope_cleared_3，两次过绳（约1.04 s、2.04 s）与随后翻倒的时序经帧核对一致，现象“平衡”与根因“反馈控制”有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--qvf2jcx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "36dfccb54a9e14ebc4c7bc103c8bf9ad40b68ce8cb4401bb1c2444fbd00df3e8",
+   "video_sha256": "97c797f051db831b2d15f650e08439494124934a9494f0a0407748624b640580",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--zdur7ug.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--zdur7ug.json
new file mode 100644
index 0000000000000000000000000000000000000000..347a63be77bde09baeb223d8179baa4cc5dc886b
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard--zdur7ug.json
@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard--zdur7ug",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 109,
+   "sim_steps": 653,
+   "calls": 49,
+   "rows": 653,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 6601.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.552,
+   "peak_processes": 14,
+   "peak_disk_gb": 2.553,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-long-rope-i00-standard--zdur7ug/replay.mp4",
+  "duration_s": 1.12,
+  "fps": 25.0,
+  "frames": 28,
+  "sha256": "f8a773d1dcffe5601bfe741dcaecebc3dab546bcf78fcc1edfb5b09525a47f39"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.00–1.08 s。机器人在白框内屈腿起跳，视频 0.88–0.96 s 双脚离开木地板，细绳由身前的低处扫过双脚下方，随后在视频 1.00–1.08 s 向身后升起；画面只出现这一圈过绳。"
+     },
+     {
+      "t": 0.96,
+      "log_step": 132,
+      "text_zh": "推断：首次有效过绳约在视频 0.96 s 完成，受远景和25帧/秒限制存在约一帧误差。log step 132 最后一次现场尝试 episode=6 的服务裁判返回 stages_reached=1、stages_total=12、outcome=\"fell\"，与一圈过绳后落地失败相符；该节点按过绳计数锁存，后续摔倒不撤销计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.84 s 机器人双脚在木地板上支撑并蹬地；视频 1.04–1.08 s 屈曲的膝腿降至地板高度而双脚仍向后翘起。推断：末段由膝腿触地承接下落，未恢复正常足底支撑；log step 132 的裁判结果为fell。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 0.88–0.96 s 机器人双脚腾空，绳从脚下扫过并于视频 1.00 s 后向身后升起。推断：首次通过时全身避开长绳，log step 132 的首个过绳阶段通过支持该判断。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第2次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第3次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第4次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第5次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第6次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第7次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第8次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第9次过绳。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.08,
+      "log_step": 132,
+      "text_zh": "观察：视频 0.00–1.08 s 全部28帧仅显示一次起跳过绳；视频 1.04–1.08 s 机器人仍双腿折起并落至膝部接近地板的低姿态，未再起跳，没有第10次过绳，也没有第十跳后的脚部落地和站稳验收。log step 132 最后一次现场尝试的服务裁判返回done=true、outcome=\"fell\"、stages_reached=1/12。推断：本节点未达到；没有将其他重置尝试或离线仿真结果计入本视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 1.04,
+   "log_step": 132,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.88–0.96 s 机器人首次腾空过绳，视频 1.00–1.08 s 双脚仍折在身后，膝腿下沉至地板，未出现恢复足底支撑或第二次起跳；log step 132 服务裁判返回fell并结束最后一次现场尝试。推断：出错发生在第一次跳跃的下落着地过程中，故断点归首次跳跃；该节点的过绳计数已经锁存为真，不因落地失败改为假，也不把尚未开始的第二次跳跃当成断点。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.04,
+    "log_step": 132,
+    "evidence_zh": "观察：视频 0.96–1.08 s 机器人保持双膝深屈、双脚向后翘的姿态下落，末帧膝部到达地板高度，未以足底承接站立；log step 132 的最后现场尝试裁判结果为outcome=\"fell\"。推断：机器人首次跳跃后失去正常脚部支撑并跪落，属于平衡失败；视频未显示第二次腾空后的前扑。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 1.04,
+    "log_step": 132,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 0.92–1.08 s 机器人完成屈腿腾空后，在下降接近地面时仍没有展开双腿、把足底送回承重位置，跳跃控制未完成从腾空到脚部落地的转换。log step 100 的agent脚本以lowcmd关节指令执行分阶段跳跃并在指令块边界加入反馈，log step 132 修改该脚本反馈增益后执行的最后现场尝试仍由服务裁判判fell。现有证据支持控制层失败，不能确定具体是哪一增益、反馈估计或轨迹时序造成。"
+   }
+  ],
+  "gap_zh": "观察：inputs/提供完整视频和日志，但没有状态日志；远景25帧/秒不能精确验证毫秒级绳身接触、左右脚过绳先后、膝腿首次触地部位和关节跟踪误差。log step 134 的agent自述称首次落地反弹后在第二次腾空阶段前扑，而本视频到视频 1.08 s 的末帧只显示首次屈腿起跳后跪落，故物理过程以视频为准，未采用自述的第二次腾空及其离线动力学诊断。run.json的reward未单列jumps数值，native_metrics的该值保留null；首次计数由可见过绳及log step 132服务裁判的1/12阶段结果共同支持。"
+ },
+ "summary_zh": "机器人约在视频 0.96 s 完成首次有效过绳，按计数锁存规则终态为1/10。首次跳跃的落地过程中，机器人未及时展开双腿恢复足底支撑，视频 1.04–1.08 s 呈跪落姿态，断点为过绳1的操作中，现象为平衡、根因为控制。没有状态日志可区分具体控制原因；log step 134 关于第二次腾空后前扑的agent自述未获本视频支持。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "逐帧核对：视频 0.92–0.96 s 起跳腾空、绳随后升到头顶高度，过绳1成立；视频 1.04–1.08 s 双腿折叠跪落，无第二跳。log step 132 的服务裁判 stages_reached=1/12、outcome=fell 与此一致。终态 1/10、断点过绳1、平衡、控制均有证据支持，未发现需要修改之处。",
+    "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": "2026-10-31T01:12:17Z",
+  "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/embodied-olympics-fun-long-rope-i00-standard--zdur7ug/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard--zdur7ug/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "122a5fb188de1f214dec9aa8f2c5f739b5e5c4e2fe44f83e60232b17f032a74f",
+   "video_sha256": "f8a773d1dcffe5601bfe741dcaecebc3dab546bcf78fcc1edfb5b09525a47f39",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9def2f9b96b5146c1c4af23594d028c1ad8ea78
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct.json
@@ -0,0 +1,492 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1057,
+   "sim_steps": 3128,
+   "calls": 3650,
+   "rows": 5355,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1589.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 31.274,
+   "max_lag_s": 0.0296,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 70,
+   "late_steps": 68,
+   "requests_refused": 2,
+   "request_busy_s": 2.297,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct/replay.mp4",
+  "duration_s": 10.6,
+  "fps": 25.0,
+  "frames": 265,
+  "sha256": "9f3e7368fa42575cf16358fa39376019ea88fcbd42834507e184af1ddcef3620"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.88,
+      "log_step": null,
+      "text_zh": "观察：视频 0.64–1.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 0.84–0.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第1次跳跃。"
+     },
+     {
+      "t": 0.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第1次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第1次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 0.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.64–1.16 s 第1次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 0.84–0.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.88,
+      "log_step": null,
+      "text_zh": "观察：视频 1.64–2.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 1.84–1.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第2次跳跃。"
+     },
+     {
+      "t": 1.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第2次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第2次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 1.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.64–2.16 s 第2次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 1.84–1.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.88,
+      "log_step": null,
+      "text_zh": "观察：视频 2.64–3.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 2.84–2.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第3次跳跃。"
+     },
+     {
+      "t": 2.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第3次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第3次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 2.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.64–3.16 s 第3次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 2.84–2.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.88,
+      "log_step": null,
+      "text_zh": "观察：视频 3.64–4.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 3.84–3.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第4次跳跃。"
+     },
+     {
+      "t": 3.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第4次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第4次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 3.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.64–4.16 s 第4次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 3.84–3.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.88,
+      "log_step": null,
+      "text_zh": "观察：视频 4.64–5.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 4.84–4.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第5次跳跃。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第5次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第5次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 4.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.64–5.16 s 第5次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 4.84–4.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.88,
+      "log_step": null,
+      "text_zh": "观察：视频 5.64–6.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 5.84–5.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第6次跳跃。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第6次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第6次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 5.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.64–6.16 s 第6次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 5.84–5.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.88,
+      "log_step": null,
+      "text_zh": "观察：视频 6.64–7.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 6.84–6.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第7次跳跃。"
+     },
+     {
+      "t": 6.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第7次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第7次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 6.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.64–7.16 s 第7次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 6.84–6.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.88,
+      "log_step": null,
+      "text_zh": "观察：视频 7.64–8.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 7.84–7.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第8次跳跃。"
+     },
+     {
+      "t": 7.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第8次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第8次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 7.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.64–8.16 s 第8次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 7.84–7.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.88,
+      "log_step": null,
+      "text_zh": "观察：视频 8.64–9.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 8.84–8.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第9次跳跃。"
+     },
+     {
+      "t": 8.96,
+      "log_step": 104,
+      "text_zh": "推断：视频第9次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第9次有效过绳已通过，瞬时净空及无触绳由该裁决补足。将本节点到达时间近似标在视频 8.96 s，细绳与脚底通过的具体物理子步不可从25 fps远景精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.64–9.16 s 第9次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 8.84–8.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.88,
+      "log_step": null,
+      "text_zh": "观察：视频 9.64–10.16 s 的逐帧局部图中，机器人在白框内从屈膝支撑转为伸腿起跳；视频 9.84–9.92 s 双脚与地面阴影分离，长绳降到脚边后绕至身后，随后脚部落回木地板。这是按视频顺序数到的第10次跳跃。"
+     },
+     {
+      "t": 10.56,
+      "log_step": 104,
+      "text_zh": "推断：视频第10次跳跃的可见过绳过程与 log step 104 中第4次现场尝试的服务裁判结果相符：outcome=success、stages_reached=12、stages_total=12；因此第10次有效过绳已通过，瞬时净空及无触绳由该裁决补足。本节点还包含末跳落地与站稳验收，不能在第十次过绳时立即记为完成。"
+     },
+     {
+      "t": 10.56,
+      "log_step": 104,
+      "text_zh": "观察：视频 9.84–9.92 s 机器人末次腾空，视频 10.04–10.56 s 脚部已回到木地板，躯干保持直立，手、膝和躯干未见着地，也未再起跳；log step 104 的服务终态为 episode=4、control_steps=1057、sim_time_s=10.57、12/12阶段完成。"
+     },
+     {
+      "t": 10.56,
+      "log_step": 104,
+      "text_zh": "推断：log step 7 的 control_dt=0.01 s 与 log step 104 的本回合 control_steps=1057 给出仿真 10.57 s，与视频总长 10.60 s 一致；末段站立画面也与裁判成功终态相符。站稳验收映射到已检查的最后一帧视频 10.56 s 作为近似到达锚点；精确躯干余弦、骨盆速度与连续50控制步由服务裁决确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.64–10.16 s 第10次跳跃前后，机器人脚部在木地板上承重、蹬地并承接落地；腾空时脚部离开地面。视频 10.04–10.56 s 末跳落地后继续由脚部支撑站立。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频 9.84–9.96 s 机器人双脚抬离木地板，让两台蓝色转绳机之间的长绳从脚下通过，身体继续保持在中心区；该次过绳有效性结合 log step 104 的12/12成功裁决确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分视频对应 log step 102 启动的第4次现场尝试：机器人在中心区连续完成十次过绳，前九次约在视频 0.96、1.96、2.96、3.96、4.96、5.96、6.96、7.96、8.96 s 达成，第十次在落地站稳后约视频 10.56 s 完成，最终10/10节点成立。视频末段显示脚部落地并保持站立，log step 104 的服务裁判确认 success 和12/12原生阶段，故无失败断点；此前三个现场尝试的失败不属于本次评分视频。没有状态日志，25 fps远景无法独立量出毫秒级绳体接触、净空和站稳阈值，精确合规性由最终裁决补足；评分字段未单独报告 jumps 数值，原生指标保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频为第4次现场尝试（log step 104 服务终态 success、12/12、control_steps=1057、sim 10.57 s，与视频 10.6 s 吻合）；视频中机器人每约1 s腾空一次，共10次，末跳后站稳，无失败断点，contact_actual（腿/躯干 支撑+避开）合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:47Z",
+  "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/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--2rnxyct/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4aba4057743b2557b0bcbe4579327f41a920e0aedf0d444b258d216ec9e274a",
+   "video_sha256": "9f3e7368fa42575cf16358fa39376019ea88fcbd42834507e184af1ddcef3620",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac05f8d57c201e3025263b207c81492835400ce
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv.json
@@ -0,0 +1,510 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 994,
+   "sim_steps": 1452,
+   "calls": 39,
+   "rows": 4219,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 3127.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 14.543,
+   "max_lag_s": 0.0082,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 0,
+   "request_busy_s": 0.384,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv/replay.mp4",
+  "duration_s": 9.96,
+  "fps": 25.0,
+  "frames": 249,
+  "sha256": "e8e32766f63459fdde46726c68ec3cf2385799bb716a1ad333e35dc4628b32aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 9,
+  "final": 9,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.80–1.08 s，机器人在白框内完成第1次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 0.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第1圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 0.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第1圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第1圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.80–2.08 s，机器人在白框内完成第2次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 1.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第2圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 1.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第2圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第2圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.80–3.08 s，机器人在白框内完成第3次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 2.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第3圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 2.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第3圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第3圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.80–4.08 s，机器人在白框内完成第4次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 3.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第4圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 3.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第4圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第4圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.80–5.08 s，机器人在白框内完成第5次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第5圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 4.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第5圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第5圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.80–6.08 s，机器人在白框内完成第6次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第6圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 5.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第6圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第6圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 6.80–7.08 s，机器人在白框内完成第7次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 6.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第7圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 6.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第7圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第7圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.96,
+      "log_step": null,
+      "text_zh": "观察：视频 7.80–8.08 s，机器人在白框内完成第8次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 7.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第8圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 7.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第8圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第8圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.96,
+      "log_step": null,
+      "text_zh": "观察：视频 8.80–9.08 s，机器人在白框内完成第9次小跳，双脚离地，长绳扫过脚下后继续向身后上升，机器人落回木地板并继续下一圈；已逐帧检查该窗口。"
+     },
+     {
+      "t": 8.96,
+      "log_step": 547,
+      "text_zh": "推断：结合第9圈脚下通过的前后画面及后续现场运动持续进行，本次有效过绳约在视频 8.96 s 完成，时间为视觉近似；log step 547 的 agent 自述最后一次尝试完成九次与视频一致，但不作为独立裁判计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第9圈中机器人双脚在木地板上蹬地起跳，过绳后以脚部落地支撑。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：第9圈机器人腾空时让长绳从双脚下通过，前后帧未见绳被身体挡住，随后继续运动；远景不能逐毫秒测定足绳间隙。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.92,
+      "log_step": null,
+      "text_zh": "观察：视频 9.68–9.92 s，机器人仍在白框内，末圈长绳由高处转向身前并接近足底；机器人进行了幅度很小的第十次跳跃，末帧绳与脚部十分接近，未见本圈完整从两脚下通过后的上升，也未出现最后落地并站稳的后续画面。"
+     },
+     {
+      "t": 9.92,
+      "log_step": 547,
+      "text_zh": "推断：视频在末圈脚下通过期间结束，结合评分器 success=0、n_actions=994，以及 log step 547 的 agent 自述“九次有效过绳，第十次脚跟擦绳”，判定第十步未达成；脚跟擦绳的具体部位不能由远景直接确认。视频末尾没有完成本步所需的末跳落地及站稳窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.68–9.92 s，机器人双脚以木地板支撑并发起末次小跳；末圈未记录为成功避开长绳。具体足绳接触部位在远景中不能直接确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_10",
+   "t": 9.9,
+   "log_step": 537,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 8.80–9.08 s 可见第九圈过绳及落地，视频 9.84–9.92 s 机器人发起末次小跳，长绳接近足底时本次轨迹终止，未完成第十圈与落地站稳。log step 537 启动最后一次现场尝试，log step 547 的 agent 自述该次在第十跳擦绳，与评分器 success=0、n_actions=994 和视频末尾一致；断点属于正在进行的第十次过绳。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 9.9,
+    "log_step": 547,
+    "evidence_zh": "推断：视频 9.84–9.92 s 机器人只完成很小幅度的抬升，绳扫至足底时未完成无接触越过，身体仍直立、未见倒地；结合 log step 547 的 agent 自述末跳擦绳，归为跳跃未达到过绳所需的净空/腾空持续要求。不能据远景进一步区分抬脚高度不足与起跳相位偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 502 的控制脚本将同一套100控制步的关节目标重复十次，只轮询服务步数和终止状态，不根据实际绳相位或脚部净空修正跳跃；log step 529 将初始等待改为69控制步后，log step 537 执行最后一次尝试。视频前九圈能通过，末圈视频 9.84–9.92 s 却未维持足绳分离，说明所执行的跳跃控制未能可靠覆盖十圈；无证据细分为某个错误参数或逆解故障。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；固定远景仅25帧/秒，不能直接分辨末圈触绳的毫秒时刻、左右脚或脚跟位置，也不足以区分净空不足与起跳时机偏差。最后一次执行在 log step 537 后没有收录服务最终 meta 的原始输出，九次计数及脚跟擦绳在 log step 543、547 中仅为 agent 自述；节点进度结合逐圈视频判断。评分器 reward 未报告 jumps 原生数值，故 native_metrics.value 留 null。",
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": true,
+   "rope_cleared_4": true,
+   "rope_cleared_5": true,
+   "rope_cleared_6": true,
+   "rope_cleared_7": true,
+   "rope_cleared_8": true,
+   "rope_cleared_9": true,
+   "rope_cleared_10": false
+  }
+ },
+ "summary_zh": "机器人在中心区完成前九次过绳，语义进度达到9/10；最后一次现场尝试的第十次小跳在长绳扫到足底附近时结束，未完成末圈与落地站稳。重复关节轨迹的控制未能维持整套十圈所需的足绳分离；远景及缺少最后一次服务原始计数输出，使具体触绳部位、起跳相位与高度因素无法进一步确认。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "九次过绳（视频约 0.96–8.96 s，对应控制步 91+100k 的绳到脚时刻）与第十圈断点（视频约 9.9 s，log step 547 自述 step 994 脚跟擦绳，success=0、n_actions=994 与 9.96 s 视频吻合）判断合理；步态现象与控制根因有日志证据支持且措辞克制，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": "2026-10-31T01:13:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--phnezsv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf30cf7fca8b48662417825230ca740d66770f71b7e0613a9efbe49ccada8995",
+   "video_sha256": "e8e32766f63459fdde46726c68ec3cf2385799bb716a1ad333e35dc4628b32aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d1e6592c749b972b43b3667026417dcd98e95
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql.json
@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 145,
+   "sim_steps": 1428,
+   "calls": 145,
+   "rows": 11968,
+   "resets": 10,
+   "reset_budget": 10,
+   "sim_startups": 1,
+   "elapsed_s": 586.0,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 14.503,
+   "max_lag_s": 0.1971,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 2,
+   "request_busy_s": 0.467,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql/replay.mp4",
+  "duration_s": 1.48,
+  "fps": 25.0,
+  "frames": 37,
+  "sha256": "c1c72bcde79116bd2f5a7fd8485783ca31a5b95f7a874245624c48c724df134b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": 52,
+      "text_zh": "观察：视频0.80–0.88 s机器人屈膝，视频0.92–1.04 s双脚离地，细绳从脚下扫过后在身后上升；视频0.96 s作为首次过绳的近似锚点。最终第11局的服务裁判在log step 52、53报告stages_reached=1/12、outcome=fell，与首次过绳后摔倒的画面相符；首次计数为锁存事件，后续摔倒不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–0.88 s机器人双脚由木地板支撑并蹬地；视频约1.28–1.44 s脚部落地后身体继续倾倒。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "观察：视频0.92–1.04 s机器人双脚腾空让长绳通过，绳随后向身后上升；log step 52、53的服务裁判确认首次有效计数，终止原因是摔倒。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第2次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第3次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第4次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第5次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第6次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第7次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第8次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第9次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.44,
+      "log_step": 53,
+      "text_zh": "观察：已逐帧检查视频0.00–1.44 s，机器人只完成一次腾空过绳，随后在首次落地过程中倾倒，末帧身体接近水平；画面未出现第10次过绳或第二次起跳。log step 53确认最终第11局在control_steps=145时以fell结束，stages_reached=1/12。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": 1,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 1.2,
+   "log_step": 52,
+   "where": "操作中",
+   "evidence_zh": "观察：视频0.96–1.12 s机器人完成首次过绳后仍在空中，视频1.16–1.40 s身体持续向前倾倒，首次落地未站住，视频1.44 s身体接近水平且贴近地板；log step 52、53的服务裁判报告最终第11局fell、1/12阶段。推断：出错动作属于第1次跳跃的落地过程，尚未开始第2次起跳，因此断点取过绳1；该节点的有效过绳计数已锁存，final仍为true。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.2,
+    "log_step": 53,
+    "evidence_zh": "观察：视频1.12–1.44 s机器人从腾空后的近直立姿态逐渐前倾，双脚落下后仍未恢复支撑平衡，身体倒向地板。log step 53返回最终第11局outcome=fell、control_steps=145；服务控制周期为0.01 s（log step 52），145×0.01=1.45 s与视频1.44 s末帧的倒下过程一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent脚本提交的跳跃控制未能稳定首次腾空后的姿态和落地：log step 52显示修正后的lowcmd计划成功提交、late_steps=0，最终裁判为fell、1/12阶段；视频0.96–1.44 s显示已过绳却持续倾倒，未出现可见外物碰撞阻断。log step 48记录agent曾调整落地姿态，早前多局的服务裁判仍报首次过绳后fell（log step 34、37、40、45），支持控制层面失稳；具体控制子类缺少足够数据。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志；固定远景为25帧/秒，细绳与脚底的精确净空及毫秒级过绳时刻无法量出，首次过绳时间取视频约0.96 s并由最终局服务裁判1/12阶段交叉确认。日志中的多次edit只保留截断代码，缺少最终完整关节控制序列及该局姿态、速度和地面接触曲线，无法进一步区分轨迹、反馈或参数原因；首次落地失衡归第1次跳跃，不凭下一未达节点改归第2次。"
+ },
+ "summary_zh": "评分对象是log step 52、53确认的最终第11局：机器人在视频约0.96 s完成首次有效过绳，DAG锁存进度为1/10，原生裁判阶段为1/12（前十阶段为过绳计数，另有末跳落地与站稳）。机器人在首次跳跃的落地过程中持续倾倒，视频1.44 s已接近水平，服务裁判以fell结束；断点为过绳1的操作中，现象为平衡失稳，根因归控制。无状态日志且最终控制代码不完整，过绳时刻为近似值，不能细分控制原因；前面各次重置及提交前已修复的数组错误不作为本局进度或失败现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频仅1.48 s；过绳1约0.96 s、随后前倾摔倒与log step 52/53的fell、1/12一致；断点、平衡现象、根因控制均有证据支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:14:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--qbxgxql/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "303b5e5a678d8f82675f9d47dc79a72d490e9c09ad507a9d87b955b92c10753b",
+   "video_sha256": "c1c72bcde79116bd2f5a7fd8485783ca31a5b95f7a874245624c48c724df134b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ff9447348e5afc57b9164688812bd8782846dd7
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs.json
@@ -0,0 +1,503 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 910,
+   "sim_steps": 2472,
+   "calls": 2565,
+   "rows": 3433,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 5617.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 24.753,
+   "max_lag_s": 0.0249,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 161,
+   "late_steps": 0,
+   "requests_refused": 4,
+   "request_busy_s": 1.281,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs/replay.mp4",
+  "duration_s": 9.12,
+  "fps": 25.0,
+  "frames": 228,
+  "sha256": "dfcb0d732049ab0213cebdb71b51623d8f82367765723f3b083ce34edfe49441"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 9,
+  "final": 9,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0.68–1.12 s，机器人完成第1个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 0.96 s。"
+     },
+     {
+      "t": 0.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第1次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第1跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第1次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.96,
+      "log_step": null,
+      "text_zh": "观察：视频 1.68–2.12 s，机器人完成第2个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 1.96 s。"
+     },
+     {
+      "t": 1.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第2次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第2跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第2次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.96,
+      "log_step": null,
+      "text_zh": "观察：视频 2.68–3.12 s，机器人完成第3个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 2.96 s。"
+     },
+     {
+      "t": 2.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第3次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第3跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第3次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.96,
+      "log_step": null,
+      "text_zh": "观察：视频 3.68–4.12 s，机器人完成第4个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 3.96 s。"
+     },
+     {
+      "t": 3.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第4次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第4跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第4次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": null,
+      "text_zh": "观察：视频 4.68–5.12 s，机器人完成第5个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 4.96 s。"
+     },
+     {
+      "t": 4.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第5次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第5跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第5次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.96,
+      "log_step": null,
+      "text_zh": "观察：视频 5.68–6.12 s，机器人完成第6个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 5.96 s。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第6次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第6跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第6次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.96,
+      "log_step": null,
+      "text_zh": "观察：视频 6.68–7.12 s，机器人完成第7个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 6.96 s。"
+     },
+     {
+      "t": 6.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第7次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第7跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第7次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.96,
+      "log_step": null,
+      "text_zh": "观察：视频 7.68–8.12 s，机器人完成第8个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 7.96 s。"
+     },
+     {
+      "t": 7.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第8次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第8跳中机器人双脚踩木地板承重并蹬地；随后双脚回到地板承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第8次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.96,
+      "log_step": null,
+      "text_zh": "观察：视频 8.68–9.08 s，机器人完成第9个小跳周期：屈膝后双脚离地，转绳机带动细绳从身前降至脚底附近，再转到身后；机器人保持直立。过绳完成时间约为视频 8.96 s。"
+     },
+     {
+      "t": 8.96,
+      "log_step": 137,
+      "text_zh": "推断：本次录像共见九个过绳小跳，log step 137 的现场服务终局读数为 episode=6、stages_reached=9、stages_total=12，判负原因为离开中心区；结合DAG前十个原生阶段逐次计数的顺序，第9次有效过绳已被接受。细绳净空与毫秒接触无法仅凭25帧/秒远景逐一测量，达到时刻按本圈可见过绳过程近似标定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "第9跳中机器人双脚踩木地板承重并蹬地；终止前身体仍在回落，未将最后画面认作已经落稳。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "第9次过绳时机器人双脚及身体让长绳通过，双脚与地板间出现空隙；现场服务接受该次计数，未以触绳终止。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.08,
+      "log_step": 137,
+      "text_zh": "观察：视频 8.68–9.08 s 只显示第九跳的起跳、过绳与回落，结尾机器人位于白框靠画面左侧边缘，仍直立；录像结束前没有第十跳，也没有第十跳后的落地站稳过程。log step 137 的现场服务记录本次 episode=6 在 control_steps=910 时以“the robot left the centre zone”终止，stages_reached=9/12。"
+     },
+     {
+      "t": 9.08,
+      "log_step": 137,
+      "text_zh": "推断：服务阶段数与视频九个小跳一致，第十次过绳及其落地、站稳验收未达到。log step 3–4 给出控制周期0.01 s，最后一次现场尝试的910控制步对应视频约9.10 s，与视频 9.08 s 的末帧及9.12 s总长核对一致；不使用agent工作时间换算视频时间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_9",
+   "t": 9.08,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.88–8.96 s 机器人第九次腾空过绳，视频 9.00–9.08 s 仍在该跳回落，身体已逐次漂到白框靠画面左侧的边缘，尚未开始第十跳；末帧没有手膝或躯干着地。log step 137 的现场服务在本次 episode=6、control_steps=910 时报告离开中心区并终止，原生阶段为9/12。推断：失效发生在第九跳的回落运动中，故断点选该跳；它的过绳计数已经成立并锁存，仍保留节点已完成，不把尚未启动的第十跳当作正在失败的动作。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 9.08,
+    "log_step": 137,
+    "evidence_zh": "观察：视频 0.00 s 机器人站在白框中部；视频 3.16、6.16、8.16 s 的脚部支撑位置及骨盆逐渐向画面左侧偏移，视频 8.88–9.08 s 的第九跳仍带着这一偏移回落，机器人未摔倒。log step 137 的现场服务报告“the robot left the centre zone”。推断：连续跳跃的水平位移累积使机器人出区，属于跳跃偏离所需位置的步态失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：控制器未闭环纠正机器人相对场地中心的累计位移。log step 82 的ctrl4控制代码用关节与IMU计算质心相对双脚中点的rel及其差分速度，反馈的是身体相对脚的位置；log step 91 将现场驱动切到该控制器，读取关节和IMU而摄像头设为空。log step 129 仅加入按已跳次数变化的xb_slope偏置，log step 136–137 将这些参数用于最后一次现场尝试；没有场地位置误差反馈。视频 0.00–9.08 s 显示机器人直立小跳却持续漂向框边，log step 137 的现场服务确认出区终止，支持该控制缺口导致漂移未被消除。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；25帧/秒固定远景不能精测绳与双脚的毫秒接触、骨盆越界的精确坐标或时刻，过绳次数依据已检查的逐圈画面及最后一次现场服务9/12阶段共同判断，各节点时间为约值。inputs/run.json的reward未单列jumps字段，故native_metrics中该值保留null；九次计数的推断列在节点证据中。agent自建模拟器的十跳与站稳结果（log step 136）属于会话测试，不是本次评分录像的进展。",
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": true,
+   "rope_cleared_4": true,
+   "rope_cleared_5": true,
+   "rope_cleared_6": true,
+   "rope_cleared_7": true,
+   "rope_cleared_8": true,
+   "rope_cleared_9": true,
+   "rope_cleared_10": false
+  }
+ },
+ "summary_zh": "评分采用最后一次现场尝试（episode=6）：机器人完成九次有效过绳，前九个事件节点锁存为真，第十跳及末跳站稳未达到。视频约9.08 s仍处于第九跳回落，累计水平漂移使机器人离开中心区而终止，断点为第九跳操作中，现象为步态，根因证据支持缺少场地位置纠偏的反馈控制。无状态日志，逐次接触净空和越界瞬间依靠远景画面与现场服务终局记录共同判断，不能用agent本地测试的十跳结果替代。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "九个过绳节点与现场服务读数 stages_reached=9/12（12=10跳+落地+站稳）及910控制步≈9.1 s 一致，第十跳未达；断点第九跳、步态现象、反馈控制根因均有 log step 137 的终局读数支撑，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:12:51Z",
+  "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/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--saofecs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8aebdc374e30d7a7d368e9fa830f8431ac81b57b1c7d34904de3511ba05ec29",
+   "video_sha256": "dfcb0d732049ab0213cebdb71b51623d8f82367765723f3b083ce34edfe49441",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu.json
new file mode 100644
index 0000000000000000000000000000000000000000..84aa500b10b9d5ba99b2f19329c670379d0a256d
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 92,
+   "sim_steps": 559,
+   "calls": 24,
+   "rows": 7590,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1478.0,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 5.808,
+   "max_lag_s": 0.0946,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 0,
+   "requests_refused": 5,
+   "request_busy_s": 0.368,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu/replay.mp4",
+  "duration_s": 0.96,
+  "fps": 25.0,
+  "frames": 24,
+  "sha256": "3a6fac6443dd4fbe064821a7f9811a4392d30c3e3fdd3054320695b4bc74c579"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：已检查评分视频0.00–0.92 s的全部24帧及机器人局部放大；机器人站在白框内，腿部有小幅屈伸，视频0.84–0.92 s绳下降至脚部附近时，未见双脚完全腾空让绳完整通过。log step 110中本次现场尝试的服务裁判返回“the rope touched the robot”、stages=0/12、control_steps=92；log step 115确认最终仍为episode=6、done=true，之后没有新尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：评分视频0.00–0.92 s中，机器人双脚在木地板上承重，伴随腿部小幅屈伸；末段未见足以让长绳通过的双脚腾空间隙。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“碰触”。视频0.88–0.92 s长绳降到机器人脚部附近，log step 110的本次现场裁判明确记录绳触机器人；接触位置推断在下肢附近，无法分辨具体脚或腿段。此为意外碰触，不属于抓握、推扫、压擦或成功避开。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第2次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第2次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第3次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第3次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第4次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第4次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第5次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第5次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第6次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第6次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第7次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第7次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第8次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第8次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第9次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第9次过绳未开始。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": 110,
+      "text_zh": "观察：评分视频0.00–0.92 s仅出现首圈转绳及机器人小幅腿部动作，未见第10次有效双脚过绳；末帧仍处于首圈脚部附近。log step 110中这一现场尝试因绳触机器人结束，服务裁判记录stages=0/12；后续第10次过绳未开始。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_1",
+   "t": 0.9,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "观察：评分视频0.72–0.92 s机器人在白框内进行首跳的腿部屈伸，绳下降至脚部时未见充分腾空；log step 110的现场服务裁判以“the rope touched the robot”结束本次尝试，stages=0/12。log step 113–115显示后续重置及提交均被拒绝，最终停留在已失败的episode=6，故断点是首个过绳步骤。"
+  },
+  "unmet": {
+   "rope_cleared_1": false,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 0.9,
+    "log_step": 110,
+    "evidence_zh": "观察：评分视频0.72–0.92 s，机器人腿部虽有动作，但双脚没有形成让绳完整穿过的可见净空，身体保持站姿且未摔倒；绳抵达脚部附近后视频结束。log step 110中该次现场裁判记录触绳且0/12阶段，首跳未达到要求。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 0.9,
+    "log_step": 109,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 109显示agent把最后现场尝试改为纯位置目标推蹬，膝关节速度目标及前馈力矩均置零；log step 110实际运行该程序并在首圈触绳失败。结合评分视频0.72–0.92 s未形成足够腾空间隙，说明其腿部运动指令没有实现所需跳跃。agent在log step 112、117自述位置推蹬中途力矩减弱、起跳速度不足，但这些具体动力学解释未获独立验证，故根因只标到控制，不指定参数调试或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志。固定远景只有25 fps，视频0.88–0.92 s不能分辨触绳的具体身体部位、毫秒级接触及精确足底间隙；触绳事实由已核对为最后现场尝试的log step 110服务裁判补充。log step 111打印的自采样关节变化比视频中可见动作明显，不能据此替代视频或精确重建起跳轨迹；agent关于推蹬力矩和速度的分析只作为根因辅助证据。run.json的reward未单列jumps指标，故原生指标值保留null；不把0/12阶段总数冒充独立jumps字段。"
+ },
+ "summary_zh": "观察：评分视频0.00–0.92 s内机器人仅进行首圈的腿部动作，未完成任何有效双脚过绳，十个节点最终均为false；log step 110的现场裁判记录绳触机器人、0/12阶段。推断：首跳未形成足够腾空间隙，断点为过绳1，根因保守归为控制；log step 113–115确认后来修改的十跳程序未能启动，不能计入评分进度。观察：无状态日志且远景无法精确定位触绳部位，具体动力学原因仍未独立验证。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与证据一致：评分视频仅0.96 s（24帧），为最后一次现场尝试（2跳验证，log step 110服务裁判“rope touched the robot”，stages=0/12，control_steps=92），十个过绳节点均未达成，断点过绳1、现象全身·步态、根因控制均有支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:04Z",
+  "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/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--u9zvumu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e7eb23a560b561f1c1ba83121a3f6525c8ff0c3be1d0ddc53547f357b4ce751",
+   "video_sha256": "3a6fac6443dd4fbe064821a7f9811a4392d30c3e3fdd3054320695b4bc74c579",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4d44c22b3936618372b8d5a7234f5b53d9e848
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi.json
@@ -0,0 +1,378 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 496,
+   "sim_steps": 2389,
+   "calls": 2411,
+   "rows": 13709,
+   "resets": 3,
+   "reset_budget": 10,
+   "sim_startups": 1,
+   "elapsed_s": 7156.1,
+   "video_rendered": 1,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 23.922,
+   "max_lag_s": 0.0594,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 3,
+   "late_steps": 2277,
+   "requests_refused": 4,
+   "request_busy_s": 1.34,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi/replay.mp4",
+  "duration_s": 5.0,
+  "fps": 25.0,
+  "frames": 125,
+  "sha256": "87e7c312cd37c5d6b17e0ffb9eeb1d3d7886b926ec6c352a68db65ddc9567c9d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 252,
+      "text_zh": "观察：视频 0.80–1.08 s 的连续帧中，机器人在白框内屈伸双腿小跳，长绳扫过脚边后转回，身体未倒；这是本段视频第1次过绳。log step 252 的现场服务最终记录为 episode=4、stages_reached=4/12、control_steps=496，随后因触绳失败；该阶段总数与视频内四次完成的循环一致。推断：第1次有效过绳已完成，时间取视频 1.00 s 附近（约±0.1 s）；逐物理子步的腾空及净空由服务已接受的阶段数佐证，远景不能直接量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第1次过绳前后，机器人双脚在木地板上承重、蹬地并落回，手臂没有参与操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.80–1.08 s 的第1次小跳让长绳从双脚下方通过；结合 log step 252 接受前四个过绳阶段，机器人腿脚及身体在该圈避开长绳。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 252,
+      "text_zh": "观察：视频 1.80–2.08 s 的连续帧中，机器人在白框内屈伸双腿小跳，长绳扫过脚边后转回，身体未倒；这是本段视频第2次过绳。log step 252 的现场服务最终记录为 episode=4、stages_reached=4/12、control_steps=496，随后因触绳失败；该阶段总数与视频内四次完成的循环一致。推断：第2次有效过绳已完成，时间取视频 2.00 s 附近（约±0.1 s）；逐物理子步的腾空及净空由服务已接受的阶段数佐证，远景不能直接量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第2次过绳前后，机器人双脚在木地板上承重、蹬地并落回，手臂没有参与操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 1.80–2.08 s 的第2次小跳让长绳从双脚下方通过；结合 log step 252 接受前四个过绳阶段，机器人腿脚及身体在该圈避开长绳。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 252,
+      "text_zh": "观察：视频 2.80–3.08 s 的连续帧中，机器人在白框内屈伸双腿小跳，长绳扫过脚边后转回，身体未倒；这是本段视频第3次过绳。log step 252 的现场服务最终记录为 episode=4、stages_reached=4/12、control_steps=496，随后因触绳失败；该阶段总数与视频内四次完成的循环一致。推断：第3次有效过绳已完成，时间取视频 3.00 s 附近（约±0.1 s）；逐物理子步的腾空及净空由服务已接受的阶段数佐证，远景不能直接量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第3次过绳前后，机器人双脚在木地板上承重、蹬地并落回，手臂没有参与操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 2.80–3.08 s 的第3次小跳让长绳从双脚下方通过；结合 log step 252 接受前四个过绳阶段，机器人腿脚及身体在该圈避开长绳。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 252,
+      "text_zh": "观察：视频 3.80–4.08 s 的连续帧中，机器人在白框内屈伸双腿小跳，长绳扫过脚边后转回，身体未倒；这是本段视频第4次过绳。log step 252 的现场服务最终记录为 episode=4、stages_reached=4/12、control_steps=496，随后因触绳失败；该阶段总数与视频内四次完成的循环一致。推断：第4次有效过绳已完成，时间取视频 4.00 s 附近（约±0.1 s）；逐物理子步的腾空及净空由服务已接受的阶段数佐证，远景不能直接量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：第4次过绳前后，机器人双脚在木地板上承重、蹬地并落回，手臂没有参与操作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 3.80–4.08 s 的第4次小跳让长绳从双脚下方通过；结合 log step 252 接受前四个过绳阶段，机器人腿脚及身体在该圈避开长绳。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频 4.64–4.96 s 中长绳继续向低处转动，机器人双腿屈伸、脚部略抬，末帧绳位于脚边，未出现第五圈完整通过后的后续运动；机器人仍直立。log step 252 的第4次现场尝试在 control_steps=496、sim_time_s=4.96 时报告 outcome=\"the rope touched the robot\"、stages_reached=4/12、done=true。推断：第五次有效过绳未完成；服务控制周期为0.01 s（log step 228），496×0.01=4.96 s，与检查过的视频 4.96 s 末帧吻合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.04–4.88 s，机器人双脚在木地板上支撑并屈伸准备第五次过绳。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选接触方式“被动触绳”。log step 252 的服务确认机器人实际触绳；视频 4.92–4.96 s 的绳位于脚部附近，故归入腿/躯干，无法分辨具体哪只脚或相邻小腿。该接触是避让失败的碰触，既非成功避开，也非主动推、压、抓握或承重，现有接触方式无准确取值。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频全程 0.00–4.96 s 只有前四圈完成和第五圈尝试，未出现第6次过绳；log step 252 的第4次现场服务记录在阶段4/12因触绳终止。推断：本节点前置计数未达到，本次评分轨迹未尝试且未完成此步。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频全程 0.00–4.96 s 只有前四圈完成和第五圈尝试，未出现第7次过绳；log step 252 的第4次现场服务记录在阶段4/12因触绳终止。推断：本节点前置计数未达到，本次评分轨迹未尝试且未完成此步。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频全程 0.00–4.96 s 只有前四圈完成和第五圈尝试，未出现第8次过绳；log step 252 的第4次现场服务记录在阶段4/12因触绳终止。推断：本节点前置计数未达到，本次评分轨迹未尝试且未完成此步。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频全程 0.00–4.96 s 只有前四圈完成和第五圈尝试，未出现第9次过绳；log step 252 的第4次现场服务记录在阶段4/12因触绳终止。推断：本节点前置计数未达到，本次评分轨迹未尝试且未完成此步。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.96,
+      "log_step": 252,
+      "text_zh": "观察：视频全程 0.00–4.96 s 只有前四圈完成和第五圈尝试，未出现第10次过绳及第十跳后的落地站稳验收；log step 252 的第4次现场服务记录在阶段4/12因触绳终止。推断：本节点前置计数未达到，本次评分轨迹未尝试且未完成此步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_5",
+   "t": 4.96,
+   "log_step": 252,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.80–4.96 s 中机器人正在白框内进行第五次小跳，长绳转至脚边，身体未摔倒；log step 252 的最终现场服务报告 episode=4、stages_reached=4/12，因“the rope touched the robot”结束。推断：前四次过绳已完成，未修复的失败发生在第五次过绳操作中；锚点取已检查的视频 4.96 s。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": true,
+   "rope_cleared_3": true,
+   "rope_cleared_4": true,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 4.96,
+    "log_step": 252,
+    "evidence_zh": "观察：视频 4.80–4.96 s 中机器人有屈伸腿和轻微抬脚的小跳动作，但长绳转到脚边时本圈没有完成无接触通过；机器人仍直立，未见倒地。log step 252 的现场服务确认第五圈触绳，接受阶段停在4/12。推断：第五次跳跃未实现过绳所需的身体与长绳间净空，属于跳跃动作未达要求的步态问题；没有足够证据进一步断言是起跳过早、过晚还是跳高不足。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 251 的实际控制脚本按控制步数生成周期性的蹲伏、蹬伸和收腿，并用骨盆姿态及角速度修正髋踝目标；log step 252 启动该脚本后的第4次现场尝试，与视频 0.00–4.96 s 相符，已完成四次过绳却在第五次抬脚过绳时触绳。该证据支持跳跃运动控制未维持安全过绳的归因；不能由这段远景和最终状态区分具体轨迹、反馈或参数问题。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志；已逐帧检查视频 0.00–4.96 s，并对照成功参考的首跳和末跳。640×360固定远景及25 fps不足以辨明瞬时接触点、左右脚各自净空和物理子步腾空状态，前四次有效计数结合最终现场服务的阶段4/12确认，完成时刻约±0.1 s。没有第4次尝试的逐步关节反馈与绳相位记录，无法细分控制根因；会话中第1至3次尝试和本地模拟不计入节点进度。run.json 的 reward 未单列 jumps 数值，故原生指标留 null；阶段4/12用于佐证四次过绳。"
+ },
+ "summary_zh": "评分轨迹为 log step 252 重置后执行的第4次现场尝试：机器人在视频约 1.0、2.0、3.0、4.0 s 完成前四次过绳，最终为4/10。第五次小跳在视频约 4.96 s 触绳终止，断点为过绳5，表现为跳跃未获得无接触过绳净空，根因保守归为控制。远景无法确定具体触碰部位及起跳时机、跳高或反馈误差，前四次有效计数由画面循环与现场服务4/12阶段共同确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频和现场服务记录一致：视频 5.0 s 对应第4次现场尝试（control_steps=496，sim 4.96 s），约每 1 s 一圈，前四圈完成、第五圈触绳终止；阶段总数12=10跳+落地+站稳，4/12对应4次过绳；断点过绳5、步态现象和保守的控制根因都有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:13:10Z",
+  "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/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--ulhryvi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ffb508229770bd36936c92c6e9e61c35a5891691410ea14ebc1feee85758b076",
+   "video_sha256": "87e7c312cd37c5d6b17e0ffb9eeb1d3d7886b926ec6c352a68db65ddc9567c9d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw.json b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw.json
new file mode 100644
index 0000000000000000000000000000000000000000..78829bd1650f9150afdd7de9b4b8a44dba48060f
--- /dev/null
+++ b/phase2/embodied-olympics-fun/long_rope/trajectories/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw.json
@@ -0,0 +1,341 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw",
+ "taskKey": "embodied-olympics-fun/long_rope",
+ "dag_sha256": "428ce1595ca927c3521a00d9a8ef26be24ff8e7f72d3d4261ef1c779bc1d5c12",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 170,
+   "sim_steps": 686,
+   "calls": 365,
+   "rows": 28360,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1904.3,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "realtime": 1,
+   "slowdown": 1.0,
+   "clock_s": 6.99,
+   "max_lag_s": 0.0686,
+   "stalls": 0,
+   "stalled_s": 0.0,
+   "stalled_share": 0.0,
+   "held_steps": 0,
+   "late_steps": 676,
+   "requests_refused": 7,
+   "request_busy_s": 1.155,
+   "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/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw/replay.mp4",
+  "duration_s": 1.72,
+  "fps": 25.0,
+  "frames": 43,
+  "sha256": "985c42dc6f0fcb2ae9f3a2c7c778eb5e212ae01731577043389d15094fac41e6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_cleared_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.92,
+      "log_step": null,
+      "text_zh": "观察：视频 0.72–0.96 s，机器人蹬地后双脚离开木地板，长绳从身前下降并扫过脚下，随后在视频 1.00–1.16 s 重新升到身后；全片仅见这一轮腾空过绳。"
+     },
+     {
+      "t": null,
+      "log_step": 157,
+      "text_zh": "观察：log step 157 的机器人实时服务返回 episode=6、control_steps=170、sim_time_s=1.7、stages_reached=1、stages_total=12，outcome 为 the robot left the centre zone；这是最后一次现场尝试的裁判反馈，原生首阶段为首次有效过绳。"
+     },
+     {
+      "t": 0.92,
+      "log_step": 157,
+      "text_zh": "推断：视频 0.88–0.96 s 的腾空与脚下绳通过画面结合 log step 157 的首阶段通过反馈，首次有效过绳约在视频 0.92 s 达成；远景不能精确分辨毫秒级左右脚通过顺序，取近似时间。该节点是锁存事件，后续失衡不撤销它。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–0.72 s，机器人的双脚在木地板上承重、下蹲及蹬地；视频约 1.04–1.16 s 脚部重新承接落地。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "避开",
+      "note_zh": "推断：视频 0.88–0.96 s 机器人双脚腾空，长绳从脚下通过；结合 log step 157 的首次有效过绳反馈，机器人全身在此次过绳中避开长绳。"
+     }
+    ]
+   },
+   "rope_cleared_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": 153,
+      "text_zh": "观察：视频 1.12–1.44 s，机器人落地后继续屈膝准备下一轮，躯干向前倾斜且脚部调整支撑；视频 1.48–1.68 s 前倾迅速加剧，身体降到接近水平，未出现第二次完整腾空过绳。log step 153 显示脚本执行最后一次 E6 连续跳跃控制并在 control_steps=170 收到 episode finished。"
+     },
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "推断：视频截至 1.68 s 只有一次完整过绳，且 log step 157 的最终裁判进度为 1/12，因此第二次有效过绳未完成；第二圈准备期间的失衡没有修复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.20–1.44 s，机器人为后续跳跃屈膝时脚部仍在木地板上承重，随后支撑失稳并向前翻倒；未完成第二次腾空避绳。"
+     }
+    ]
+   },
+   "rope_cleared_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第3次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第4次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第5次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第6次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第7次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第8次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第9次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   },
+   "rope_cleared_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.68,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.00–1.68 s 仅出现一次腾空过绳，片尾机器人向前倒下，没有第10次过绳；log step 157 的最终现场裁判反馈为 stages_reached=1/12、离开中心区，后续计数未发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "jumps",
+   "value": null,
+   "unit": "次",
+   "threshold": 10,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_cleared_2",
+   "t": 1.3,
+   "log_step": 153,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.12–1.44 s 首跳落地后，机器人为连续下一跳屈膝并持续前倾；视频 1.48–1.68 s 向前翻倒，未完成第二次过绳。log step 157 的实时服务最终裁判反馈为 episode=6、stages_reached=1/12、the robot left the centre zone；首次已计数的过绳仍保持达成，失败发生在继续跳绳的操作中。"
+  },
+  "unmet": {
+   "rope_cleared_1": true,
+   "rope_cleared_2": false,
+   "rope_cleared_3": false,
+   "rope_cleared_4": false,
+   "rope_cleared_5": false,
+   "rope_cleared_6": false,
+   "rope_cleared_7": false,
+   "rope_cleared_8": false,
+   "rope_cleared_9": false,
+   "rope_cleared_10": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.3,
+    "log_step": 157,
+    "evidence_zh": "观察：视频 1.16–1.44 s 机器人躯干越来越向前倾，视频 1.48–1.68 s 骨盆下降、身体向前翻到接近水平，未恢复直立支撑。log step 157 的裁判报告离开中心区而结束本次尝试；出区伴随可见失衡，不另重复标为违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 1.3,
+    "log_step": 153,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 148 中 agent 的控制脚本以骨盆俯仰及滤波角速度生成髋、踝修正；log step 153 的最终 E6 运行输出显示其计算的俯仰 p 从仿真 0.98 s 的 0.218 增至仿真 1.18 s 的 0.430、仿真 1.56 s 的 0.757，而脚本仍持续提交连续跳跃动作。视频 1.00–1.68 s 也显示落地前后不断加重的前倾与翻倒，支持姿态反馈未能抑制失衡，导致无法继续第二跳；不据此认定某个增益数值或起跳反作用力就是已证实原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志；固定远景和 25 fps 录像不能精确分辨首跳每只脚的毫秒级净空与接触，首跳完成时间约为视频 0.92 s，并由最后现场尝试的裁判首阶段通过反馈补充。姿态失衡的控制归因结合脚本及其输出推断，缺少关节力矩和完整动力学记录，无法确定具体参数或力学机制。reward 未单列 jumps 数值，native_metrics 的该值保留 null；日志另有 stages_reached=1/12。"
+ },
+ "summary_zh": "最后一次现场 E6 尝试在视频约 0.92 s 完成首次有效过绳，十个语义节点最终达成 1/10，服务最终反馈为原生阶段 1/12。机器人随后在继续第二跳的准备中前倾失衡，视频 1.48–1.68 s 向前翻倒，裁判以离开中心区结束；控制脚本及姿态输出支持反馈控制未能稳住躯干。缺少状态日志，首跳的瞬时净空和精确完成时刻需以远景及裁判反馈联合判断，具体失衡力学原因未定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首跳约视频 0.92 s 达成（0.72–1.1 s 脚下阴影分离、绳从脚下扫过，与 log id 157 的 stages_reached=1 一致），其余节点未达成，断点 rope_cleared_2 与平衡现象、反馈控制根因均有视频及日志输出支撑，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:12:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-long-rope-i00-standard-realtime--xrbe5sw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cad2c25062cdb8070d17871609548a20ad3efc8fb8cfac851a583b021d37503e",
+   "video_sha256": "985c42dc6f0fcb2ae9f3a2c7c778eb5e212ae01731577043389d15094fac41e6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c53c08d0f7bb4987d7a9b1b3e0d1ae180f031547
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9.json
@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 420,
+   "sim_steps": 420,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 4.51,
+   "bad_trajectory": 0,
+   "metric_cross_speed_m_s": 13.73,
+   "metric_cross_y_m": 0.213,
+   "metric_cross_z_m": 0.627,
+   "metric_release_height_m": 1.599,
+   "metric_release_speed_m_s": 14.19,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 164,
+   "agent_resets": 494,
+   "agent_replays": 9,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.284,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.24,
+   "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/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9/replay.mp4",
+  "duration_s": 4.24,
+  "fps": 25.0,
+  "frames": 106,
+  "sha256": "4fa3d3d795f8f122a0e7de78f6147bcbbc907307fb4f02ea810f879b97b3853c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.72 s，白球随机器人右手移动，视频 1.20 s 的放大画面中球位于右手末端内侧；机器人双脚支承在投手丘上。远景不能逐指分辨接触。"
+     },
+     {
+      "t": 1.84,
+      "log_step": 190,
+      "text_zh": "观察：视频 1.76–1.92 s，机器人右臂由低位向前上方快速挥动；视频 1.84 s 白球已与右手分离，视频 1.88–1.92 s 继续远离机器人飞向本垒。log step 190 的官方重放裁判事件记录仿真 1.827 s 合法离手，pivot_foot 为 right。"
+     },
+     {
+      "t": 4.2,
+      "log_step": 203,
+      "text_zh": "观察：视频 3.20–4.20 s 逐帧检查，机器人始终站在投手丘上；末帧白球已到远端本垒附近，远景不能精确分辨球心与好球区边界。log step 203 恢复已验证的交付轨迹后，官方重放再次返回 success=True、stages=[release,strike]、cross_y_m=0.213、cross_z_m=0.627；这些指标与本次评分器 reward 一致，满足 |y|≤0.216 m、0.46≤z≤1.07 m。"
+     },
+     {
+      "t": 4.2,
+      "log_step": 190,
+      "text_zh": "推断：log step 190 官方重放的是最终恢复交付的同一轨迹（log step 191、203 的末态哈希一致），其 420 个控制步对应仿真 4.20 s，即每步 0.01 s；与视频 4.24 s 总长及视频 1.84 s 可见离手核对一致。因此裁判仿真 4.195 s 的 strike 事件定位为视频约 4.20 s，时间精度约 0.1 s；该事件此后锁定为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 0.00–1.72 s 白球随右手运动且位于手内，结合 task_text 明确的右手手指闭合持球初态，判为右手五指包持棒球后挥臂投出；视频 1.84–1.92 s 球离手飞行。远景无法逐指核实接触，不据 agent 自述判定球如何穿出指间。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–4.20 s 机器人双脚在投手丘上支承身体，挥臂时未迈步或跌倒；log step 190 的官方重放裁判记录离手时右脚压投手板。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": 0.213
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": 0.627
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 14.19
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.599
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 13.73
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 1.84 s 从右手投出白球并保持站立，视频约 4.20 s 达成“投出好球”，最终节点完成 1/1。最终交付轨迹的官方重放及评分器一致判成功，过区球心 y=0.213 m、z=0.627 m，位于好球区内。无逐帧状态日志，远景无法独立核实毫米级过区边界、逐指接触或触球冲量；过区合法性依裁判记录确认，retouch_dv_m_s 未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 pitch_strike 成功、离手约视频 1.84 s、strike 约 4.20 s（420 步×0.01 s 映射已核对）与画面和官方指标一致；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": "2026-10-31T01:01:30Z",
+  "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/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--33dg4k9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57f42de1c69fdeb9a6b421f15312b5687a90e10ad1d6fbf0b2e7f49fe190c363",
+   "video_sha256": "4fa3d3d795f8f122a0e7de78f6147bcbbc907307fb4f02ea810f879b97b3853c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf89611b154b5bb5fedce76f648281b44c72925d
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv.json
@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--98sqogv",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 227,
+   "sim_steps": 227,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 5.23,
+   "bad_trajectory": 0,
+   "metric_cross_speed_m_s": 13.62,
+   "metric_cross_y_m": -0.0,
+   "metric_cross_z_m": 0.716,
+   "metric_release_height_m": 1.244,
+   "metric_release_speed_m_s": 14.58,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 78,
+   "agent_resets": 324,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.728,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.255,
+   "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/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv/replay.mp4",
+  "duration_s": 2.28,
+  "fps": 25.0,
+  "frames": 57,
+  "sha256": "2a369aa2463d8680c911f76282302d208cc1ee45bde7998acb61b69371cb3542"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.24,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.76,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.00–0.88 s，机器人双脚留在投手丘的白色投手板附近，右臂先后摆再向前挥动；视频 0.76 s 白球仍紧邻右手末端，视频 0.80–0.88 s 白球与右手之间已有明显间隙并向远端本垒方向飞行。"
+     },
+     {
+      "t": 2.24,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.80–2.24 s 的全部帧，白球飞向远端挡网前的本垒区域，末段下降；机器人留在投手丘上直立，未见跌倒。视频 1.96–2.24 s 的局部放大图仍不足以精确辨明球心与好球区边界。"
+     },
+     {
+      "t": 2.24,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器 reward 记录 success=1、replay_success=1、deterministic=1、stages_reached=2/2、fell=0；metric_cross_y_m=-0.0、metric_cross_z_m=0.716，均在 DAG 好球区范围内。"
+     },
+     {
+      "t": 2.24,
+      "log_step": null,
+      "text_zh": "推断：结合本次评分器对合法离手及好球两阶段的成功判定、过区坐标和视频中的飞行，将投出好球记为末帧附近达成，取已检查的末帧视频 2.24 s 为近似锚点；帧率为25 fps，具体越面瞬间不能从远景逐像素确定。"
+     },
+     {
+      "t": null,
+      "log_step": 124,
+      "text_zh": "观察：log step 119 写出最终生成脚本，log step 121 启动该脚本及官方重放验证；agent 在 log step 124 自述交付227步的成功轨迹并报告重放哈希一致。此前日志中的重置、参数搜索及跌倒属于会话试验；本节点结论采用本次评分器结果与交付视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：结合任务初始右手包持球的条件及视频 0.00–0.76 s 球随右手挥动、视频 0.80 s 球与手分离，右手五指在投球前包持棒球并随后释放；远景无法分辨每根手指的接触点。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.24 s 机器人双脚支承在投手丘上，挥臂和球离手时脚仍在白色投手板附近，随后保持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": 0.716
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 14.58
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.244
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 13.62
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付视频中，机器人从投手丘挥动持球右臂，白球约在视频 0.80 s 已与手分离，机器人保持站立直至视频 2.24 s 末帧。评分器确认合法离手及好球两阶段全部达成，过区横向坐标约0 m、高度0.716 m，确定性重放成功，投出好球节点最终为1/1。无逐帧状态日志，远景及参考成功视频均不足以独立精确判别球心越面边界和手指接触细节，达成时间取视频 2.24 s 的近似末帧锚点；评分器未报告retouch_dv_m_s。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点投出好球：视频 0.80 s 球离手、机器人全程站立，评分器 success=1、stages 2/2、cross_y=0、cross_z=0.716 在好球区内，节点 final=true、近似锚点 2.24 s（视频时钟）合理；接触标签与证据标注（推断/观察）合规，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": "2026-10-31T01:07:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--98sqogv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78d37d1ed9478230b552357931e2047df94d58d81ae799ed530773db3be41f98",
+   "video_sha256": "2a369aa2463d8680c911f76282302d208cc1ee45bde7998acb61b69371cb3542",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc.json
new file mode 100644
index 0000000000000000000000000000000000000000..01348488b22ca9dd914705a00a83e33c504c6770
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc.json
@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 480,
+   "sim_steps": 480,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.5,
+   "stages_reached": 1,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 6.3,
+   "bad_trajectory": 0,
+   "metric_release_height_m": 1.529,
+   "metric_release_speed_m_s": 11.03,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 820,
+   "agent_resets": 15469,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc/replay.mp4",
+  "duration_s": 4.84,
+  "fps": 25.0,
+  "frames": 121,
+  "sha256": "9d0e5fc312e4064410c0eded325c8b71e9a1bbeef969b7caababb815216e7157"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.72,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.60 s 机器人站在投手丘白色投手板处，右手端的白球随右臂缓慢转动；视频 2.64–2.76 s 右臂快速向上挥动，视频 2.72 s 可见白球与手端分离。仅离手不满足“投出好球”的完整判据。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 331,
+      "text_zh": "观察：视频 3.00–4.80 s 机器人仍在投手丘，片尾明显向后倾倒。log step 322 与 log step 331 对最终交付文件的官方重放均报告 stages=[release]、success=false、failed=the ball touched the ground before home plate、steps=480；其离手速度 11.03 m/s、高度 1.529 m 及动作数与本次评分字段相同，评分 deterministic=1、stages_reached=1/2。推断：这是最终交付的同一投球，球在到达好球区前已触地，节点从未达成；未用会话中其他试投的成绩补记进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：结合任务固定初态的右手包持棒球、视频 0.00–2.64 s 白球随右手端运动及视频 2.72 s 的球手分离，机器人右手手指与掌面包持棒球并通过右臂挥动将其投出；远景不能分辨各根手指的接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.76 s 机器人双脚落在投手丘白色投手板处，为持球与挥臂提供支撑；视频 3.80–4.80 s 身体逐渐后仰，片尾已明显失衡。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 11.03
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.529
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 2.72,
+   "log_step": 331,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.64–2.76 s 机器人实际挥动右臂投出棒球，此后没有第二次投球或补救；最终交付文件的官方重放（log step 322、331）均只达到 release 阶段，随后因球在本垒前触地终止。推断：首次未修复的失败属于“投出好球”，以视频约 2.72 s 的出手作为导航锚点，而非把触地约束另作步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.72,
+    "log_step": 331,
+    "evidence_zh": "观察：视频 2.64–2.76 s 机器人右手将球投离身体；最终文件的官方重放（log step 331）报告合法离手后球在本垒前触地，而非穿过好球区，且离手速度为 11.03 m/s、高度为 1.529 m。推断：投出的飞行轨迹未到达静止目标好球区，属于抛投未命中；远景不支持进一步量出出手方向。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 4.56,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.80–4.40 s 机器人身体持续后仰，视频 4.48–4.80 s 倾倒加剧，末帧躯干已接近水平、头部向投手板后方下降，未恢复直立。此处记录可见的失衡；评分字段 fell=0，最终重放（log step 331）的终止原因是球提前触地，不能据此声称裁判已判机器人跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：交付脚本在 log step 300 采用固定的右臂预备姿态、30 控制步的力矩脉冲及随后站立指令，log step 322 更新该脉冲的躯干、肩和腕力矩后保存最终文件；log step 331 的官方重放与评分字段仍一致得到 11.03 m/s 的离手速度和本垒前触地。结合视频 2.64–2.76 s 实际出球及视频 4.48–4.80 s 未恢复的后仰，控制程序未同时实现投球所需的出球运动与身体稳定性。现有证据不足以细分为握持设计、轨迹求解或反馈跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；场地远景中球与手指很小，无法独立量出离手速度方向、各手指接触及球心越面位置，提前触地结论由已核对最终文件的官方重放支持。片尾可见失衡，但无证据确认裁判跌倒阈值已触发；agent 在 log step 332 所称“握持是瓶颈”缺少本次投球的接触数据验证，因此根因只保留到“控制”。",
+  "unmet": {
+   "pitch_strike": false
+  }
+ },
+ "summary_zh": "机器人完成了持球挥臂和合法离手，但最终交付重放仅达到 release 阶段，球在本垒前触地，“投出好球”未达成（节点 0/1）。断点为视频约 2.72 s 的出手，投球未命中，片尾还出现明显后仰失衡，根因保留为控制。远景与缺少逐帧状态日志限制了对握持和出手方向的进一步归因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log 一致：视频 2.72 s 球离手，最终文件官方重放（log step 322/331）只到 release，球在本垒前触地，pitch_strike 未达成，断点和现象（位姿不准、片尾失衡）有证据支持；未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--dmnubkc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f6f8eea356afdc8d69ed239c7ce7100e3de8211ac1e47b13e8fa8266a7ad20e5",
+   "video_sha256": "9d0e5fc312e4064410c0eded325c8b71e9a1bbeef969b7caababb815216e7157",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud.json
new file mode 100644
index 0000000000000000000000000000000000000000..305559a9c793825d74ad9dee4cac49688d6abb99
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud.json
@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--i74rxud",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 387,
+   "sim_steps": 387,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 4.74,
+   "bad_trajectory": 0,
+   "metric_cross_speed_m_s": 14.44,
+   "metric_cross_y_m": -0.006,
+   "metric_cross_z_m": 0.731,
+   "metric_release_height_m": 1.111,
+   "metric_release_speed_m_s": 15.69,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 32,
+   "agent_resets": 692,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.927,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.239,
+   "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/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud/replay.mp4",
+  "duration_s": 3.88,
+  "fps": 25.0,
+  "frames": 97,
+  "sha256": "661ce192961aa29f0ce7251915c292f624848beabe6ec4f7b424bd0568e6841b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.84,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00、1.20、2.00 s，机器人双脚站在投手丘白色投手板处，右手端的白球随右臂向后摆动；视频 2.36–2.48 s 右臂仍在身侧后方，未发生提前落球。"
+     },
+     {
+      "t": 2.56,
+      "log_step": null,
+      "text_zh": "观察：视频 2.48–2.64 s 的逐帧画面显示机器人右臂从下方向前上方挥出；视频 2.52 s 白球在右手端附近，视频 2.56 s 白球已与手分离，视频 2.60–2.72 s 白球继续远离身体飞向本垒，双脚仍支承于投手板附近。"
+     },
+     {
+      "t": 3.84,
+      "log_step": 37,
+      "text_zh": "观察：视频 2.84–3.84 s 逐帧可见白球沿空中弧线接近远端本垒，机器人持续站立。log step 37 中 agent 以最终参数重新生成并重放交付文件，裁判输出 release、strike 两阶段，仿真 3.863 s 判好球，cross_y_m=-0.006、cross_z_m=0.731；inputs/run.json 的评分器 reward 同样报告 success=1、replay_success=1、stages_reached=2/2、fell=0，且过区指标一致。"
+     },
+     {
+      "t": 3.84,
+      "log_step": 38,
+      "text_zh": "推断：视频末段的飞行与最终交付重放一致，结合评分器好球结论，投出好球节点已达成并锁存；达成时间近似锚定于片尾可检查帧视频 3.84 s，而非离手时。远景不能独立量出球心过区边界，具体通过由裁判过区记录确认。log step 38 对同一交付文件再次独立重放，输出末态哈希相同且结果 success，支持该记录属于交付轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：任务初态明示棒球由右手手指与拇指包持在掌面；视频 1.20 s 白球贴着右手端随预摆运动，视频 2.52–2.56 s 从该手端离开，支持本次实际为右手包持后投出。远景不能分辨单个手指接触点。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.84 s 机器人双脚在投手丘白色投手板处支承，挥臂时未离地或倒下。log step 37 的交付裁判离手事件记录 pivot_foot 为 left、right，确认离手时两脚均满足压板判据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": 0.006
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": 0.731
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 15.69
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.111
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 14.44
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成唯一节点“投出好球”：视频约 2.52–2.56 s 右手将球向前上方投出，白球飞向本垒，机器人站立至视频 3.84 s 片尾；节点达成时间近似标在视频 3.84 s。最终交付的裁判重放记录（log step 37）及评分器均确认成功，过区 y=-0.006 m、z=0.731 m，log step 38 再次重放成功且末态哈希相同。缺少逐帧状态日志，远景不足以独立量出好球区边界、各指接触及触球冲量，合法过区依裁判记录确认；retouch_dv_m_s 未报告，原生指标保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点投出好球，成功；节点时间锚在片尾 3.84 s（视频时钟），与裁判仿真 3.863 s 判好球一致，接触标注合理，无失败层，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:03:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud/03_label"
+   },
+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--i74rxud/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e01b5f2e42a02bca402fa631f5c89624978823
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--swt9c84",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 334,
+   "sim_steps": 334,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 0.5,
+   "stages_reached": 1,
+   "stages_total": 2,
+   "fell": 1,
+   "replay_s": 5.47,
+   "bad_trajectory": 0,
+   "metric_release_height_m": 1.704,
+   "metric_release_speed_m_s": 8.54,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 45,
+   "agent_resets": 93,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.726,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "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/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84/replay.mp4",
+  "duration_s": 3.36,
+  "fps": 25.0,
+  "frames": 84,
+  "sha256": "b1f0e9fd5612735b9e31977f85dd7b1e6074624f93fc71f5a7e3c37795ae55f9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.68,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–2.68 s，机器人双脚站在近处投手丘上，右手持白球随右臂缓慢后摆；视频 2.80–3.00 s，机器人转体挥动右臂，一脚抬起，另一脚仍在丘面附近支承。"
+     },
+     {
+      "t": 3.04,
+      "log_step": 128,
+      "text_zh": "观察：视频 3.04 s 白球已与右手分离，视频 3.08–3.32 s 白球继续飞离机器人，机器人同时失去直立姿态并倒下；本次交付文件在 log step 128 的两次独立重放均返回 stages=[release]、failed=fell、steps=334，无 strike 阶段，且末态哈希相同。评分器 reward 亦为 success=0、fell=1，故投出好球事件未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.00–2.96 s 白球随右手摆动，视频 3.04 s 后分离飞出。推断：结合冻结初态右手包持球及随后持续随手运动，实际为右手灵巧手抓握棒球后投出；远景不能逐指分辨接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–2.68 s 双脚在投手丘上支承；视频 2.88–3.04 s 一脚抬起，另一脚在丘面附近作为支点，随后身体倾倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 8.54
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.704
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 3.08,
+   "log_step": 128,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.88–3.04 s 机器人转体挥臂投球时躯干明显倾斜；视频 3.08–3.32 s 继续向丘面倒下，未恢复直立。log step 128 对最终交付文件的两次独立重放均在 release 阶段后以 fell 结束，未判好球，因此断点为正在执行的投出好球。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 3.08,
+    "log_step": 128,
+    "evidence_zh": "观察：视频 3.04–3.16 s 机器人挥臂后躯干快速倾斜，视频 3.20–3.32 s 身体降至近水平、腿向侧方伸出，无恢复支撑；log step 128 最终文件两次重放均报 failed=fell，评分器 reward 的 fell=1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：log step 123 的最终脚本配置采用抬左腿、髋与躯干旋转并在投球后制动的控制动作；log step 127 确认生成脚本重现逐项相同的交付动作，log step 128 两次独立重放均以相同末态哈希在离手后跌倒。视频 2.88–3.32 s 的支撑丧失与这一动作一致，表明该投球控制未能在挥臂及收势时维持全身稳定；证据不足以细分为某个增益、轨迹求解或反馈环节。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；远景不能辨明手指接触对、精确足底覆盖及瞬时接触冲量，也不能可靠量出球心越区位置。评分器未报告 cross_y_m、cross_z_m、cross_speed_m_s 或 retouch_dv_m_s，均保留空值；没有足够证据确定控制失败的具体子类型。",
+  "unmet": {
+   "pitch_strike": false
+  }
+ },
+ "summary_zh": "本次交付轨迹完成了持球挥臂及离手，但未完成唯一语义节点“投出好球”，最终为 0/1；评分器离手诊断为速度 8.54 m/s、高度 1.704 m。视频约 3.04 s 白球离开右手，随后机器人持续倾倒，最终文件两次独立重放均因跌倒结束，支持全身平衡失败及控制根因。缺少逐帧状态日志，无法进一步核实细微接触或确定控制子类型。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、评分器字段一致：未达成好球（fell=1，stages=release），0.00–3.36 s 持球挥臂后离手、身体倒下，断点 pitch_strike、全身·平衡、控制根因均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--swt9c84/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f4697b3004b26ca45672d0a8e605a210112ed9f72e15faf861013dd459feffc",
+   "video_sha256": "b1f0e9fd5612735b9e31977f85dd7b1e6074624f93fc71f5a7e3c37795ae55f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u.json
new file mode 100644
index 0000000000000000000000000000000000000000..91366d3eaca778430ea4afaaf9e6d1c621eea11a
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u.json
@@ -0,0 +1,220 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 712,
+   "sim_steps": 712,
+   "horizon": 2000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 2,
+   "stages_total": 2,
+   "fell": 0,
+   "replay_s": 7.01,
+   "bad_trajectory": 0,
+   "metric_cross_speed_m_s": 14.05,
+   "metric_cross_y_m": 0.0,
+   "metric_cross_z_m": 0.82,
+   "metric_release_height_m": 1.674,
+   "metric_release_speed_m_s": 14.9,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 109,
+   "agent_resets": 44,
+   "agent_replays": 13,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.754,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.838,
+   "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/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u/replay.mp4",
+  "duration_s": 7.16,
+  "fps": 25.0,
+  "frames": 179,
+  "sha256": "7a392f9b5e59af0dcc116fe60fcf88db6fdcca21aad4701072dec178bba5abb5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.12,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.68,
+      "log_step": null,
+      "text_zh": "观察：视频0.00、2.40、4.40、5.40–5.68 s，机器人站在土色投手丘上，右臂缓慢摆动并屈肘；视频5.68 s右手附近可见白球，双脚位于投手板附近。"
+     },
+     {
+      "t": 5.76,
+      "log_step": null,
+      "text_zh": "观察：视频5.72–5.76 s机器人转身挥动右臂，白球与右手分离并向本垒方向上升；视频6.40、6.56、6.72、6.88、7.04和7.12 s白球继续飞向远端挡网前的本垒区域。视频6.16–7.12 s逐帧检查中机器人仍由双脚支撑，没有倒地。"
+     },
+     {
+      "t": 7.12,
+      "log_step": 78,
+      "text_zh": "观察：log step 77将选定版本写入交付轨迹，并报告712行与候选动作完全一致；log step 78对该交付文件的独立重放返回success=true、failed=null、stages=[release,strike]、cross_y_m=0.000、cross_z_m=0.820。inputs/run.json最终评分同样为success=1、replay_success=1、deterministic=1、stages_reached=2、fell=0，且过区指标一致；因此裁判确认合法离手并在触地前穿过好球区。"
+     },
+     {
+      "t": 7.12,
+      "log_step": 78,
+      "text_zh": "推断：log step 78交付文件的重放在控制步712结束，报告仿真7.12 s，即每控制步0.01 s；与25 fps录像的末帧视频7.12 s及该帧球抵本垒区域核对，故将好球事件锚定在视频约7.12 s。远景不能精确量出球心相对好球区边界的位置，是否过区由本次评分器指标及成功结论确认；不是用agent会话时间换算。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 7,
+      "text_zh": "推断：视频2.40 s可见白球紧随右手，视频5.68–5.76 s由随手运动变为独立飞行；结合任务固定初态说明及log step 7初始读数held.right=ball，实际接触判为右手抓握棒球后投出。远景不能分辨各指接触点，不推定未见的手内换位或双手协作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：右手握持初始棒球并带球摆臂，随后投出；依据视频2.40 s手边白球和视频5.68–5.76 s随手运动至离手的连续变化，并结合固定持球初态；远景无法逐指辨明包持接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频0.00–5.76 s机器人双脚在投手丘投手板附近承重，挥臂时仍有足部着地；视频5.88–7.12 s调整两脚站姿并保持站立。精确足底压板验收依本次裁判成功记录确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": 0.82
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 14.9
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": 1.674
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": 14.05
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分轨迹完成唯一节点“投出好球”：机器人在视频约5.72–5.76 s挥动右臂将球投出，视频约7.12 s由裁判确认过区，节点最终为1/1。评分器记录球心过区y=0.000 m、z=0.820 m，合法离手与好球两阶段均达成，机器人直到录像末帧仍站立。无逐帧状态日志，场地远景与参考成功视频一样不足以独立核实球心边界、逐指接触及瞬时触球冲量；这些验收细节以本次裁判与交付重放记录为依据，未报告的retouch_dv_m_s保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点投出好球：视频约5.76 s离手，评分器success=1、过区y=0、z=0.82，末帧机器人站立；节点时间7.12 s（控制步712×0.01 s与末帧核对）合理，接触标签与证据标注一致，未发现错误。",
+    "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": "2026-10-31T01:05:07Z",
+  "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/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-privileged--yiyfv9u/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "719877d9f4cf2f79a9dfca14c38530d6aa12fc92622ef1210b133cbd44fc91fc",
+   "video_sha256": "7a392f9b5e59af0dcc116fe60fcf88db6fdcca21aad4701072dec178bba5abb5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e9807c55ab1b6c28808d615ebb1d317e42a6d8
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep.json
@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--9qxxxep",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 616,
+   "sim_steps": 3280,
+   "calls": 22,
+   "rows": 3280,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2474.5,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.335,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.29,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep/replay.mp4",
+  "duration_s": 6.2,
+  "fps": 25.0,
+  "frames": 155,
+  "sha256": "2821a9a962181cb3bca065071d36e1fa4377c770eb211dc09c3d9e6dbe3500d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 166,
+      "text_zh": "观察：视频 0.00–5.60 s，机器人双脚站在投手丘上，主要在身体前方调整双臂，没有球飞向远端本垒。log step 166 的服务响应确认重置进入 episode 6；log step 166、168 的该回合本体传感输出一直为 holding_right=1、holding_left=0，未建立左手持球。"
+     },
+     {
+      "t": 5.76,
+      "log_step": 170,
+      "text_zh": "观察：视频 5.64–5.88 s，机器人躯干和右臂迅速回转；视频 5.72 s 白球尚靠近右手，视频 5.76 s 已明显与手分离，随后向画面右侧下落。视频 6.00–6.16 s，球仍在近处投手丘范围，末帧接近丘面，机器人保持双脚支撑，没有投出穿过远端好球区的球。log step 170 的服务裁判反馈为“the ball touched the ground before home plate”，因此投出好球事件未达成。"
+     },
+     {
+      "t": 5.72,
+      "log_step": 170,
+      "text_zh": "推断：log step 9 给出控制周期 0.01 s；本回合 log step 166、168 分别执行 341、221 个控制步，故 log step 170 从回合控制时刻 5.62 s 开始，最终总计 616 步对应 6.16 s，与视频末帧 6.16 s 一致。该段本体传感记录在回合控制时刻 5.68 s 为 holding_right=1、5.71 s 为0，与视频 5.72–5.76 s 球手分离核对一致；这里使用回合控制钟，未使用 agent 工作时间。"
+     },
+     {
+      "t": 6.16,
+      "log_step": 172,
+      "text_zh": "观察：log step 172 的服务状态为 episode=6、control_steps=616、done=True、reason=failed、resets_left=0；评分字段 graded_by_live=1、live_success=0。log step 174 才创建后续驱动文件，未改变已经结束的现场回合，因此不把该文件描述的后续投球动作计入本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 0.00–5.68 s 棒球随右手保持在身体前方，结合 log step 166、168、170 的 holding_right=1 及初态手指包持球，确认实际为右手抓握；视频约 5.72–5.76 s 回摆时失去保持。左手虽调整并靠近，未观察到接球，服务 holding_left 始终为0，不记双手共同抓握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–6.16 s 机器人双脚支承在投手丘上，回摆及球下落时仍站立；仅记录可见支撑，不从远景量测足底与投手板的精确覆盖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 5.72,
+   "log_step": 170,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 5.72–5.76 s，机器人正在投球前的快速躯干及右臂回摆，白球提前脱离右手，随后在投手丘附近下落；视频 6.16 s 仍未到远端本垒。log step 170 的动作脚本此时仍命令 grip_right=1，服务最终判“the ball touched the ground before home plate”。该次投出好球步骤没有修复，回合随触地判负。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 5.72,
+    "log_step": 170,
+    "evidence_zh": "推断：视频 5.64–5.68 s 棒球仍随右手，视频 5.76 s 已在手外并继续下落；log step 170 的回合本体传感记录由控制时刻 5.68 s 的 holding_right=1 变为5.71 s 的0。脚本在回摆阶段一直命令右手闭合，预定前向挥投和开手尚未开始，所以这是已持球后在准备动作中失去保持；最终裁判的本垒前触地反馈与此一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 170 将注释为 gentle 的回摆设为 T=23 行，在 log step 9 明示的 0.01 s 控制周期下，仅约0.23 s；其中躯干目标从0变至-2.35 rad，右肩偏航目标从0.6变至-2.3 rad，grip_right 仍为1。该段服务本体传感显示回合控制时刻 5.71 s 躯干速度已达-9.7 rad/s、holding_right 已变0，早于预定前向挥投及开手，且视频 5.76 s 核实球已脱手。过短的回摆时长把本应持球的准备动作变成快速甩动，是本次提前失球的具体控制参数错误；log step 174 的事后驱动说明也明确记载本回合回摆误设为0.23 s而非1.5 s。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，且视频仅有远景，无法分辨具体哪根手指先失去接触、量化球手接触力或精确量出离手速度；回摆参数导致提前失球的因果判断结合脚本、服务本体传感和视频作出。评分器未报告任务 DAG 的六项原生指标，均记为 null；不采用 agent 自己计算的弹道参数代替评分器指标。"
+ },
+ "summary_zh": "最后被评分的是第6次现场回合：机器人在投手丘上持球调整双臂，但“投出好球”始终未达成，最终为0/1。视频约 5.72–5.76 s，球在仍命令闭合的右手快速回摆时提前脱离，随后在本垒前触地；脚本把回摆压缩为约0.23 s，支持“没保持住”和“控制·参数调试”。缺少逐帧接触状态与手部近景，具体滑脱接触和离手速度不能量化。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频和日志一致：第6回合视频 6.16 s 对应 616 控制步，球在约 5.7–5.8 s 提前脱手并落在投手丘上，pitch_strike 未达成；断点、没保持住、控制·参数调试均有 log step 170 的本体传感（holding_right 5.68 s=1→5.71 s=0）和视频支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:08:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--9qxxxep/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c36ae808eac7573f84c3013b5fb743fbf540cdfff26a41dfbe1949eb9f5329db",
+   "video_sha256": "2821a9a962181cb3bca065071d36e1fa4377c770eb211dc09c3d9e6dbe3500d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7.json
new file mode 100644
index 0000000000000000000000000000000000000000..770f00f271c2bd85dcb179656f19b2fd500d0ec1
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7.json
@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 216,
+   "sim_steps": 919,
+   "calls": 14,
+   "rows": 919,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1963.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.371,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.25,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7/replay.mp4",
+  "duration_s": 2.2,
+  "fps": 25.0,
+  "frames": 55,
+  "sha256": "9e23b81aa8bacaaf19a8f2fd31e92281cf49f0b5705a8a9438c404e14ee8a3fa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.60 s，机器人站在投手丘上转腰蓄力，右臂带着手端白球移向画面左侧，双脚支承在丘面。"
+     },
+     {
+      "t": 1.72,
+      "log_step": 38,
+      "text_zh": "观察：视频 1.68–1.76 s，白球与右手分开，向画面左下方飞出，机器人继续转腰挥臂；视频 2.12–2.16 s，白球已降至机器人附近的投手丘面，未飞向远端本垒。log step 38 的第6回合服务裁判返回 stages=1/2、outcome=the ball touched the ground before home plate，确认已离手但未投出好球。"
+     },
+     {
+      "t": null,
+      "log_step": 41,
+      "text_zh": "观察：log step 38 重置后 episode=6、resets_left=0；log step 41 服务最终状态仍为 episode=6、control_steps=216、done=True、reason=failed。评分器 graded_by_live=1、live_success=0；据此标注最后现场回合，未将此前五个回合混入节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.20–1.64 s，白球随右手运动，随后于视频约 1.72 s 脱离；log step 39 的第6回合 holding_right 读数先为1后为0，支持右手原先包持棒球。远景无法分辨单根手指接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.72 s，机器人双脚支承在投手丘上完成蓄力和挥臂；视频末段身体明显倾斜。足底是否精确覆盖投手板的边界不能从远景量出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 1.72,
+   "log_step": 38,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.72 s，白球在挥臂刚启动时离开右手，向画面左下方下降；视频 2.16 s 已在投手丘近处，始终没有到达远端本垒。log step 38 的第6回合服务裁判确认球在本垒前触地，投出好球步骤未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 1.72,
+    "log_step": 39,
+    "evidence_zh": "推断：视频 1.60–1.76 s 可见原先随右手运动的白球在挥臂初段脱出，随后低落于丘面；log step 37 的动作检查显示右手闭合指令最小值仍为1，log step 38 的最终动作未加入张手参数，log step 39 的第6回合读数显示 holding_right 在仿真 1.65 s 为1、仿真 1.68 s 为0，腰部随后才继续大幅转动。结合 log step 35 要让受力离手发生在朝向合适相位的计划，这是未保持到预期投出相位的提前脱手，非完成投球。视频时间取自逐帧画面，未用 agent 工作时间换算。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 35、36、38 的脚本让机器人保持右手闭合，以快速转腰及伸肘产生受力离手；log step 35 的计划要求离手发生在合适朝向。log step 39 的第6回合读数却显示球已不在右手时腰角仍为−1.164 rad，之后才转过0附近；视频 1.72–2.16 s 的白球近处下落与之相符。动作没有实现预期的持球与投出相位配合，支持控制层归因；具体是接触承载还是加速轨迹参数主导，证据不足以细分。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；场地远景不能分辨各手指接触、真实冲量、离手速度及高度，评分器也未报告DAG所列六项原生指标，均保留null。log step 40、42 关于握力约25–27 N和加速度尖峰的数值是agent自述，未独立核实，未据此细分控制根因。现有视频及第6回合服务裁判结果足以判定节点未达成。",
+  "unmet": {
+   "pitch_strike": false
+  }
+ },
+ "summary_zh": "评分对象为最后的第6回合：机器人右手持球转腰蓄力并挥臂，但视频约 1.72 s 白球已提前脱手，随后在投手丘附近落地，投出好球为0/1（log step 38 裁判确认本垒前触地）。闭合手指的投球动作未将球保持到预期相位，归因于控制；缺少逐帧接触和力数据，无法验证agent所述握力阈值或进一步细分根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 pitch_strike（操作中）、球在挥臂初段提前脱手的接触·没保持住与控制根因均与视频（约1.7 s脱手、2.1 s球落丘面）及 log step 38/39 的服务读数一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--fmg6pm7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0affd589dc35bdf91da70cb03a4ec7b6420f69b9d5198b82ef5b16527dcd9ca6",
+   "video_sha256": "9e23b81aa8bacaaf19a8f2fd31e92281cf49f0b5705a8a9438c404e14ee8a3fa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15d856a5121b81ed25659646a2d0bde0d7cbf01
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b.json
@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 147,
+   "sim_steps": 793,
+   "calls": 18,
+   "rows": 793,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 907.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 3,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.326,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.874,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b/replay.mp4",
+  "duration_s": 1.48,
+  "fps": 25.0,
+  "frames": 37,
+  "sha256": "24a741288517b0543024420f3b59388e2b08df1ab7195bb32c4ec6a5a2ec082b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 51,
+      "text_zh": "观察：视频 0.00 s 机器人站在投手丘的白色投手板上，右臂持球起始；log step 51 的服务回包标明 episode=6、control_steps=0、resets_left=0，随后执行125个控制步的准备动作。log step 50 是这最后一局之前的重置，前面各次试投不计入本段进度。"
+     },
+     {
+      "t": 1.4,
+      "log_step": 51,
+      "text_zh": "观察：逐帧检查视频 0.00–1.44 s，机器人先保持站立并转动上身，视频 1.32–1.44 s 挥动右臂；视频 1.40、1.44 s 白球出现在机器人髋部及大腿外侧附近，未见球飞向远端本垒，机器人仍站立。log step 51 的末尾服务本体读数 holding_right=0；评分器 live_success=0、graded_by_live=1，与本局未完成投出好球一致。"
+     },
+     {
+      "t": 1.44,
+      "log_step": 56,
+      "text_zh": "观察：agent 在 log step 56 自述裁判给出“the ball was touched after the release”，并称只完成离手阶段（1/2）；这是agent对结果的转述。现有 log step 51 的中段已被截断，无法直接读取最终裁判回包，不把该转述当作逐帧触球事实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 0.00 s 的右手持球姿态及 log step 51 初始 holding_right=1 支持右手包持棒球；该手随右臂完成本次投球尝试，视频 1.40–1.44 s 球已在髋部附近。远景不能辨清各指接触及离手后是否再次擦球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.44 s 机器人双脚落在投手丘的白色投手板附近并支撑身体，转身挥臂期间未见倒地；不据此精确判定离手瞬间足底采样点是否合法。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 1.4,
+   "log_step": 51,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.32–1.44 s 机器人正在挥右臂投球，视频 1.40–1.44 s 白球却位于髋部及大腿外侧附近，未形成飞向远端本垒的球路；视频随后结束，评分器 live_success=0。agent 在 log step 56 转述离手后触球判负，但直接裁判回包在 log step 51 的截断区内。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.4,
+    "log_step": 51,
+    "evidence_zh": "观察：视频 1.40、1.44 s 白球仍紧邻机器人髋部及大腿外侧，位置向下变化，右臂则已向前抬起；没有形成将球送往远端本垒的投掷结果。此处标注投球球路偏差，不将agent转述的违规触球另标一次。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 50 记载agent的控制意图为先挥臂再开手并立即撤臂；实际视频 1.40–1.44 s 球落在髋侧而手臂继续向前运动。log step 51 末尾服务读数中 holding_right=0，右肘仍以约15–17 rad/s运动，支持挥臂与释球的实际配合未实现预期球路；证据不足以进一步区分接触设计、轨迹跟踪或参数问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，只有场地远景，不能量出球的释放速度、穿越坐标、瞬时接触部位和冲量。log step 51 的最终裁判回包及部分本体读数在输入中被截断；离手后触球及仿真 1.47 s 判负仅有agent在 log step 56 的转述，不能独立核实，不据此细分控制根因。DAG列出的六项原生指标均未在评分器字段中报告，记为null。"
+ },
+ "summary_zh": "本次评分对应最后重置后的 episode=6，机器人站立转身并挥动右臂，但视频 1.40–1.44 s 白球仍在髋部附近下落，投出好球未达成，最终为0/1。断点位于投球操作中，现象为位姿不准，推断挥臂与释球配合存在控制问题；agent转述的离手后触球判负缺少直接裁判回包和逐帧接触记录核实。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 pitch_strike（操作中）、现象位姿不准、根因控制与帧一致：视频 1.32–1.44 s 球在髋侧下落，未飞向本垒；推断/观察标注可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--ra2ze2b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "674090ff1c6148409bbe026d63433d01f64210dad023de1a76079f75effca44e",
+   "video_sha256": "24a741288517b0543024420f3b59388e2b08df1ab7195bb32c4ec6a5a2ec082b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd.json
new file mode 100644
index 0000000000000000000000000000000000000000..735b86615569a05b06cac18dc67f11e9edefe336
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd.json
@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1110,
+   "sim_steps": 3179,
+   "calls": 152,
+   "rows": 2737,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 3187.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.33,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.897,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd/replay.mp4",
+  "duration_s": 11.12,
+  "fps": 25.0,
+  "frames": 278,
+  "sha256": "02af26adf24b0c4299a09d67cd249b263b59bac69838e4c4a748b8cdb0546afd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": 110,
+      "text_zh": "观察：视频 0.0–9.6 s，机器人双脚留在投手丘，持球右手先向外展开再调整到投球准备姿态；白球随右手移动，没有提前落地。log step 110 的机器人服务记录显示已重置到 episode 6，后续为本次最终现场回合，不能把前五次试投并入本视频。"
+     },
+     {
+      "t": 9.84,
+      "log_step": 117,
+      "text_zh": "观察：视频 9.76–9.84 s，机器人右臂快速向前上方挥动，白球从右手附近移到手前方，随后独立向本垒方向飞行；视频 9.88–11.08 s，机器人仍站在投手丘上。log step 117 的控制脚本执行最终挥臂，而非此前的试投。"
+     },
+     {
+      "t": 11.08,
+      "log_step": 123,
+      "text_zh": "观察：视频 10.16–11.08 s 逐帧可见白球继续向远端飞行并下降，末段降到本垒前方草地区域；机器人未跌倒。log step 123 中机器人服务的裁判结果为 failed，outcome=\"the ball touched the ground before home plate\"，stages_reached=1、stages_total=2；该服务字段是现场裁判反馈，不是 agent 的总结，因此本次只完成离手阶段，未完成投出好球。"
+     },
+     {
+      "t": 9.8,
+      "log_step": 123,
+      "text_zh": "推断：log step 123 的最终回合 control_steps=1110、sim_time_s=11.1 与视频时长 11.12 s 一致；log step 117 使用 dt=0.01 s，log step 118 显示挥臂前 control_steps=970，视频 9.76–9.84 s 的出球与其后短促挥臂相符，核对了本视频对应最后一次 episode 6 的现场回合。视频远景不能精确量出球心过区位置，未达节点由可见飞行过程和本回合裁判结果共同确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 0.0–9.76 s 白球随机器人右手准备动作移动，初态说明右手手指与拇指闭合包持棒球，log step 117–118 的 holding_right 在挥臂开始时为1，结合这些证据判为右手抓握；视频约 9.8 s 球离开右手后自由飞行。远景不能逐一分辨指腹接触。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–11.08 s，机器人双脚在投手丘上支撑身体，挥动右臂及出球后均保持站立；左臂未协同操作棒球。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 9.8,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在视频约 9.8 s 挥动右臂投出白球，随后球向本垒飞行、下降；视频 11.08 s 的末帧仍见机器人站立。log step 123 的本回合现场裁判明确报告球在本垒前触地、仅达成1/2阶段，因此失败步骤是投出好球；视频约 9.8 s 为这次失败投球的出手导航锚点。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.08,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 9.84–11.08 s 白球已离开右手并飞向远端，但末段下降到本垒前的草地区域；log step 123 的机器人服务裁判报告“the ball touched the ground before home plate”。这是投球落短、未以在空中的球心穿过固定好球区，机器人全程站立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 107、114 的 agent 脚本用前次实测飞行拟合及旋转后的挥臂模型，预测最终投球在前方 x=18.1 m、y约0 m、z约0.765 m 过区；log step 116–117 随后按修正肩部姿态和前次挥臂参考执行，视频约 9.8 s 确认实际出球。然而视频末段和 log step 123 的现场裁判确认球仍落在本垒之前，说明这套投球控制没有实现模型所需的有效发射状态。证据支持控制层面的偏差，但不足以确定是离手接触、速度/角度还是关节跟踪造成，故不细分子类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有逐帧状态日志；本次及成功参考视频均为场地远景，右手指腹和远端好球区过小，无法独立测量瞬时接触、精确落点或发射速度。run.json 的评分器字段没有报告 DAG 所列六项原生指标，故均填 null；最终球提前触地由 log step 123 的现场裁判结果确认。推断：无法进一步区分投球控制误差的具体来源。"
+ },
+ "summary_zh": "观察：本次最终现场回合中，机器人完成持球准备，并在视频约 9.8 s 挥动右臂使球离手，直到视频 11.08 s 仍保持站立；log step 123 的裁判确认仅完成离手阶段，球在本垒前触地，投出好球节点最终为0/1。推断：断点是投出好球，现象为投球落短造成的位姿不准；日志中的过区预测未在实际投球中实现，根因保守归为控制。观察：缺少逐帧状态和原生数值，远景不能进一步确定发射参数及具体控制误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达、断点 pitch_strike（视频约 9.8 s 出手）、位姿不准 + 控制与 catch_and_shoot 先例一致；log step 123 的服务裁判结果（球在本垒前触地，stages 1/2）支撑未达，控制步数 970→1110 与视频 11.12 s 对应。远景下球几乎不可见，但标签依据的是服务读数而非 agent 叙述，无需改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:05:27Z",
+  "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/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--xg7a4dd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "12d852c953b96a912efe23e58596a49d8b4e5d7dceb698f629657ee488906a74",
+   "video_sha256": "02af26adf24b0c4299a09d67cd249b263b59bac69838e4c4a748b8cdb0546afd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbbdb9804500391d1eb2b706d72f4f8044f435e
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr.json
@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 143,
+   "sim_steps": 816,
+   "calls": 23,
+   "rows": 668,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1137.8,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.031,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.32,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr/replay.mp4",
+  "duration_s": 1.44,
+  "fps": 25.0,
+  "frames": 36,
+  "sha256": "8c59540a7194361e5b522332070ccfea1943d8c4720b2aadb140e60463da34bf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 229,
+      "text_zh": "观察：视频 0.00–0.72 s，机器人站在投手丘上，右手附近的白球随右臂后摆；log step 229 的最后回合本体读数在仿真 0.00 s 和 0.70 s 均为 holding_right=1。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 227,
+      "text_zh": "观察：视频 1.00–1.40 s，白球与右手分离后在机器人近旁向下落，未飞向远处本垒；机器人仍站立。log step 226–227 的现场服务裁判记录为 Episode 6、stages_reached=1/2、outcome=the ball touched the ground before home plate，未完成好球穿区。"
+     },
+     {
+      "t": 1.4,
+      "log_step": 227,
+      "text_zh": "推断：log step 227 的末回合 control_steps=143，结合 log step 13 的控制周期 0.01 s，结束时刻为仿真 1.43 s，与视频 1.40 s 最后一帧白球已接近丘面的事件核对一致（视频总长 1.44 s）；此处仅用现场回合控制计数核对视频，未使用 agent 工作时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.00–0.72 s 白球随机器人右手运动；log step 229 记录初始及仿真 0.70 s holding_right=1。推断：右手手指与掌面起初包持棒球，随后失去稳定夹持；左手摆动未见接触球。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–1.40 s，机器人双脚在投手丘面支承身体，转身挥臂时未见跌倒；远景不能精确确认离手瞬间足底与投手板的覆盖范围。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 0.8,
+   "log_step": 229,
+   "where": "操作中",
+   "evidence_zh": "推断：机器人正在执行投出好球的后摆蓄力与挥臂，视频约 0.80–1.00 s 白球未随随后抬起的右臂继续运动，转为在身体近旁下落，视频 1.40 s 仍在丘面近处。log step 183 的执行脚本要求先闭手后摆、再于挥臂中开手；log step 229 的末回合读数在仿真 0.70 s 持球、仿真 0.80 s 起不再持球。log step 226–227 确认同一末回合以球提前触地失败，未修复投球。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 0.8,
+    "log_step": 229,
+    "evidence_zh": "推断：视频 0.60–0.92 s 白球从右手附近随臂后摆，到视频 1.00 s 已与右手分开，视频 1.08–1.40 s 在机器人近旁下坠；log step 229 中 holding_right 从仿真 0.70 s 的1变为仿真 0.80–1.23 s 的0，而仿真 0.80–0.90 s 手闭合度继续升至0.88–0.97。结合 log step 183 的后摆段闭手指令，可判定球在预定投掷释放前失去稳定夹持；log step 227 的裁判确认球在本垒前触地。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 183 的末回合脚本在80个后摆控制步及10个停顿控制步内保持 grip_right=1，挥臂第5个控制步才命令开手；log step 226 执行此脚本后，log step 229 已在仿真 0.80 s 报持球标志为0，早于脚本预定开手。视频 1.00–1.40 s 也显示球留在机器人近处下落，未被随后挥臂有效送向本垒，支持持球与挥臂控制未实现预期；不足以进一步区分抓取几何、接触力或轨迹跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；本次视频只有场地远景，已逐帧检查全部36帧并放大后摆、脱手和末段下落过程，但不能辨清手指与球的各个接触点、最后接触瞬间及冲量，因此不细分控制根因。log step 229 只有每约0.10仿真秒的本体采样，持球标志消失不等于裁判确认离手的精确时刻；球的精确落地点与足底压板范围也不能从远景量出。DAG所列6项原生指标均未在本次评分字段报告，故值为null。"
+ },
+ "summary_zh": "最后评分回合为 Episode 6：机器人从初始右手持球状态后摆并挥臂，但未完成“投出好球”，最终节点为0/1。球在后摆末段失去稳定夹持，随后落在机器人附近；log step 226–227 的现场裁判以球在本垒前触地判失败，支持断点为投球操作中的“没保持住”，根因归于控制。视频远景和稀疏本体采样不能确定具体手指接触机制及精确离手时刻。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频及现场服务读数一致：最后评分回合（Episode 6）球提前触地、pitch_strike 未达成，断点在投球操作中，现象为没保持住，根因停在控制。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:06:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--xzsd5gr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd4d97e4f30ed46eb70a9cf51b4755fe7756e7eaf59e4951d4ba594311332f13",
+   "video_sha256": "8c59540a7194361e5b522332070ccfea1943d8c4720b2aadb140e60463da34bf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7e84c9c6ee74c24338e318f72db4a8bff387aa
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4.json
@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 302,
+   "sim_steps": 2635,
+   "calls": 50,
+   "rows": 2555,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 4168.4,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.243,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.878,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4/replay.mp4",
+  "duration_s": 3.04,
+  "fps": 25.0,
+  "frames": 76,
+  "sha256": "b97c0a86b19357ce3d3f25c08d54510d94b7052535918a847ee78a8a6153f9b3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 0.00 s 机器人站在投手丘，右前臂朝前，远景不能辨认球与手指的包持接触；log step 217 用完最后一次重置，log step 218 修复无效数值后未再次重置，log step 219 执行最后回合。推断：依据 inputs/run.json 的 task_text 所述冻结初态，以及早期初态的 log step 11 服务读数 holding_right=1.0、holding_left=0.0，最后回合重置后从右手持球开始；log step 11 不是最后回合的直接读数。"
+     },
+     {
+      "t": 2.64,
+      "log_step": 219,
+      "text_zh": "观察：视频 0.00–2.60 s 机器人双臂向身前合拢，没有成功参考录像中的挥臂投向本垒动作；视频 2.72–3.00 s 可见白球从腿部附近向下移动，最后到达脚边丘面，未向远端本垒飞行。log step 219 的左手持球读数始终为 False，之后服务返回回合已经失败。推断：结合初态及该回合交接脚本，球在交接期间脱离了持球手；具体手指接触与精确离手时刻不可见。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 220,
+      "text_zh": "观察：视频 3.00 s 机器人仍站立、白球已落在脚边，未完成好球穿越；log step 220 服务状态为 episode=6、control_steps=302、done=True、reason=failed，评分字段 live_success=0、graded_by_live=1。此前 log step 216 的 IN ZONE=True 来自 agent 的本地模型测试，不是本次评分回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：inputs/run.json 的 task_text 描述初态右手包持棒球；log step 11 的初态服务读数 holding_right=1.0 提供会话佐证，log step 217 重置后由 log step 219 执行交接。观察：视频 0.00–2.60 s 双臂把双手靠到身前，log step 219 的 holding_left 始终为 False，视频 2.72–3.00 s 白球下落到丘面。抓握指推断的右手原有包持，不表示视频看清了包持或左手接稳。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.00–3.00 s 双脚在投手丘上支承身体，交接和掉球期间机器人保持站立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pitch_strike",
+   "t": 2.64,
+   "log_step": 219,
+   "where": "操作中",
+   "evidence_zh": "推断：结合初态右手持球、log step 192/198 的交接脚本以及 log step 219 左手始终未持球，失败位于身前交接期间的持球丢失，视频约 2.64 s 为粗略导航锚点，不是直接测得的离手时刻。观察：视频 2.72–3.00 s 白球从腿部附近下落，到达脚边丘面；机器人没有进入投向本垒的挥投阶段，之后未修复。log step 219 服务已结束回合，log step 220 确认最后回合失败。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 2.64,
+    "log_step": 219,
+    "evidence_zh": "观察：视频 0.00–2.60 s 双手在身前靠拢，视频 2.72–3.00 s 白球从腿部附近下落到丘面，机器人仍站立，没有完成向本垒的投掷；log step 219 的 holding_left=False。推断：依据 task_text 的右手持球初态、log step 217 重置与 log step 219 的交接执行记录，原有持球在交接期间丢失；视频 0.00 s 本身不足以辨认手指包持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 219,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：双手交接的控制未能在右手持球期间建立稳定的左手承接。log step 192 的控制脚本及 log step 198 的修改在候选交接动作中保持 grip_right=1，仅在左手持球成功后或遍历全部候选后才安排右手松开；log step 219 尚在前几个候选即回合失败，且 holding_left 一直为 False。结合视频 2.72–3.00 s 实际掉球，失败发生在维持和转移持球接触的控制环节，无法进一步确定是接触几何、跟踪还是力控制问题。推断：已先检查策略层；log step 192/198 确实选择先交接再左投，log step 190 的约 9 cm 偏差和 log step 192 的“untested hypothesis”均为 agent 自述，说明方案有未验证环节，不能单独证明目标、顺序或跨阶段策略必然选错。会话 log step 95 记录右臂加速时 holding_right 从 1 变 0，而 log step 157/166/184/186 的交接也均未成功，支持执行困难；这些测试不能排除所有右臂直投方案。参考录像视频约 1.5–2.0 s 可见直接挥臂投球，表明参考回合有可行路径，但不能证明本 agent 已验证出可用替代控制。因此不把右臂直投视为不可行，也不因偏离 DAG 的典型方案就新增认知·推理/规划；替代方案在本 agent 会话中是否可行记未知，策略是否另有错误仍有不确定性（docs/03_trajectory.md Step 3.3；DECISIONS.md S3）。",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或最终回合的详细裁判事件；远景初帧不能辨认右手包持，初态持球由 task_text、重置记录和早期服务读数推断，末段可见掉球但不能辨认每个手指的接触、接触力和精确离手时刻，因此控制不细分。审查提出交接再左投属于策略错误；日志支持存在未经验证的交接环节，但不足以分离策略错误与执行困难，未新增规划根因，也未证明右臂直投不可行。评分字段未报告 DAG 所列六项原生指标，均填 null；agent 自述的挤出原因与局部模型速度不作为这些指标的观测值。"
+ },
+ "summary_zh": "最后评分回合进行了双手靠拢的交接尝试，但未投向本垒，“投出好球”最终为 0/1。视频 2.72–3.00 s 可见棒球从腿部附近掉至脚边，机器人保持站立，初态右手包持来自初态与日志推断，失败现象为没保持住，日志支持交接控制失败。已核查交接再左投的策略意见，但不足以将未验证等同于策略选错；缺少逐帧接触及详细裁判事件，控制细分与策略归因仍不确定，置信度由 8 降为 7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "终点（pitch_strike 未达成、断点在最后回合的双手交接、掉球）与视频及 log step 219-220 相符，状态时钟用 302 个控制步≈3.02 s 与 3.04 s 视频吻合。问题在根因：只标“控制”漏掉了更上游的策略选择（放弃右臂直接投球，改走从未在评分回合验证的左手交接再投），且部分“观察”并非远景帧可见。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "终点与视频、log 相符：最后回合 3.0 s 视频内未投球，球掉到脚边，pitch_strike=false；断点、现象（接触·没保持住）和控制根因均有证据且观察/推断标注得当，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": "2026-10-31T01:14:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--yqmpgc4/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "072ab970980dec8a174f1544327bd1b5547229d83214726cfbfefbbf36f4a7af",
+   "video_sha256": "b97c0a86b19357ce3d3f25c08d54510d94b7052535918a847ee78a8a6153f9b3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt.json b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf925b288ac2beba8acfa8b12302e1ddbb4649ef
--- /dev/null
+++ b/phase2/embodied-olympics-fun/pitch_target/trajectories/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-pitch-target-i00-standard--ytrkunt",
+ "taskKey": "embodied-olympics-fun/pitch_target",
+ "dag_sha256": "b9c9d2241d67e603a33c144ea507b4d070461d1a518b4397faeaecf97bb7bb6f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "calls": 10,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 5997.1,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.069,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.346,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt/replay.mp4",
+  "duration_s": 0.04,
+  "fps": 25.0,
+  "frames": 1,
+  "sha256": "613be7c0a84c6dc639c079ce4349c7cb84ee3f59400cf550722b06518dea8790"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pitch_strike": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：评分视频全长0.04秒、仅一帧；视频0.00 s中机器人站在近处投手丘，右臂置于身前，未显示挥臂、球离手或飞向远端本垒的过程。"
+     },
+     {
+      "t": null,
+      "log_step": 7,
+      "text_zh": "观察：log step 7中机器人服务返回control_steps=0、rows=0、done=False、holding_right=1及time_s=0；log step 101再次读取仍为holding_right=1、time_s=0。评分字段n_actions=0、sim_steps=0、rows=0、resets=0，未执行现场投球动作。"
+     },
+     {
+      "t": null,
+      "log_step": 184,
+      "text_zh": "推断：结合评分视频唯一初态帧、服务零控制步及log step 184的Gemini过滤器中断提示，本次未交付投球动作；投出好球事件从未达成。会话中的本地MuJoCo测试不是评分回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：评分记录n_actions=0、rows=0、sim_steps=0，log step 184出现模型提供方过滤器中断，未交付动作轨迹；视频0.00 s只有站立初态，不把初始持球与双脚支承记作已实施的投球接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "abs(cross_y_m)",
+   "unit": "m",
+   "threshold": 0.216,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cross_z_m",
+   "unit": "m",
+   "threshold": [
+    0.46,
+    1.07
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "retouch_dv_m_s",
+   "unit": "m/s",
+   "threshold": 0.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "release_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "release_height_m",
+   "unit": "m",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  },
+  {
+   "name": "cross_speed_m_s",
+   "unit": "m/s",
+   "threshold": null,
+   "direction": null,
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 184,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 183仍在运行agent自建的本地MuJoCo模型初始化脚本，log step 184最终文本为“This request was blocked by Gemini's filters”。评分记录n_actions=0、rows=0、sim_steps=0，视频0.00 s唯一帧仅有机器人初态；中断前无已执行或已验证的评分投球轨迹。"
+  },
+  "unmet": {
+   "pitch_strike": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 184记录模型提供方Gemini过滤器中断；评分记录没有动作或仿真推进，现有视频仅为0.04秒的初态单帧，且无状态日志，未报告任何DAG原生指标。推断：这是交付前的外因中断，按CASES.md FAIL-5不纳入agent失败分析，应重测；保留目录success=0，不标“没尝试”或机器人能力根因。agent在本地模型中的调试结果不能充当评分回合的动作、接触或失败现象证据。"
+ },
+ "summary_zh": "观察：评分视频仅有视频0.00 s的一帧初态，评分字段n_actions=0、sim_steps=0、rows=0，投出好球未达成，最终进度0/1。观察：agent在log step 183仍进行本地模型初始化，log step 184出现Gemini过滤器阻断提示；推断：属于交付前外因中断，断点记unknown／首步前，现象与根因留空，保留目录success=0并应重测。观察：没有执行中的评分录像、状态日志或原生指标，无法据会话测试评价现场投球能力。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频仅0.04秒单帧初态，评分字段n_actions/sim_steps/rows均为0，log step 184为Gemini过滤器中断，交付前外因中断，断点unknown/首步前、现象与根因为空并有gap_zh，符合FAIL-5。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": "2026-10-31T01:05:41Z",
+  "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/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-pitch-target-i00-standard--ytrkunt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "19c3e1f29ca912df782ca3b1898707112cbdb3af92f23f152b9f097b2b3e7557",
+   "video_sha256": "613be7c0a84c6dc639c079ce4349c7cb84ee3f59400cf550722b06518dea8790",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d594878097743c34f144622fedf549b69215698
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc.json
@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 340,
+   "sim_steps": 340,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.2,
+   "stages_reached": 1,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 6.81,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.001,
+   "metric_reps": 1.0,
+   "metric_touches": 1.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 56,
+   "agent_resets": 0,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.472,
+   "peak_processes": 19,
+   "peak_disk_gb": 0.243,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc/replay.mp4",
+  "duration_s": 3.44,
+  "fps": 25.0,
+  "frames": 86,
+  "sha256": "a6f820e7831fc4838d6dc91dcc37dbc66a6166afd566cb12d6fc97815fdc2ebd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.28,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.16,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–1.56 s机器人双手握住横杠并借摆，视频1.80–2.36 s双腿上举至两手之间的横杠高度，随后视频2.40–3.28 s双腿下降回到悬垂。评分器报告metric_touches=1、metric_reps=1及stages_reached=1，确认这次举足和回垂满足原生计次判据。"
+     },
+     {
+      "t": 3.28,
+      "log_step": 63,
+      "text_zh": "推断：视频3.24–3.28 s双脚降至接近开局的低位悬垂，结合评分器确认的唯一一次完整重复，将首次达成锚定在视频3.28 s附近（视觉估计）。视频3.28–3.40 s未再举足；log step 63对交付的340行轨迹重新生成并验证，输出reps=1、touches=1、failed=None，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频0.00–3.40 s左、右手分别闭合环住横杠两处，共同承载身体完成举足和回垂。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；视频1.80–2.36 s双脚上举到横杠高度，评分器metric_touches=1及metric_reps=1确认双脚完成有效同时触杠。脚部轻触不要求承重，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频3.28–3.40 s机器人仍在第一次回垂后的摆动中，双脚保持低位，没有第二次举足触杠；完整视频仅出现一次举足及回落。评分器metric_reps=1、stages_reached=1，故第2次未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.40 s只有一轮举足至横杠并回落，未出现第3次动作；评分器metric_reps=1、stages_reached=1，故第3次未达成，其顺序前置亦未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.40 s只有一轮举足至横杠并回落，未出现第4次动作；评分器metric_reps=1、stages_reached=1，故第4次未达成，其顺序前置亦未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.00–3.40 s只有一轮举足至横杠并回落，未出现第5次动作；评分器metric_reps=1、stages_reached=1，故第5次未达成，其顺序前置亦未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 1.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": 0.001,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_2",
+   "t": 3.28,
+   "log_step": 57,
+   "where": "首步前",
+   "evidence_zh": "观察：视频3.28–3.40 s机器人完成第一次回垂后仍悬挂摆动，尚未再次举足。log step 57的交付生成脚本将NROWS固定为340，只保存首轮动作；log step 63重生成及回放仍为reps=1、failed=None。推断：断在第2次触杠回垂启动前，视频3.28 s仅作第1次结束后的导航锚点。"
+  },
+  "unmet": {
+   "toes_to_bar_1": true,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 3.28,
+    "log_step": 57,
+    "evidence_zh": "观察：视频0.00–3.40 s仅有第一次举足及回垂，视频3.28–3.40 s未出现第二次抬腿启动；log step 57交付脚本在340行处结束，log step 71最终回放为reps=1、failed=None。第2次动作没有在交付片段中启动；会话测试的后续脱杠未出现在此视频中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 55,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话测试中控制器无法在首轮回垂后保持握杠并进入下一轮，促使agent只交付第一轮前缀。log step 51多个分阶段降腿控制方案均输出let go of the bar；log step 55保存前缀所用测试在仿真3.26 s计到reps=1、仿真3.54 s脱杠，再截取340行。log step 65–70的降腿速度、腰部对齐和扭矩补偿变体仍输出脱杠，log step 57和63则确认交付仅含完整第1次。此处依据是会话中重复出现的控制失败，不把仿真3.54 s失手移入评分视频，也不以停止本身作根因。"
+   }
+  ],
+  "gap_zh": "没有逐物理步状态及接触力日志；视频视角较远，双脚同时触杠及回垂的精确阈值由评分器的touches=1、reps=1补证，首次达成时间为视觉近似。握杠失败只在交付片段以外的会话测试中有记录，无法进一步判定是接触几何、轨迹还是反馈环节导致，根因保留在“控制”。"
+ },
+ "summary_zh": "评分轨迹约在视频3.28 s完成第1次双脚触杠回垂，最终为1/5；视频3.40 s末帧仍双手悬挂，第2次举足尚未启动。会话日志显示后续摆动控制在多种测试中反复脱杠，agent因此保存并验证了只有第一轮的前缀，不能把会话中的脱杠记为交付轨迹的现象。无状态日志，接触有效性由评分器计次补证，精确时刻和控制子类仍有缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：交付轨迹仅340行，视频约3.28 s完成第1次触杠回垂（log步骤中仿真3.26 s计reps=1，评分器reps=1/stages=1），断点为第2次（首步前/没尝试，交付片段未启动），根因依据会话中反复脱杠记为控制并明确未把3.54 s脱杠移入评分视频，符合FAIL-22/23的处理。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": "2026-10-31T00:58:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--4trzufc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66d69445ef405aaa4c654526a3c32133002d5bbf5968c479ddcda98cc187556a",
+   "video_sha256": "a6f820e7831fc4838d6dc91dcc37dbc66a6166afd566cb12d6fc97815fdc2ebd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3ce386aef6e19231e2aa0f630e9e9b05c210a4
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk.json
@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 4911,
+   "sim_steps": 4911,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.0,
+   "stages_reached": 0,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 34.34,
+   "bad_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 86,
+   "agent_resets": 179,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.534,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.244,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk/replay.mp4",
+  "duration_s": 49.12,
+  "fps": 25.0,
+  "frames": 1228,
+  "sha256": "760b0d6959e77c978102a66f4f0fa51014b6521f79fe7be0c8844a391dd07cbe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 机器人双手握杠，双腿初始下垂；视频约 0.5–1.0 s 已开始屈膝抬腿，随后在高位停留至视频约 6.6 s，双脚仍在横杠下方；视频 7.0–9.5 s 双腿下降回垂。未见双脚同时实际触杠。"
+     },
+     {
+      "t": 49.08,
+      "log_step": 93,
+      "text_zh": "推断：评分器 reward.stages_reached=0、stages_total=5；log step 93 对保存文件执行全部4911行后 success=False，视频 49.08 s 结束时仍悬挂。因此累计完整触杠回垂不足1次，该顺序事件未达到。后四轮重复抬腿也未修复第一次失败。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.9 s，机器人左右手分别闭合在横杠两处，共同承重，支承脚本第1轮举足与回垂；未观察到双脚与横杠接触，故不追加脚杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–16.0 s，机器人第二轮抬腿并停在杠下；视频 16.5–19.0 s 双腿下降回垂。未见双脚同时实际触杠。"
+     },
+     {
+      "t": 49.08,
+      "log_step": 93,
+      "text_zh": "推断：评分器 reward.stages_reached=0、stages_total=5；log step 93 对保存文件执行全部4911行后 success=False，视频 49.08 s 结束时仍悬挂。因此累计完整触杠回垂不足2次，该顺序事件未达到。此处第2轮仅指 log step 94 交付脚本安排的第2轮动作，不是已验收的第2次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.5 s，机器人左右手分别闭合在横杠两处，共同承重，支承脚本第2轮举足与回垂；未观察到双脚与横杠接触，故不追加脚杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–25.5 s，机器人第三轮抬腿并停在杠下；视频 26.0–28.5 s 双腿下降回垂。未见双脚同时实际触杠。"
+     },
+     {
+      "t": 49.08,
+      "log_step": 93,
+      "text_zh": "推断：评分器 reward.stages_reached=0、stages_total=5；log step 93 对保存文件执行全部4911行后 success=False，视频 49.08 s 结束时仍悬挂。因此累计完整触杠回垂不足3次，该顺序事件未达到。此处第3轮仅指 log step 94 交付脚本安排的第3轮动作，不是已验收的第3次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 24.0 s，机器人左右手分别闭合在横杠两处，共同承重，支承脚本第3轮举足与回垂；未观察到双脚与横杠接触，故不追加脚杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–35.0 s，机器人第四轮抬腿并停在杠下；视频 35.5–38.0 s 双腿下降回垂。未见双脚同时实际触杠。"
+     },
+     {
+      "t": 49.08,
+      "log_step": 93,
+      "text_zh": "推断：评分器 reward.stages_reached=0、stages_total=5；log step 93 对保存文件执行全部4911行后 success=False，视频 49.08 s 结束时仍悬挂。因此累计完整触杠回垂不足4次，该顺序事件未达到。此处第4轮仅指 log step 94 交付脚本安排的第4轮动作，不是已验收的第4次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 33.5 s，机器人左右手分别闭合在横杠两处，共同承重，支承脚本第4轮举足与回垂；未观察到双脚与横杠接触，故不追加脚杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.5–44.5 s，机器人第五轮抬腿并停在杠下；视频 45.0–47.0 s 双腿下降，视频 48.12–49.08 s 仍双手悬挂。未见双脚同时实际触杠。"
+     },
+     {
+      "t": 49.08,
+      "log_step": 93,
+      "text_zh": "推断：评分器 reward.stages_reached=0、stages_total=5；log step 93 对保存文件执行全部4911行后 success=False，视频 49.08 s 结束时仍悬挂。因此累计完整触杠回垂不足5次，该顺序事件未达到。此处第5轮仅指 log step 94 交付脚本安排的第5轮动作，不是已验收的第5次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 43.0 s，机器人左右手分别闭合在横杠两处，共同承重，支承脚本第5轮举足与回垂；未观察到双脚与横杠接触，故不追加脚杠接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 5.9,
+   "log_step": 91,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.5–6.6 s，机器人首次举足停在高位，双脚仍低于横杠，随后在视频 7.0–9.5 s 放下双腿；视频后续四轮亦未见有效触杠。log step 91 生成并保存4911行最终动作，脚本诊断输出最小脚杠间隙0.0554米、stages=[]；log step 93 回放保存文件执行4911行，仍 success=False。推断：第一次触杠未成立，回垂不能完成第一次计数，此后从未修复。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.9,
+    "log_step": 91,
+    "evidence_zh": "观察：视频 5.5–6.6 s 的机器人已抬足至高位，但脚端停在横杠下；视频 14.0–16.0 s、23.5–25.5 s、33.0–35.0 s、42.5–44.5 s 的后续上举仍呈相同间隔。双手一直留在杠上。log step 91 的保存轨迹诊断报告脚部碰撞盒距杠最小0.0554米；评分器记录 stages_reached=0。推断：缺少的是双脚触杠接触，尚未建立过一次有效触杠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人关节动作未形成足以触杠的举足轨迹。视频 5.5–6.6 s 及后续四轮均在杠下停住；log step 91 的最终动作脚本以固定关节目标插值上举、停留和下放，诊断仍有0.0554米间隙；log step 94 的交付脚本沿用同一目标，未获得可触杠的执行结果。会话测试中 log step 54 检出左右大腿与躯干的自接触，log step 57–58 的屈肘调整仍留有脚杠间隙，支持控制求解受阻，但这些测试不作为评分视频发生自碰的直接证据。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无逐物理步状态日志；固定远景分辨率不能直接量出脚杠间隙、两脚接触点横向边界或每只手的毫秒级接触闪断。0.0554米来自 log step 91 的脚本诊断而非独立状态日志，作为视频的辅助证据；无法进一步区分本次轨迹的自碰阻挡、实际关节限位或负载跟踪误差，根因保留为控制。原生 reps 取评分器已完成阶段数 stages_reached=0（每阶段对应一次完整动作）；评分器未报告 grip_break_max_s，故该指标留空。"
+ },
+ "summary_zh": "机器人在视频 0.0–49.08 s 保持双手悬挂，完成五轮抬腿和回垂动作，但脚端始终未形成有效双脚触杠，五个累计计次节点均未达到（0/5）。断点为第1次触杠回垂：关节动作在杠下停住，接触未建立，后续重复未修复；最终保存轨迹的诊断与评分器零完成阶段相符。缺少逐物理步状态日志，精确间隙及控制受阻的细分机制不能独立核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "总体与视频、评分器 stages_reached=0 及 log step 91/93 一致：五个节点均未达到，断点 toes_to_bar_1、没建立接触、控制根因均有证据支持。仅有一处视频时间描述不准（第1轮举腿起点）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个节点均未达到与评分器 stages_reached=0、视频中双脚始终停在杠下一致；断点 toes_to_bar_1、没建立接触、根因停在控制（子类不明）均有证据，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:09:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--ew6swkk/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3810719e7fe2901f06d4194f0bc16317ba165adee58dcf135f1b52807bb7bf0c",
+   "video_sha256": "760b0d6959e77c978102a66f4f0fa51014b6521f79fe7be0c8844a391dd07cbe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b6b07d1ab784b0cfc41db89b4bdb9d213f33a5
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu.json
@@ -0,0 +1,333 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 2864,
+   "sim_steps": 2864,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 22.9,
+   "bad_trajectory": 0,
+   "metric_reps": 5.0,
+   "metric_time_s": 28.64,
+   "metric_touches": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 49,
+   "agent_resets": 6,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.115,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.245,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu/replay.mp4",
+  "duration_s": 28.68,
+  "fps": 25.0,
+  "frames": 717,
+  "sha256": "f6e396279fe15134adba52d87d9a5d8fbff9d91a4203c952193318e7dd7890ac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.56,
+      "log_step": null,
+      "text_zh": "观察：视频 1.20–1.92 s，机器人双手保持在横杠两处，双腿并拢举起，双脚到达两手之间的杠位；随后开始放腿。固定远景下脚与杠局部重叠，不能单凭像素分辨两脚接触点的严格边界。"
+     },
+     {
+      "t": 5.04,
+      "log_step": 25,
+      "text_zh": "观察：视频 4.56–5.40 s，机器人双脚由高位落下并回到低位悬垂，双手仍留杠；视频 5.04 s 为本次完成的近似帧锚点。log step 25 的模拟器裁判状态（由机器人控制接口返回）记录已保存轨迹包含 rep 1 阶段，最终 touches=5、reps=5；log step 26 的两次独立复放均成功且末状态哈希相同。"
+     },
+     {
+      "t": 5.04,
+      "log_step": 26,
+      "text_zh": "推断：上述第1次举足和回垂画面与交付轨迹的裁判阶段相符；结合 inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、replay_success=1、deterministic=1，判本节点达到并锁存至视频结束。回垂高度与杠后位置的精确阈值由成功判定支持，所标视频时刻约有 0.2 s 不确定性，不采用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：第1次动作中，左、右灵巧手分别环握横杠两处，共同承重。视频 1.20–1.92 s及视频 4.56–5.40 s可见两手持续留在各自杠位；结合任务记录的初始闭合环握和交付轨迹成功，判为抓握。远景不能逐个辨认指节，也不能排除中途转为手指勾握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；第1次双脚抬至两手之间的横杠处，随后离杠回垂，实际双脚触杠由相应画面及评分器五次触杠计数共同支持。此处是脚部触碰目标，不属于抓握、承重、扫推或擦拭，故使用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.92,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.24,
+      "log_step": null,
+      "text_zh": "观察：视频 8.88–9.60 s，机器人双手保持在横杠两处，双腿并拢举起，双脚到达两手之间的杠位；随后开始放腿。固定远景下脚与杠局部重叠，不能单凭像素分辨两脚接触点的严格边界。"
+     },
+     {
+      "t": 10.92,
+      "log_step": 25,
+      "text_zh": "观察：视频 10.44–11.28 s，机器人双脚由高位落下并回到低位悬垂，双手仍留杠；视频 10.92 s 为本次完成的近似帧锚点。log step 25 的模拟器裁判状态（由机器人控制接口返回）记录已保存轨迹包含 rep 2 阶段，最终 touches=5、reps=5；log step 26 的两次独立复放均成功且末状态哈希相同。"
+     },
+     {
+      "t": 10.92,
+      "log_step": 26,
+      "text_zh": "推断：上述第2次举足和回垂画面与交付轨迹的裁判阶段相符；结合 inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、replay_success=1、deterministic=1，判本节点达到并锁存至视频结束。回垂高度与杠后位置的精确阈值由成功判定支持，所标视频时刻约有 0.2 s 不确定性，不采用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：第2次动作中，左、右灵巧手分别环握横杠两处，共同承重。视频 8.88–9.60 s及视频 10.44–11.28 s可见两手持续留在各自杠位；结合任务记录的初始闭合环握和交付轨迹成功，判为抓握。远景不能逐个辨认指节，也不能排除中途转为手指勾握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；第2次双脚抬至两手之间的横杠处，随后离杠回垂，实际双脚触杠由相应画面及评分器五次触杠计数共同支持。此处是脚部触碰目标，不属于抓握、承重、扫推或擦拭，故使用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.76,
+      "log_step": null,
+      "text_zh": "观察：视频 14.40–15.00 s，机器人双手保持在横杠两处，双腿并拢举起，双脚到达两手之间的杠位；随后开始放腿。固定远景下脚与杠局部重叠，不能单凭像素分辨两脚接触点的严格边界。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 25,
+      "text_zh": "观察：视频 15.60–16.44 s，机器人双脚由高位落下并回到低位悬垂，双手仍留杠；视频 16.08 s 为本次完成的近似帧锚点。log step 25 的模拟器裁判状态（由机器人控制接口返回）记录已保存轨迹包含 rep 3 阶段，最终 touches=5、reps=5；log step 26 的两次独立复放均成功且末状态哈希相同。"
+     },
+     {
+      "t": 16.08,
+      "log_step": 26,
+      "text_zh": "推断：上述第3次举足和回垂画面与交付轨迹的裁判阶段相符；结合 inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、replay_success=1、deterministic=1，判本节点达到并锁存至视频结束。回垂高度与杠后位置的精确阈值由成功判定支持，所标视频时刻约有 0.2 s 不确定性，不采用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：第3次动作中，左、右灵巧手分别环握横杠两处，共同承重。视频 14.40–15.00 s及视频 15.60–16.44 s可见两手持续留在各自杠位；结合任务记录的初始闭合环握和交付轨迹成功，判为抓握。远景不能逐个辨认指节，也不能排除中途转为手指勾握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；第3次双脚抬至两手之间的横杠处，随后离杠回垂，实际双脚触杠由相应画面及评分器五次触杠计数共同支持。此处是脚部触碰目标，不属于抓握、承重、扫推或擦拭，故使用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.08,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.64,
+      "log_step": null,
+      "text_zh": "观察：视频 20.28–21.00 s，机器人双手保持在横杠两处，双腿并拢举起，双脚到达两手之间的杠位；随后开始放腿。固定远景下脚与杠局部重叠，不能单凭像素分辨两脚接触点的严格边界。"
+     },
+     {
+      "t": 22.08,
+      "log_step": 25,
+      "text_zh": "观察：视频 21.60–22.44 s，机器人双脚由高位落下并回到低位悬垂，双手仍留杠；视频 22.08 s 为本次完成的近似帧锚点。log step 25 的模拟器裁判状态（由机器人控制接口返回）记录已保存轨迹包含 rep 4 阶段，最终 touches=5、reps=5；log step 26 的两次独立复放均成功且末状态哈希相同。"
+     },
+     {
+      "t": 22.08,
+      "log_step": 26,
+      "text_zh": "推断：上述第4次举足和回垂画面与交付轨迹的裁判阶段相符；结合 inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、replay_success=1、deterministic=1，判本节点达到并锁存至视频结束。回垂高度与杠后位置的精确阈值由成功判定支持，所标视频时刻约有 0.2 s 不确定性，不采用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：第4次动作中，左、右灵巧手分别环握横杠两处，共同承重。视频 20.28–21.00 s及视频 21.60–22.44 s可见两手持续留在各自杠位；结合任务记录的初始闭合环握和交付轨迹成功，判为抓握。远景不能逐个辨认指节，也不能排除中途转为手指勾握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；第4次双脚抬至两手之间的横杠处，随后离杠回垂，实际双脚触杠由相应画面及评分器五次触杠计数共同支持。此处是脚部触碰目标，不属于抓握、承重、扫推或擦拭，故使用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.64,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.12,
+      "log_step": null,
+      "text_zh": "观察：视频 26.76–27.48 s，机器人双手保持在横杠两处，双腿并拢举起，双脚到达两手之间的杠位；随后开始放腿。固定远景下脚与杠局部重叠，不能单凭像素分辨两脚接触点的严格边界。"
+     },
+     {
+      "t": 28.64,
+      "log_step": 25,
+      "text_zh": "观察：视频 27.72–28.64 s，机器人双脚由高位落下并回到低位悬垂，双手仍留杠；视频 28.64 s 为本次完成的近似帧锚点。log step 25 的模拟器裁判状态（由机器人控制接口返回）记录已保存轨迹包含 rep 5 阶段，最终 touches=5、reps=5；log step 26 的两次独立复放均成功且末状态哈希相同。"
+     },
+     {
+      "t": 28.64,
+      "log_step": 26,
+      "text_zh": "推断：上述第5次举足和回垂画面与交付轨迹的裁判阶段相符；结合 inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、replay_success=1、deterministic=1，判本节点达到并锁存至视频结束。回垂高度与杠后位置的精确阈值由成功判定支持，所标视频时刻约有 0.2 s 不确定性，不采用 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "推断：第5次动作中，左、右灵巧手分别环握横杠两处，共同承重。视频 26.76–27.48 s及视频 27.72–28.64 s可见两手持续留在各自杠位；结合任务记录的初始闭合环握和交付轨迹成功，判为抓握。远景不能逐个辨认指节，也不能排除中途转为手指勾握。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：候选“触碰”；第5次双脚抬至两手之间的横杠处，随后离杠回垂，实际双脚触杠由相应画面及评分器五次触杠计数共同支持。此处是脚部触碰目标，不属于抓握、承重、扫推或擦拭，故使用其他。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人在视频中依次完成五轮举足至杠位及放腿回垂，节点完成锚点约为视频 5.04、10.92、16.08、22.08、28.64 s；评分器报告五次触杠、五次完整重复及确定性复放成功，故五个事件节点终态均为真，无失败断点。推断：双手持续承重与逐次放腿使动作达到裁判要求；会话早期的脱杠和未触杠测试不属于最终交付轨迹。观察：本任务无状态日志，所谓 oracle 与本次视频是同一运行，未用作独立对照；远景无法精确量出接触点、回垂阈值或短暂脱杠，相关验收结合评分器结果判断，且评分器未报告最终轨迹的 grip_break_max_s。",
+ "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，五个节点均达到且锁存，时间与周期（约5.5-6 s/次）和视频帧一致，接触标注合理，无失败断点；评分器字段支持最终结果。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:57:20Z",
+  "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/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--ff58gbu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a94398b49da52c9eb378eff8426a296334d16e8dc983b97950e70bd63aa79ea9",
+   "video_sha256": "f6e396279fe15134adba52d87d9a5d8fbff9d91a4203c952193318e7dd7890ac",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a3a25f1d80116cef036d14c4b34b571e658ef0d
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8.json
@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "n_actions": 1252,
+   "sim_steps": 1252,
+   "horizon": 6000,
+   "episode_over": 0,
+   "progress": 0.6,
+   "stages_reached": 3,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 11.45,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.001,
+   "metric_reps": 3.0,
+   "metric_touches": 3.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 275,
+   "agent_resets": 212,
+   "agent_replays": 10,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.81,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.845,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8/replay.mp4",
+  "duration_s": 12.56,
+  "fps": 25.0,
+  "frames": 314,
+  "sha256": "ee9bcbf203c0b609dbf4d9694208d1f30a4c67af3970b94c770e11ce3069f28b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.88,
+      "log_step": 697,
+      "text_zh": "观察：视频 1.20–1.60 s 机器人双脚抬到横杠处，随后下降；视频 3.64–4.04 s 双脚回到身体下方的悬垂位置，双手仍留在杠上。最终交付生成记录（log step 697）列出 rep 1，评分器 metric_reps=3；据此确认首次完整动作，回垂时刻取视频约 3.88 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第1轮举足及回垂期间，机器人左、右手分别闭合握住横杠的两处，共同悬挂承重；视频未见松手动作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第1轮双脚上抬触到横杠，随后回落；可见举足与回垂，且评分器确认该完整计次。候选：触碰；脚部轻触不属于抓握、推扫、擦拭或支撑，现有条目无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.88,
+      "log_step": 697,
+      "text_zh": "观察：视频 5.32–5.68 s 机器人第二次把双脚抬到杠处，视频 6.00–9.88 s 逐渐放腿回垂，两手保持在杠上；视频 9.88 s 已回到低位。log step 697 的最终交付记录列出 rep 2，且评分器 stages_reached=3，第二次完成时间取视频约 9.88 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第2轮举足及回垂期间，机器人左、右手分别闭合握住横杠的两处，共同悬挂承重；视频未见松手动作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第2轮双脚上抬触到横杠，随后回落；可见举足与回垂，且评分器确认该完整计次。候选：触碰；脚部轻触不属于抓握、推扫、擦拭或支撑，现有条目无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.52,
+      "log_step": 697,
+      "text_zh": "观察：视频 11.40–11.84 s 机器人第三次举足到横杠处，视频 11.88–12.52 s 快速放腿，视频 12.52 s 最后一帧双脚已降到身体下方、双手仍在横杠处。log step 697 的最终交付生成结果和 log step 702 的两次新进程回放均仅列 rep 1、rep 2、rep 3，评分器 metric_reps=3、metric_touches=3；第三次完整动作在视频末帧确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第3轮举足及回垂期间，机器人左、右手分别闭合握住横杠的两处，共同悬挂承重；视频未见松手动作。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第3轮双脚上抬触到横杠，随后回落；可见举足与回垂，且评分器确认该完整计次。候选：触碰；脚部轻触不属于抓握、推扫、擦拭或支撑，现有条目无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.52,
+      "log_step": 702,
+      "text_zh": "观察：视频 0.00–12.52 s 只有三轮举足及回垂，视频 12.52 s 在第三轮回垂处结束，没有第四轮上举。log step 702 的最终交付两次回放均执行1252行，只达到前三阶段；评分器 metric_reps=3。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.52,
+      "log_step": 702,
+      "text_zh": "观察：视频 0.00–12.52 s 只出现三轮举足及回垂，没有第五轮动作；log step 702 的两次最终交付回放均只列前三阶段。推断：按顺序计次且评分器 metric_reps=3，第五次未达成，前置第四次也未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": 3.0
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.001
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_4",
+   "t": 12.52,
+   "log_step": 702,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 12.36–12.52 s 机器人完成第三轮放腿，视频随即结束，第四轮上举没有启动。log step 702 的最终交付回放显示执行1252行、仅 rep 1–3、failed=null、episode_over=false；log step 703 中 agent 也明确承认交付不含第四、第五次。这里以视频 12.52 s 作为未续做的导航锚点，不把会话测试中的脱杠当成本次交付的事件。"
+  },
+  "unmet": {
+   "toes_to_bar_1": true,
+   "toes_to_bar_2": true,
+   "toes_to_bar_3": true,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 12.52,
+    "log_step": 702,
+    "evidence_zh": "观察：视频末尾 12.36–12.52 s 只包含第三次回垂，之后没有第四次举足；log step 702 的最终回放只达到前三个阶段，且尚未由裁判判负。第四次的前置已完成，但 agent 保存的交付在其开始前结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 619,
+    "evidence_zh": "推断：会话中未能获得可继续举足的稳定握杠控制，是只交付前三次的原因。log step 617 的测试明确在第三次后加入双臂位姿修正并继续第四次，log step 619 的服务结果却在第四次触杠前报告右手脱杠；另一次140步上举测试（log step 584）也在第三次回垂后报告右手脱杠。agent 在 log step 602、653 说明因此保存第三次回垂后、脱杠前的部分轨迹，log step 690 的交付说明再次确认该选择。上述脱杠仅为会话根因证据；最终交付本身由 log step 702 和评分器确认未脱杠判负。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；固定远景虽可见三轮举足与回垂，不能独立分辨双脚接触点是否严格处于两手中心之间及毫秒级接触闪断，前三次完整计次由最终交付回放和评分器字段共同确认，视频时间为近似锚点。会话续做测试支持控制问题，但不能区分接触几何、负载下跟踪或具体控制参数，因此根因仅标控制；未把测试中的右手脱杠写成本次视频的失败现象。"
+ },
+ "summary_zh": "机器人完成前三次举足触杠及回悬垂，最终为3/5；交付在视频 12.52 s 的第三次回垂处结束，第四次未启动，第五次未执行。会话续做测试多次在第三次后右手脱杠，agent 因而保留能够复现的三次部分轨迹，根因保守归为控制；最终交付本身没有脱杠判负。无逐帧状态日志，精细触杠位置及毫秒级接触依赖最终回放与评分器确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前三次完成及时间与评分器事件（rep1 3.86 s、rep2 9.85 s、rep3 12.52 s）和视频一致，第4、5次未达成；断点、没尝试和控制根因有 log 与服务读数支持，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:55:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--fuodot8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8761025550492c2e27f3771a45ad03a6734d4d4bc86974761c1f3c527fc1bb67",
+   "video_sha256": "ee9bcbf203c0b609dbf4d9694208d1f30a4c67af3970b94c770e11ce3069f28b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea29ccf26a5c594841545d1a7862064aa3db269b
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k.json
@@ -0,0 +1,334 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1982,
+   "sim_steps": 1982,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 19.87,
+   "bad_trajectory": 0,
+   "metric_grip_break_max_s": 0.001,
+   "metric_reps": 5.0,
+   "metric_time_s": 19.82,
+   "metric_touches": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 224,
+   "agent_resets": 3387,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.811,
+   "peak_processes": 25,
+   "peak_disk_gb": 1.028,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k/replay.mp4",
+  "duration_s": 19.84,
+  "fps": 25.0,
+  "frames": 496,
+  "sha256": "da6f279028ee9302fcdf4d0a8abbd654a75cb1ae03c9c462d787ca566ae09d67"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.2 s，银灰机器人完成第1轮屈髋举足，双脚并拢抬到双手之间的横杠处，双手仍留在杠上；已检查该轮前后的连续抬腿和下降画面。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.8 s，机器人第1轮举足后双腿已放下，回到接近初始的低位悬垂；双手继续扣住横杠。回垂完成时刻取此视觉锚点，约有0.2秒误差。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 373,
+      "text_zh": "推断：第1次完整触杠回垂在视频 3.8 s 附近达成。评分视频呈现五轮独立举足和回垂，inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1；log step 373 对最终交付文件的重放也报告 rep 1 至 rep 5 全部通过。因此将本轮认定为有效计次；精确双脚同时接触、接触点边界及回垂位置阈值由原生裁判结果支持，并非从低分辨率画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手分别扣握固定横杠的两处，共同承受悬垂及第1轮举足回落的负载；视频 2.2 s 与视频 3.8 s 均可见双手留在杠上。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰。机器人双脚在第1轮抬至双手之间碰杠，随后一起下降；视频 2.2 s 为举足画面，实际有效触杠由五轮对应的评分器 touches=5、reps=5 支持。轻触无需承重或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频 6.2 s，银灰机器人完成第2轮屈髋举足，双脚并拢抬到双手之间的横杠处，双手仍留在杠上；已检查该轮前后的连续抬腿和下降画面。"
+     },
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 7.8 s，机器人第2轮举足后双腿已放下，回到接近初始的低位悬垂；双手继续扣住横杠。回垂完成时刻取此视觉锚点，约有0.2秒误差。"
+     },
+     {
+      "t": 7.8,
+      "log_step": 373,
+      "text_zh": "推断：第2次完整触杠回垂在视频 7.8 s 附近达成。评分视频呈现五轮独立举足和回垂，inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1；log step 373 对最终交付文件的重放也报告 rep 1 至 rep 5 全部通过。因此将本轮认定为有效计次；精确双脚同时接触、接触点边界及回垂位置阈值由原生裁判结果支持，并非从低分辨率画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手分别扣握固定横杠的两处，共同承受悬垂及第2轮举足回落的负载；视频 6.2 s 与视频 7.8 s 均可见双手留在杠上。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰。机器人双脚在第2轮抬至双手之间碰杠，随后一起下降；视频 6.2 s 为举足画面，实际有效触杠由五轮对应的评分器 touches=5、reps=5 支持。轻触无需承重或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.2 s，银灰机器人完成第3轮屈髋举足，双脚并拢抬到双手之间的横杠处，双手仍留在杠上；已检查该轮前后的连续抬腿和下降画面。"
+     },
+     {
+      "t": 11.8,
+      "log_step": null,
+      "text_zh": "观察：视频 11.8 s，机器人第3轮举足后双腿已放下，回到接近初始的低位悬垂；双手继续扣住横杠。回垂完成时刻取此视觉锚点，约有0.2秒误差。"
+     },
+     {
+      "t": 11.8,
+      "log_step": 373,
+      "text_zh": "推断：第3次完整触杠回垂在视频 11.8 s 附近达成。评分视频呈现五轮独立举足和回垂，inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1；log step 373 对最终交付文件的重放也报告 rep 1 至 rep 5 全部通过。因此将本轮认定为有效计次；精确双脚同时接触、接触点边界及回垂位置阈值由原生裁判结果支持，并非从低分辨率画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手分别扣握固定横杠的两处，共同承受悬垂及第3轮举足回落的负载；视频 10.2 s 与视频 11.8 s 均可见双手留在杠上。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰。机器人双脚在第3轮抬至双手之间碰杠，随后一起下降；视频 10.2 s 为举足画面，实际有效触杠由五轮对应的评分器 touches=5、reps=5 支持。轻触无需承重或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 14.2 s，银灰机器人完成第4轮屈髋举足，双脚并拢抬到双手之间的横杠处，双手仍留在杠上；已检查该轮前后的连续抬腿和下降画面。"
+     },
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8 s，机器人第4轮举足后双腿已放下，回到接近初始的低位悬垂；双手继续扣住横杠。回垂完成时刻取此视觉锚点，约有0.2秒误差。"
+     },
+     {
+      "t": 15.8,
+      "log_step": 373,
+      "text_zh": "推断：第4次完整触杠回垂在视频 15.8 s 附近达成。评分视频呈现五轮独立举足和回垂，inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1；log step 373 对最终交付文件的重放也报告 rep 1 至 rep 5 全部通过。因此将本轮认定为有效计次；精确双脚同时接触、接触点边界及回垂位置阈值由原生裁判结果支持，并非从低分辨率画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手分别扣握固定横杠的两处，共同承受悬垂及第4轮举足回落的负载；视频 14.2 s 与视频 15.8 s 均可见双手留在杠上。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰。机器人双脚在第4轮抬至双手之间碰杠，随后一起下降；视频 14.2 s 为举足画面，实际有效触杠由五轮对应的评分器 touches=5、reps=5 支持。轻触无需承重或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.2,
+      "log_step": null,
+      "text_zh": "观察：视频 18.2 s，银灰机器人完成第5轮屈髋举足，双脚并拢抬到双手之间的横杠处，双手仍留在杠上；已检查该轮前后的连续抬腿和下降画面。"
+     },
+     {
+      "t": 19.8,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8 s，机器人第5轮举足后双腿已放下，回到接近初始的低位悬垂；双手继续扣住横杠。回垂完成时刻取此视觉锚点，约有0.2秒误差。"
+     },
+     {
+      "t": 19.8,
+      "log_step": 373,
+      "text_zh": "推断：第5次完整触杠回垂在视频 19.8 s 附近达成。评分视频呈现五轮独立举足和回垂，inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1；log step 373 对最终交付文件的重放也报告 rep 1 至 rep 5 全部通过。因此将本轮认定为有效计次；精确双脚同时接触、接触点边界及回垂位置阈值由原生裁判结果支持，并非从低分辨率画面测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左、右灵巧手分别扣握固定横杠的两处，共同承受悬垂及第5轮举足回落的负载；视频 18.2 s 与视频 19.8 s 均可见双手留在杠上。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰。机器人双脚在第5轮抬至双手之间碰杠，随后一起下降；视频 18.2 s 为举足画面，实际有效触杠由五轮对应的评分器 touches=5、reps=5 支持。轻触无需承重或击打，现有接触方式无准确对应。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": 5.0
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.001
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分视频中机器人双手扣杠，依次完成五轮举足和回垂，五个节点分别约在视频 3.8 s、视频 7.8 s、视频 11.8 s、视频 15.8 s、视频 19.8 s 达成，末帧仍悬挂在杠下。观察：评分器报告成功、五次有效触杠及五次计数、重放确定一致，最长握杠接触中断为0.001秒；log step 373 对最终交付文件的重放同样通过全部五阶段，无失败断点。推断：结合视频五轮动作与原生裁判结果认定全部节点有效；本次无状态日志，画面不足以独立核验精确接触点、毫秒级双脚同时触杠及回垂的1.40米阈值，节点时间为视觉近似。",
+ "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，五个节点的时间（视频约 3.8/7.8/11.8/15.8/19.8 s）与帧中每 4 秒一轮的举足—回垂节律一致，评分器 reps=5、touches=5、success=1 支持全部节点；无断点，failure 为 null 合理，接触标注与 DAG 及实际画面相符，证据中推断与观察区分清楚。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:54:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--qvx9w2k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a98cc269389c6bff70f45580652d72748fcd53d635b515b2a2aa97cb98745bc0",
+   "video_sha256": "da6f279028ee9302fcdf4d0a8abbd654a75cb1ae03c9c462d787ca566ae09d67",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb.json
new file mode 100644
index 0000000000000000000000000000000000000000..101bae3f1f3cb2abf2d81527afd6159f76a6bb75
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb.json
@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 1860,
+   "sim_steps": 1860,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 15.94,
+   "bad_trajectory": 0,
+   "metric_reps": 5.0,
+   "metric_time_s": 18.6,
+   "metric_touches": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 109,
+   "agent_resets": 349,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.789,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.254,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb/replay.mp4",
+  "duration_s": 18.64,
+  "fps": 25.0,
+  "frames": 466,
+  "sha256": "288e8aada3a3b22238df8d4a39e279c1c1736e8820d0d189cdbb04012b041b49"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.20–1.80 s，机器人第1轮双腿上举，双脚到达两手之间的横杠处；视频 3.00–3.60 s，双脚随后一起下降、双腿伸展，机器人回到悬垂姿态，双手仍在杠上。回垂完成的视觉时间约为视频 3.3 s。"
+     },
+     {
+      "t": 3.3,
+      "log_step": 96,
+      "text_zh": "推断：本轮可见动作与前后连续的五轮动作一致；inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1，且 log step 96 中最终交付文件的回放结果列出 rep 1 至 rep 5、success=true，支持第1次有效触杠及规定回垂已完成。画面分辨率不足以独立量出接触点边界和回垂的1.40米阈值，采用视频中的对应回垂阶段作为近似时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别环握横杠两处，在第1轮举足和回垂中共同保持悬挂承重；视频 1.20–1.80 s 和 3.00–3.60 s 可见双手仍留在横杠处。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；机器人双脚于第1轮举足顶点触碰两手之间的横杠，随后离杠回垂；视频 1.20–1.80 s 可见足部到杠，接触有效性由本次评分器的五次触杠和五次完成计数共同支持。现有怎么碰条目没有准确对应的短暂足部触杠。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.1,
+      "log_step": null,
+      "text_zh": "观察：视频 5.04–5.52 s，机器人第2轮双腿上举，双脚到达两手之间的横杠处；视频 6.88–7.44 s，双脚随后一起下降、双腿伸展，机器人回到悬垂姿态，双手仍在杠上。回垂完成的视觉时间约为视频 7.1 s。"
+     },
+     {
+      "t": 7.1,
+      "log_step": 96,
+      "text_zh": "推断：本轮可见动作与前后连续的五轮动作一致；inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1，且 log step 96 中最终交付文件的回放结果列出 rep 1 至 rep 5、success=true，支持第2次有效触杠及规定回垂已完成。画面分辨率不足以独立量出接触点边界和回垂的1.40米阈值，采用视频中的对应回垂阶段作为近似时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别环握横杠两处，在第2轮举足和回垂中共同保持悬挂承重；视频 5.04–5.52 s 和 6.88–7.44 s 可见双手仍留在横杠处。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；机器人双脚于第2轮举足顶点触碰两手之间的横杠，随后离杠回垂；视频 5.04–5.52 s 可见足部到杠，接触有效性由本次评分器的五次触杠和五次完成计数共同支持。现有怎么碰条目没有准确对应的短暂足部触杠。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.88–9.44 s，机器人第3轮双腿上举，双脚到达两手之间的横杠处；视频 10.72–11.28 s，双脚随后一起下降、双腿伸展，机器人回到悬垂姿态，双手仍在杠上。回垂完成的视觉时间约为视频 11.0 s。"
+     },
+     {
+      "t": 11.0,
+      "log_step": 96,
+      "text_zh": "推断：本轮可见动作与前后连续的五轮动作一致；inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1，且 log step 96 中最终交付文件的回放结果列出 rep 1 至 rep 5、success=true，支持第3次有效触杠及规定回垂已完成。画面分辨率不足以独立量出接触点边界和回垂的1.40米阈值，采用视频中的对应回垂阶段作为近似时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别环握横杠两处，在第3轮举足和回垂中共同保持悬挂承重；视频 8.88–9.44 s 和 10.72–11.28 s 可见双手仍留在横杠处。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；机器人双脚于第3轮举足顶点触碰两手之间的横杠，随后离杠回垂；视频 8.88–9.44 s 可见足部到杠，接触有效性由本次评分器的五次触杠和五次完成计数共同支持。现有怎么碰条目没有准确对应的短暂足部触杠。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：视频 12.72–13.20 s，机器人第4轮双腿上举，双脚到达两手之间的横杠处；视频 14.56–15.04 s，双脚随后一起下降、双腿伸展，机器人回到悬垂姿态，双手仍在杠上。回垂完成的视觉时间约为视频 14.8 s。"
+     },
+     {
+      "t": 14.8,
+      "log_step": 96,
+      "text_zh": "推断：本轮可见动作与前后连续的五轮动作一致；inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1，且 log step 96 中最终交付文件的回放结果列出 rep 1 至 rep 5、success=true，支持第4次有效触杠及规定回垂已完成。画面分辨率不足以独立量出接触点边界和回垂的1.40米阈值，采用视频中的对应回垂阶段作为近似时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别环握横杠两处，在第4轮举足和回垂中共同保持悬挂承重；视频 12.72–13.20 s 和 14.56–15.04 s 可见双手仍留在横杠处。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；机器人双脚于第4轮举足顶点触碰两手之间的横杠，随后离杠回垂；视频 12.72–13.20 s 可见足部到杠，接触有效性由本次评分器的五次触杠和五次完成计数共同支持。现有怎么碰条目没有准确对应的短暂足部触杠。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": null,
+      "text_zh": "观察：视频 16.48–17.04 s，机器人第5轮双腿上举，双脚到达两手之间的横杠处；视频 17.60–18.60 s，双脚随后一起下降、双腿伸展，机器人回到悬垂姿态，双手仍在杠上。回垂完成的视觉时间约为视频 18.6 s。"
+     },
+     {
+      "t": 18.6,
+      "log_step": 96,
+      "text_zh": "推断：本轮可见动作与前后连续的五轮动作一致；inputs/run.json 的评分器字段 stages_reached=5、metric_reps=5、metric_touches=5、replay_success=1、deterministic=1，且 log step 96 中最终交付文件的回放结果列出 rep 1 至 rep 5、success=true，支持第5次有效触杠及规定回垂已完成。画面分辨率不足以独立量出接触点边界和回垂的1.40米阈值，采用视频中的对应回垂阶段作为近似时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右灵巧手分别环握横杠两处，在第5轮举足和回垂中共同保持悬挂承重；视频 16.48–17.04 s 和 17.60–18.60 s 可见双手仍留在横杠处。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；机器人双脚于第5轮举足顶点触碰两手之间的横杠，随后离杠回垂；视频 16.48–17.04 s 可见足部到杠，接触有效性由本次评分器的五次触杠和五次完成计数共同支持。现有怎么碰条目没有准确对应的短暂足部触杠。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在双手保持悬杠的同时连续完成五轮举足触杠及回垂，五个节点约在视频 3.3、7.1、11.0、14.8、18.6 s 达成；视频末帧仍悬挂，评分器确认五次完成、五次触杠及确定性回放成功。视频中的协调举腿与回垂支持本次成功，无失败断点。无逐物理步状态日志，细小接触点、0.05秒脱杠阈值及1.40米回垂阈值不能由远景精确量测，判定结合评分器结果；评分器未报告 grip_break_max_s，故该原生指标留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，五个节点均达成，无失败断点；节点时间间隔均匀（约3.7 s一轮），最后一节点18.6 s与评分器 metric_time_s=18.6 一致，接触标注符合DAG且为抓握+双臂协作与足部触杠。远景下机器人仅几个像素，我无法用帧独立否定各轮时间，未发现可证实的错误。",
+    "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": "2026-10-31T00:56:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--wfucqmb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3a4ac67cd2c9cfb9e97437772e71a6212f98ef33bf2070cbfd00945cf67e8e9e",
+   "video_sha256": "288e8aada3a3b22238df8d4a39e279c1c1736e8820d0d189cdbb04012b041b49",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea437e08e372c13a32ba2e8169d10214920530ab
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "n_actions": 3856,
+   "sim_steps": 3856,
+   "horizon": 6000,
+   "episode_over": 1,
+   "progress": 1.0,
+   "stages_reached": 5,
+   "stages_total": 5,
+   "fell": 0,
+   "replay_s": 23.6,
+   "bad_trajectory": 0,
+   "metric_reps": 5.0,
+   "metric_time_s": 38.56,
+   "metric_touches": 5.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 87,
+   "agent_resets": 795,
+   "agent_replays": 18,
+   "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/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp/replay.mp4",
+  "duration_s": 38.6,
+  "fps": 25.0,
+  "frames": 965,
+  "sha256": "c0f8f023b01e16c287446e994c64fb4833648d4a0177124a9e52b712173f2c1f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2 s 附近为第1轮举足高位，机器人双腿上翻，双脚到达横杠的双手附近；两手仍位于原握杠位置，随后双腿一起下降。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 6.4–7.36 s，机器人完成第1轮下降并回到双腿低垂、足部向杠后回摆的姿态，两手仍在杠上；以视频 7 s 作为本次回垂的近似完成锚点，远景下阈值跨越时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 metric_reps=5、metric_touches=5、stages_reached=5、replay_success=1、deterministic=1，与视频按顺序出现的五轮举足回垂一致，故第1次完整重复已获裁判接受并锁存；双脚同时接触、接触点在两手之间及精确回垂阈值由成功评分确认，无法仅凭远景逐项量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手分别握住横杠两处，共同承载第1轮举足及下降；视频中两手持续停留在杠上，结合任务规定的初始合指握杠姿态与本次成功评分判断。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；第1轮机器人双脚抬到双手之间触杠后回落，足部接触由高位画面及本次评分器五次touches/reps共同确认。轻触横杠无须承重，抓握、击打或压擦均不能准确描述，故用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 11.2 s 附近为第2轮举足高位，机器人双腿上翻，双脚到达横杠的双手附近；两手仍位于原握杠位置，随后双腿一起下降。"
+     },
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 14.2–15.16 s，机器人完成第2轮下降并回到双腿低垂、足部向杠后回摆的姿态，两手仍在杠上；以视频 14.8 s 作为本次回垂的近似完成锚点，远景下阈值跨越时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 metric_reps=5、metric_touches=5、stages_reached=5、replay_success=1、deterministic=1，与视频按顺序出现的五轮举足回垂一致，故第2次完整重复已获裁判接受并锁存；双脚同时接触、接触点在两手之间及精确回垂阈值由成功评分确认，无法仅凭远景逐项量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手分别握住横杠两处，共同承载第2轮举足及下降；视频中两手持续停留在杠上，结合任务规定的初始合指握杠姿态与本次成功评分判断。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；第2轮机器人双脚抬到双手之间触杠后回落，足部接触由高位画面及本次评分器五次touches/reps共同确认。轻触横杠无须承重，抓握、击打或压擦均不能准确描述，故用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "观察：视频 19.2 s 附近为第3轮举足高位，机器人双腿上翻，双脚到达横杠的双手附近；两手仍位于原握杠位置，随后双腿一起下降。"
+     },
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 22.2–23.16 s，机器人完成第3轮下降并回到双腿低垂、足部向杠后回摆的姿态，两手仍在杠上；以视频 22.8 s 作为本次回垂的近似完成锚点，远景下阈值跨越时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 metric_reps=5、metric_touches=5、stages_reached=5、replay_success=1、deterministic=1，与视频按顺序出现的五轮举足回垂一致，故第3次完整重复已获裁判接受并锁存；双脚同时接触、接触点在两手之间及精确回垂阈值由成功评分确认，无法仅凭远景逐项量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手分别握住横杠两处，共同承载第3轮举足及下降；视频中两手持续停留在杠上，结合任务规定的初始合指握杠姿态与本次成功评分判断。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；第3轮机器人双脚抬到双手之间触杠后回落，足部接触由高位画面及本次评分器五次touches/reps共同确认。轻触横杠无须承重，抓握、击打或压擦均不能准确描述，故用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.2,
+      "log_step": null,
+      "text_zh": "观察：视频 27.2 s 附近为第4轮举足高位，机器人双腿上翻，双脚到达横杠的双手附近；两手仍位于原握杠位置，随后双腿一起下降。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 30.0–30.96 s，机器人完成第4轮下降并回到双腿低垂、足部向杠后回摆的姿态，两手仍在杠上；以视频 30.6 s 作为本次回垂的近似完成锚点，远景下阈值跨越时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 metric_reps=5、metric_touches=5、stages_reached=5、replay_success=1、deterministic=1，与视频按顺序出现的五轮举足回垂一致，故第4次完整重复已获裁判接受并锁存；双脚同时接触、接触点在两手之间及精确回垂阈值由成功评分确认，无法仅凭远景逐项量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手分别握住横杠两处，共同承载第4轮举足及下降；视频中两手持续停留在杠上，结合任务规定的初始合指握杠姿态与本次成功评分判断。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；第4轮机器人双脚抬到双手之间触杠后回落，足部接触由高位画面及本次评分器五次touches/reps共同确认。轻触横杠无须承重，抓握、击打或压擦均不能准确描述，故用其他。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      38.56,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.2,
+      "log_step": null,
+      "text_zh": "观察：视频 35.2 s 附近为第5轮举足高位，机器人双腿上翻，双脚到达横杠的双手附近；两手仍位于原握杠位置，随后双腿一起下降。"
+     },
+     {
+      "t": 38.56,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 37.6–38.56 s，机器人完成第5轮下降并回到双腿低垂、足部向杠后回摆的姿态，两手仍在杠上；以视频 38.56 s 作为本次回垂的近似完成锚点，远景下阈值跨越时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 38.56,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 metric_reps=5、metric_touches=5、stages_reached=5、replay_success=1、deterministic=1，与视频按顺序出现的五轮举足回垂一致，故第5次完整重复已获裁判接受并锁存；双脚同时接触、接触点在两手之间及精确回垂阈值由成功评分确认，无法仅凭远景逐项量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左右手分别握住横杠两处，共同承载第5轮举足及下降；视频中两手持续停留在杠上，结合任务规定的初始合指握杠姿态与本次成功评分判断。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "候选：触碰；第5轮机器人双脚抬到双手之间触杠后回落，足部接触由高位画面及本次评分器五次touches/reps共同确认。轻触横杠无须承重，抓握、击打或压擦均不能准确描述，故用其他。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 5.0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双手留在横杠上，依次完成五轮举足触杠及回悬垂，五个事件节点全部达到；视频约7.0、14.8、22.8、30.6、38.56 s为各轮回垂锚点，最后一秒逐帧检查仍为悬挂姿态，与评分器五次计数和成功回放一致。log step 193–202记录最终候选的选择与核验，log step 205仍确认交付文件保留3856行动作；会话中的其他试验不计入本轨迹。无状态日志，远景中手指接触、双脚接触点及精确回垂阈值需依赖成功评分确认，前四次完成时刻约有0.5秒不确定性，grip_break_max_s未报告而保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个事件节点在视频中各有一轮举足高位与回垂（约3.2/7.0、11.2/14.8、19.2/22.8、27.2/30.6、35.2/38.56 s），与评分器 reps=5、成功回放一致；contact_actual 合理，无失败故无断点。",
+    "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": "2026-10-31T00:59:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-privileged--z6mmcqp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ffb5e8030cf83cf29e022bbecc0e3a1619bd22158a45f1e9ca062273185a681a",
+   "video_sha256": "c0f8f023b01e16c287446e994c64fb4833648d4a0177124a9e52b712173f2c1f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd8d65a19f353478bcc075b565b4b9c9fe6747c
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4.json
@@ -0,0 +1,245 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 62,
+   "sim_steps": 1446,
+   "calls": 185,
+   "rows": 1446,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 2746.0,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.238,
+   "peak_processes": 18,
+   "peak_disk_gb": 1.286,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4/replay.mp4",
+  "duration_s": 0.64,
+  "fps": 25.0,
+  "frames": 16,
+  "sha256": "deaf8c5bae06b3d180e7a99931829fd5ed6b2aaca9329fe39bed5f6fa525a39e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.32 s 机器人双手握住横杠悬挂，双脚在杠下；开局悬垂不构成一次完整重复。"
+     },
+     {
+      "t": 0.6,
+      "log_step": 246,
+      "text_zh": "观察：逐帧检查视频 0.00–0.60 s（全部16帧），机器人在视频约 0.40–0.60 s 快速举腿，至末帧未见双脚触杠后再回到低位悬垂的完整过程。log step 246 的机器人实时服务返回 episode=6、control_steps=62、sim_time_s=0.62、done=true、outcome=\"let go of the bar\"、stages_reached=0/5，与这段短视频相符；这是最后一局原生裁判结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.00–0.32 s 左、右手分别环握横杠并共同承重，随后机器人开始举腿；该局最终脱杠由 log step 246 的实时服务裁判确认。视频未见双脚实际接触横杠，不添加脚部触杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 246,
+      "text_zh": "观察：视频 0.00–0.60 s 只显示机器人由悬挂开始第一次举腿，未出现第2次完整触杠回垂。log step 246 的最后评分局 episode=6 已终止，原生裁判 stages_reached=0/5；该顺序节点及其前置重复均未完成，也未开始第2次尝试。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 246,
+      "text_zh": "观察：视频 0.00–0.60 s 只显示机器人由悬挂开始第一次举腿，未出现第3次完整触杠回垂。log step 246 的最后评分局 episode=6 已终止，原生裁判 stages_reached=0/5；该顺序节点及其前置重复均未完成，也未开始第3次尝试。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 246,
+      "text_zh": "观察：视频 0.00–0.60 s 只显示机器人由悬挂开始第一次举腿，未出现第4次完整触杠回垂。log step 246 的最后评分局 episode=6 已终止，原生裁判 stages_reached=0/5；该顺序节点及其前置重复均未完成，也未开始第4次尝试。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 246,
+      "text_zh": "观察：视频 0.00–0.60 s 只显示机器人由悬挂开始第一次举腿，未出现第5次完整触杠回垂。log step 246 的最后评分局 episode=6 已终止，原生裁判 stages_reached=0/5；该顺序节点及其前置重复均未完成，也未开始第5次尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 0.6,
+   "log_step": 246,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.40–0.60 s 机器人正在第一次快速举腿，尚未完成触杠与回垂；log step 244 启动最后的 episode=6，服务返回 outcome=\"let go of the bar\"、stages=0，log step 246 再确认该局在62个控制步后失败。故断点为第1次触杠回垂，视频 0.60 s 为末段动作的粗略导航锚点。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 0.6,
+    "log_step": 246,
+    "evidence_zh": "观察：视频 0.00–0.32 s 机器人已由双手握杠悬挂，视频 0.40–0.60 s 随举腿身体迅速转动；log step 246 的实时机器人服务（机器人API返回的原生裁判状态）明确报告最后一局 episode=6 的 outcome=\"let go of the bar\"、done=true、stages_reached=0/5。原先存在的手杠接触未能保持，评分局在第一次举腿时终止；画面不显示随后落地，亦不据此另标跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 0.6,
+    "log_step": 244,
+    "evidence_zh": "推断：log step 240 的执行脚本先发送30个控制步的悬挂姿态，再驱动双腿向屈髋目标运动；log step 244 的实际运行参数为抬腿时长0.22 s、顶端保持0.12 s，该局随即被服务判为脱杠（log step 244、246）。视频 0.32–0.60 s 也显示由悬挂到快速举腿的对应动作，说明这组全身运动控制未能在举腿过程中维持握杠接触；缺少逐物理步接触与力矩记录，不能进一步区分握持承载、轨迹或反馈问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志；已检查 inputs/ 下运行日志、完整短视频和成功示例。视频机器人手部像素较少且止于举腿过程，无法单凭画面辨别先失手的是哪只手、精确脱杠时刻、接触闪断时长或握持力矩；脱杠采用已确认属于最后评分局的服务裁判结果，grip_break_max_s 未报告。控制根因只归至大类；agent 在 log step 275 关于几何不可达和手驱动力无余量的说法未经独立验证，不据此认定任务或环境问题。"
+ },
+ "summary_zh": "最后评分局仅开始第1次举腿，未完成任何完整触杠回垂，五个节点最终均为假；原生已完成次数为0。视频 0.40–0.60 s 显示机器人快速举腿，log step 244、246 确认该局因脱杠终止，断点为第1次触杠回垂，现象为没保持住，根因支持到控制大类。已与成功示例的举足及回垂画面比较；缺少手杠接触与力矩状态日志，不能确定具体失手机制或最大断触时长。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：最后评分局 episode=6 仅 62 控制步（0.62 s），服务返回 outcome=\"let go of the bar\"、stages 0/5，五个节点均为假；断点第1次触杠回垂、现象「没保持住」、根因停在「控制」均有证据支持，视频时间在 0.64 s 之内，时钟无转换。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:58:27Z",
+  "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/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--7qdtdw4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d6756b236b7044b056329cb0672c72944df4c30d440ee8462c6531573e400506",
+   "video_sha256": "deaf8c5bae06b3d180e7a99931829fd5ed6b2aaca9329fe39bed5f6fa525a39e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb.json
new file mode 100644
index 0000000000000000000000000000000000000000..c53756cf4559937974d0b6ae1c411384fcd02535
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb.json
@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 6000,
+   "sim_steps": 8890,
+   "calls": 57,
+   "rows": 8870,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 971.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.33,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.862,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb/replay.mp4",
+  "duration_s": 60.04,
+  "fps": 25.0,
+  "frames": 1501,
+  "sha256": "667496df12e8a45669c0f00e89aac484a75350030ccef26ad2388d2d2da51d11"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–5.0 s 的放大帧中，机器人双手留在横杠上，双腿屈起，脚端靠近但仍在横杠下方；视频 7.0–8.5 s 双腿降回悬垂。成功参考视频 1.4–2.0 s 可见脚端抬至横杠高度，本次首轮未呈现该触杠姿态。"
+     },
+     {
+      "t": 56.4,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–13.0 s、19.5–21.0 s、28.0–29.0 s、37.0–38.0 s 的后续举腿，以及视频 47.0–50.0 s、55.4–57.6 s 的加深尝试中，机器人仍屈腿靠近横杠；末次脚端仍低于杠。视频 59.0–60.0 s 机器人回到悬垂，未见坠落。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 92,
+      "text_zh": "观察：log step 83 在最后一次重置后启动控制器，log step 84–91 继续该次实时尝试，之后未再重置；log step 92 的机器人服务原生裁判返回 outcome=time、stages_reached=0、stages_total=5、done=True、reason=failed、sim_time_s=60.0，与视频末段回垂、全片无完整有效触杠次数的观察相符。这里引用的是该评分尝试的服务结果，未把 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0 s 两只灵巧手分别合握横杠两处；视频 2.8–5.0 s、55.4–57.6 s 举腿及视频 59.0–60.0 s 回垂时，两手仍在杠处共同承重。未见双脚与横杠的有效接触，故不添加计划中的脚部触杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 92,
+      "text_zh": "推断：视频全片的举腿、回落均未完成第1次有效触杠回垂；视频 59.0–60.0 s 末段仍为悬垂。log step 92 的最后一次实时尝试原生裁判明确报告 0/5 阶段，故按顺序锁存规则，第2次节点从未达到。log step 82–87 的脚本循环编号表示预设动作轮数，并不表示已完成相应有效次数；这些动作是第1次未成功后的重试。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 92,
+      "text_zh": "推断：视频全片的举腿、回落均未完成第1次有效触杠回垂；视频 59.0–60.0 s 末段仍为悬垂。log step 92 的最后一次实时尝试原生裁判明确报告 0/5 阶段，故按顺序锁存规则，第3次节点从未达到。log step 82–87 的脚本循环编号表示预设动作轮数，并不表示已完成相应有效次数；这些动作是第1次未成功后的重试。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 92,
+      "text_zh": "推断：视频全片的举腿、回落均未完成第1次有效触杠回垂；视频 59.0–60.0 s 末段仍为悬垂。log step 92 的最后一次实时尝试原生裁判明确报告 0/5 阶段，故按顺序锁存规则，第4次节点从未达到。log step 82–87 的脚本循环编号表示预设动作轮数，并不表示已完成相应有效次数；这些动作是第1次未成功后的重试。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 92,
+      "text_zh": "推断：视频全片的举腿、回落均未完成第1次有效触杠回垂；视频 59.0–60.0 s 末段仍为悬垂。log step 92 的最后一次实时尝试原生裁判明确报告 0/5 阶段，故按顺序锁存规则，第5次节点从未达到。log step 82–87 的脚本循环编号表示预设动作轮数，并不表示已完成相应有效次数；这些动作是第1次未成功后的重试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 3.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.8–5.0 s 首次举腿顶点，机器人双手握杠而脚端停在横杠下方，随后在视频 7.0–8.5 s 回垂；后续多轮及视频 55.4–57.6 s 的末次加深举腿仍未形成有效触杠回垂。log step 92 的该次实时裁判结果为 0/5，首个失败动作一直未补成。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.8–5.0 s 放大帧显示机器人双腿举起后，脚端仍与横杠有可见高度差；视频 55.4–57.6 s 末次加深举腿也未将双脚送到横杠上。成功参考视频 1.4–2.0 s 的脚端已抬到杠处，本次未建立所需的双脚同时触杠接触，最终原生裁判在 log step 92 返回 0/5。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.6,
+    "log_step": 82,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 82 的控制器使用公共机器人模型估算的固定对称关节目标，以预定时长插值，连续重复五轮，并未依据实测脚—杠误差修正举腿顶点；log step 88、90 又对臂姿做预设加深扫描。视频 2.8–5.0 s 及55.4–57.6 s 的脚端仍停在杠下，log step 92 原生裁判为 0/5，说明该组实际控制动作未实现目标接触。缺少逐步实测位姿与接触力，不能进一步确定是目标几何误差还是关节跟踪误差，故停在控制类别。"
+   }
+  ],
+  "gap_zh": "无逐物理步状态日志；场地视频分辨率较低，不能测量脚—杠精确间距、逐脚接触点位置或0.05秒以内的手部接触闪断。完整次数由本次实时服务裁判的0/5结果确认；grip_break_max_s 未在评分字段或服务结果中报告，记为null。缺少跟踪误差与接触力记录，控制根因不细分。"
+ },
+ "summary_zh": "本次评分视频中，机器人双手握杠，多轮屈腿上举后回垂，并追加两轮加深尝试；原生裁判最终报告0/5，五个触杠回垂节点均未达到。断点为第1次触杠回垂：脚端在举腿顶点仍低于横杠，未建立要求的双脚同时触杠接触，预设关节控制未完成目标动作。无逐物理步状态与接触力日志，无法细分控制误差来源或量化短暂手部接触中断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分视频与log step 92的0/5结果一致，五个节点均未达到、断点为第1次触杠回垂、无时钟转换问题；现象与根因有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:41Z",
+  "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/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--fcl4qyb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5779bf4887341853435f35efaa55676e0f3a00a913db2f73086b15eb164da4dd",
+   "video_sha256": "667496df12e8a45669c0f00e89aac484a75350030ccef26ad2388d2d2da51d11",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul.json
new file mode 100644
index 0000000000000000000000000000000000000000..242d7e289d80274294b24fcbc411c957f73b30f2
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul.json
@@ -0,0 +1,336 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 2695,
+   "sim_steps": 11647,
+   "calls": 115,
+   "rows": 11447,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1535.7,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.254,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.288,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul/replay.mp4",
+  "duration_s": 26.96,
+  "fps": 25.0,
+  "frames": 674,
+  "sha256": "1805f0add57940e08bbb535dc4f3506931349069706d438db8e2d88df5cbdc45"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.75,
+      "log_step": 168,
+      "text_zh": "观察：视频 0.5–4.1 s，机器人双手在横杠上承重，双腿上举后回落；log step 168 记录最后一次实时尝试 episode 6 的脚本第1轮运动已执行。脚本轮数不是裁判完成次数，单凭这一轮举腿不能确认完整触杠回垂。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "观察：视频末帧 26.92 s 机器人刚从末次举腿回落；log step 262 的同一 episode 6 服务终局结果为 stages_reached=0、stages_total=5、outcome=\"let go of the bar\"。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "推断：这五个节点对应裁判按顺序锁存的完整重复次数；终局计数为0，故第1次触杠回垂从未被接受，区间为空、终值为假。这里使用原生阶段结果，而非从 success=0 推定没有举腿；视频中确实执行了举腿。"
+     },
+     {
+      "t": 25.2,
+      "log_step": 244,
+      "text_zh": "观察：视频 23.5–25.2 s 机器人再次举腿，视频 25.2–25.8 s 调整举足姿态，视频 26.0–26.92 s 回落；log step 244、256 分别报告本局 control_steps=2520、2580，log step 262 在2695步判负。推断：log step 7 的控制周期为0.01秒，2520×0.01=视频25.2 s，与检查到的举足保持段吻合；2695×0.01=视频26.95 s，与26.96秒片长吻合，用于定位终局服务读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.5–4.1 s 的第1轮举腿中，左、右手各握横杠的一处共同承重，双脚离地；本项记录实际握杠，不表示该轮满足计次。脚与杠的实际瞬时接触无法由该视角可靠分辨，未照抄任务级脚触杠接触。 观察：视频 23.5–26.9 s 的追加举腿及回落仍由双手握杠承重；末尾服务判定至少一手脱杠。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.75,
+      "log_step": 168,
+      "text_zh": "观察：视频 4.5–8.2 s，机器人双手在横杠上承重，双腿上举后回落；log step 168 记录最后一次实时尝试 episode 6 的脚本第2轮运动已执行。脚本轮数不是裁判完成次数，单凭这一轮举腿不能确认完整触杠回垂。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "观察：视频末帧 26.92 s 机器人刚从末次举腿回落；log step 262 的同一 episode 6 服务终局结果为 stages_reached=0、stages_total=5、outcome=\"let go of the bar\"。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "推断：这五个节点对应裁判按顺序锁存的完整重复次数；终局计数为0，故第2次触杠回垂从未被接受，区间为空、终值为假。这里使用原生阶段结果，而非从 success=0 推定没有举腿；视频中确实执行了举腿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.5–8.2 s 的第2轮举腿中，左、右手各握横杠的一处共同承重，双脚离地；本项记录实际握杠，不表示该轮满足计次。脚与杠的实际瞬时接触无法由该视角可靠分辨，未照抄任务级脚触杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": 168,
+      "text_zh": "观察：视频 8.5–12.3 s，机器人双手在横杠上承重，双腿上举后回落；log step 168 记录最后一次实时尝试 episode 6 的脚本第3轮运动已执行。脚本轮数不是裁判完成次数，单凭这一轮举腿不能确认完整触杠回垂。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "观察：视频末帧 26.92 s 机器人刚从末次举腿回落；log step 262 的同一 episode 6 服务终局结果为 stages_reached=0、stages_total=5、outcome=\"let go of the bar\"。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "推断：这五个节点对应裁判按顺序锁存的完整重复次数；终局计数为0，故第3次触杠回垂从未被接受，区间为空、终值为假。这里使用原生阶段结果，而非从 success=0 推定没有举腿；视频中确实执行了举腿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.5–12.3 s 的第3轮举腿中，左、右手各握横杠的一处共同承重，双脚离地；本项记录实际握杠，不表示该轮满足计次。脚与杠的实际瞬时接触无法由该视角可靠分辨，未照抄任务级脚触杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 168,
+      "text_zh": "观察：视频 12.7–16.4 s，机器人双手在横杠上承重，双腿上举后回落；log step 168 记录最后一次实时尝试 episode 6 的脚本第4轮运动已执行。脚本轮数不是裁判完成次数，单凭这一轮举腿不能确认完整触杠回垂。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "观察：视频末帧 26.92 s 机器人刚从末次举腿回落；log step 262 的同一 episode 6 服务终局结果为 stages_reached=0、stages_total=5、outcome=\"let go of the bar\"。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "推断：这五个节点对应裁判按顺序锁存的完整重复次数；终局计数为0，故第4次触杠回垂从未被接受，区间为空、终值为假。这里使用原生阶段结果，而非从 success=0 推定没有举腿；视频中确实执行了举腿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.7–16.4 s 的第4轮举腿中，左、右手各握横杠的一处共同承重，双脚离地；本项记录实际握杠，不表示该轮满足计次。脚与杠的实际瞬时接触无法由该视角可靠分辨，未照抄任务级脚触杠接触。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.25,
+      "log_step": 168,
+      "text_zh": "观察：视频 16.8–21.1 s，机器人双手在横杠上承重，双腿上举后回落；log step 168 记录最后一次实时尝试 episode 6 的脚本第5轮运动已执行。脚本轮数不是裁判完成次数，单凭这一轮举腿不能确认完整触杠回垂。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "观察：视频末帧 26.92 s 机器人刚从末次举腿回落；log step 262 的同一 episode 6 服务终局结果为 stages_reached=0、stages_total=5、outcome=\"let go of the bar\"。"
+     },
+     {
+      "t": 26.92,
+      "log_step": 262,
+      "text_zh": "推断：这五个节点对应裁判按顺序锁存的完整重复次数；终局计数为0，故第5次触杠回垂从未被接受，区间为空、终值为假。这里使用原生阶段结果，而非从 success=0 推定没有举腿；视频中确实执行了举腿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.8–21.1 s 的第5轮举腿中，左、右手各握横杠的一处共同承重，双脚离地；本项记录实际握杠，不表示该轮满足计次。脚与杠的实际瞬时接触无法由该视角可靠分辨，未照抄任务级脚触杠接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 1.75,
+   "log_step": 168,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.5–4.1 s 机器人双手握杠，首次举腿后回落；视频 4.5–21.1 s 又重复四轮相似运动。log step 168 记录本局 episode 6 的五轮脚本结束时 control_steps=2110、done=False，各轮 stages 未返回；log step 262 的同局终局服务结果为 stages_reached=0、stages_total=5。推断：完整重复计数按顺序锁存，终局仍为0，说明首轮未获计数且后续没有修复，第1次触杠回垂是断点；视频 1.75 s 为首轮举足的导航锚点。观察：视频 23.5–26.92 s 另有追加举足、调姿及回落，log step 262 在 control_steps=2695 报告 let go of the bar；脱杠是追加尝试中的终局事件。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.75,
+    "log_step": 168,
+    "evidence_zh": "观察：视频 1.5–2.0 s 的首轮举足高位画面中，机器人双手仍在横杠上，双脚抬到上身附近，未见双脚同时在两手之间贴杠的明确姿态，随后在视频 2.25–4.1 s 回落；视频 4.5–21.1 s 的后续四轮外观相似。log step 168 记录五轮脚本执行完毕仍 done=False；log step 262 的同局服务终局计数为0/5。推断：首轮举足—回垂的末端位姿没有满足完整计次所需的空间条件，后续亦未修复，标为位姿不准；现有分辨率和服务字段不能确定具体是双脚同时触杠、触点位置还是回垂位置不合格，不据此断言脚从未接触横杠。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 没有状态日志；场地远景即使放大，双脚接触点和手指接触仍只有少量像素。推断：不能独立核验每次双脚是否同时在两手之间接触、回垂时世界坐标x与1.40米高度边界，也不能分清0次计数具体由触杠还是回垂条件造成；节点终值由同一评分局原生0/5阶段结果确定。观察：log step 164 的脚本用固定关节目标和余弦插值生成五轮运动，log step 253 仅提供追加举足保持段的部分关节读数。推断：开环目标及该处小幅跟踪偏差不足以证明首轮失败由轨迹或逆解、接触设计或反馈控制中的哪一项造成，也未独立证明原定姿态不可达，故根因留空。观察：视频 25.96–26.92 s 已逐帧检查，仍不能仅凭画面确认哪只手先断触或断触持续时间；grip_break_max_s未报告，保留null。接触标签按脚本五轮实际举腿分别记双手握杠，脚本轮数不作为成功次数；成功参考视频只用于比较动作外观。"
+ },
+ "summary_zh": "最后一次实时尝试中，机器人执行五轮举腿回落及一次追加调姿，但原生裁判最终记录完整触杠回垂0/5，五个节点均未达成。断点为首轮第1次触杠回垂，现象标为位姿不准；追加回落至视频约26.9 s 时脱杠，仅作为终局说明。无状态日志且接触细节分辨率不足，无法区分触杠与回垂条件，也无法确认轨迹、接触设计或反馈控制的因果作用，故根因留空、置信度由7降为5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "五个节点终值为假、contact_actual 双臂协作+抓握、时钟映射均可接受；但失败叙述把裁判终局规则（脱杠）当成了现象，漏掉了真正的失败：握杠一直保持的五轮举腿（视频 0.5–21.1 s，log step 164 在 control_steps=2110 仍 done=False）没有一次被计数（0/5），即脚—杠接触/回垂条件从未满足；根因'控制'依据（关节跟踪偏差）不足。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "复核后同意：五个节点终值为假（原生 stages_reached=0/5）、contact_actual（双臂协作+抓握）、时钟映射（log step 168 的 5 轮在 control_steps 410…2110，对应视频约 4.1…21.1 s）均与证据一致；断点 toes_to_bar_1、现象位姿不准（已改为物理现象，脱杠仅作终局说明）及空根因层并有 gap_zh 说明，均受证据支持。上一轮意见已被采纳，无新增需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:11:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--kruxwul/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "00b6053361f36c81b85719fd96f54778cab94926dbc775b383afd5110a571f6f",
+   "video_sha256": "1805f0add57940e08bbb535dc4f3506931349069706d438db8e2d88df5cbdc45",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c08876fe1ca2b27c02ebb384485fe841a604f6
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum.json
@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1209,
+   "sim_steps": 7874,
+   "calls": 18,
+   "rows": 7874,
+   "resets": 5,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1003.6,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.467,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.308,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum/replay.mp4",
+  "duration_s": 12.12,
+  "fps": 25.0,
+  "frames": 303,
+  "sha256": "1f112cc1f81d110d42e23e693ac53d4b210e359a519979b0b7e7b203904efafd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 机器人双手握在横杠中部、双脚悬空；此初始悬挂不计一次完整动作。"
+     },
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–3.5 s 机器人举腿、屈髋折叠后放下双腿；视频 5.8–8.9 s 再次举腿回落，视频 11.1–12.08 s 又举腿。高位时足、手和横杠的投影接近，当前固定远景不能确认双脚接触点与规定回垂位置的全部条件。"
+     },
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "观察：log step 49 的服务返回标明重置到 episode 6，最终 meta 为 done=True、reason=failed、outcome=let go of the bar、stages_reached=0、control_steps=1209；log step 50 确认最后一局仍为 episode 6、control_steps=1209。该局与视频中的举腿回落和末次举腿吻合，原生裁判未接受任何完整触杠回垂。"
+     },
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "推断：log step 3 给出的 control_dt=0.01 s，最后一局的 1209 个控制步对应视频约 12.09 s，与视频 12.08 s 的最后一帧及末次举腿处核对一致；使用的是该局控制步时钟，不是 agent 工作时间。故首个计次从未锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0 s 起左右手分别合拢在横杠中部的两处，共同悬挂并配合反复举腿，直到末段裁判判定脱杠。脚靠近杠时的实际接触不能由远景确认，未把任务的典型脚触杠接触复制为实际接触。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–12.08 s 只有反复举腿回落，末次举腿后画面结束；log step 49 的最后一局服务裁判返回 stages_reached=0。推断：完整次数按顺序锁存，连第1次也未计入，故第2次触杠回垂从未达到，其前置节点未达，尚未开始该次计数步骤。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–12.08 s 只有反复举腿回落，末次举腿后画面结束；log step 49 的最后一局服务裁判返回 stages_reached=0。推断：完整次数按顺序锁存，连第1次也未计入，故第3次触杠回垂从未达到，其前置节点未达，尚未开始该次计数步骤。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–12.08 s 只有反复举腿回落，末次举腿后画面结束；log step 49 的最后一局服务裁判返回 stages_reached=0。推断：完整次数按顺序锁存，连第1次也未计入，故第4次触杠回垂从未达到，其前置节点未达，尚未开始该次计数步骤。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.08,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–12.08 s 只有反复举腿回落，末次举腿后画面结束；log step 49 的最后一局服务裁判返回 stages_reached=0。推断：完整次数按顺序锁存，连第1次也未计入，故第5次触杠回垂从未达到，其前置节点未达，尚未开始该次计数步骤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 0,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 12.0,
+   "log_step": 49,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.0–12.08 s 机器人从悬挂再次向上折叠举腿，尚未完成一个获裁判接受的完整计次；log step 49 的最后一局服务裁判在 control_steps=1209 返回 let go of the bar、stages_reached=0。推断：脱杠发生时仍在尝试第1次触杠回垂，前两轮举腿没有完成该节点，最后也未修复。视频定位约 12.0 s，细微手指脱离本身由服务裁判确认。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 12.0,
+    "log_step": 49,
+    "evidence_zh": "观察：视频 0.0 s 机器人双手握杠承重，视频 11.0–12.08 s 仍在举腿，末帧未出现落垫；log step 49 的本局服务裁判明确返回 let go of the bar，终止于 control_steps=1209。推断：必要的手杠接触曾经建立，随后至少一只手未能继续保持，属于没保持住；不把同一脱杠事件再标为平衡或违反约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 12.0,
+    "log_step": 49,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 18–20 的本地模型代码用 connect 等式把双腕锚定于杠位，并关闭横杠碰撞；log step 28 的 kip_rows 预先生成固定关键姿态的余弦插值周期，log step 40–41 的服务脚本成批发送关节目标、只在返回 done 时停止，log step 49 用该脚本执行最后一局。log step 49 输出的本体传感摘要多次显示双肩力矩为 25 N m，最后裁判判定脱杠；agent 在 log step 50–51 也自述本地固定手腕模型无法预测真实接触的滑脱。推断：依据不能表示摩擦滑脱的本地模型生成固定周期，未随实际承载与握持变化调整运动，使本局动作无法维持必要握杠；证据支持控制失配，不能进一步确定是握持几何、跟踪还是某个参数单独造成。",
+    "note_zh": "使用上位条目“控制”；本地模型及其成功仅作控制方法的会话证据，不计入本次节点进度。"
+   }
+  ],
+  "gap_zh": "没有逐物理步状态或接触对日志。已查看本次全程粗采样、举腿段密集帧及视频 11.0–12.08 s 的每帧，并对照成功参考视频；远景仍不能判定每只脚是否实际同时触杠、接触点是否严格位于手间，或回落是否达到规定的杠后位置，因此不能确定前两轮不计次的具体原因，也不增标未触杠或碰撞现象。脱杠由最后一局服务裁判确认，画面无法辨别先脱哪只手及具体滑脱机制；grip_break_max_s 未报告，保留 null。"
+ },
+ "summary_zh": "最后一次实时尝试反复举腿回落，但原生裁判未接受任何完整触杠回垂，五个节点最终均未达成。机器人在视频约 12.0 s 的再次举腿中脱杠，断在第1次触杠回垂；日志支持固定周期控制与真实握杠承载不匹配。没有逐步接触日志，远景无法确定各轮不计次的具体子条件及手指滑脱机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log 一致：最后一局（episode 6）服务裁判 let go of the bar、stages_reached=0，五个节点均未达成，断点在第1次触杠回垂，控制步时钟换算已核对。未发现改变读者结论的错误。",
+    "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": "2026-10-31T00:56:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--lrq6vum/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8fd8de3099deb40401886efab7f8d5ed6c3c91c95005bef562a6317d6394b58",
+   "video_sha256": "1f112cc1f81d110d42e23e693ac53d4b210e359a519979b0b7e7b203904efafd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8c5e15063d1a9d7d3a6f670e47e317646a2527
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp.json
@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 4498,
+   "sim_steps": 22569,
+   "calls": 1617,
+   "rows": 22149,
+   "resets": 4,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 1559.9,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.305,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.855,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp/replay.mp4",
+  "duration_s": 45.0,
+  "fps": 25.0,
+  "frames": 1125,
+  "sha256": "a3b0c24d571f67727a14fbbcb30f77419b1fbf23d10709196f0f96a97eb64953"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–5.6 s，银灰机器人双手保持在横杠上，双腿一起抬起，双脚到达两手之间的杠位；视频 7.52–8.60 s，双脚一起下降并向杠后摆回悬垂。第1轮回垂完成的导航时刻取视频 8.00 s，视觉估计误差约0.5秒。"
+     },
+     {
+      "t": 44.96,
+      "log_step": 90,
+      "text_zh": "推断：log step 90 的机器人服务终态返回 episode=5、outcome=success、stages_reached=5，评分字段 live_success=1、graded_by_live=1；视频全程只有五轮举足回垂，故第1轮已满足原生的双脚同时触杠、位置与回垂判据。此处以视频帧估计该轮时刻，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第1轮举足及回垂期间，左、右灵巧手分别环握横杠的两处，共同承载悬挂的机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第1轮双脚抬至两手之间的杠位，结合该最终尝试五次均被裁判计数，双脚与横杠实际接触。候选：触碰；这是脚部触杠，不是抓握、支撑或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.3,
+      "log_step": null,
+      "text_zh": "观察：视频 12.4–14.8 s，银灰机器人双手保持在横杠上，双腿一起抬起，双脚到达两手之间的杠位；视频 16.80–17.76 s，双脚一起下降并向杠后摆回悬垂。第2轮回垂完成的导航时刻取视频 17.30 s，视觉估计误差约0.5秒。"
+     },
+     {
+      "t": 44.96,
+      "log_step": 90,
+      "text_zh": "推断：log step 90 的机器人服务终态返回 episode=5、outcome=success、stages_reached=5，评分字段 live_success=1、graded_by_live=1；视频全程只有五轮举足回垂，故第2轮已满足原生的双脚同时触杠、位置与回垂判据。此处以视频帧估计该轮时刻，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第2轮举足及回垂期间，左、右灵巧手分别环握横杠的两处，共同承载悬挂的机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第2轮双脚抬至两手之间的杠位，结合该最终尝试五次均被裁判计数，双脚与横杠实际接触。候选：触碰；这是脚部触杠，不是抓握、支撑或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": null,
+      "text_zh": "观察：视频 21.6–24.0 s，银灰机器人双手保持在横杠上，双腿一起抬起，双脚到达两手之间的杠位；视频 25.96–26.92 s，双脚一起下降并向杠后摆回悬垂。第3轮回垂完成的导航时刻取视频 26.60 s，视觉估计误差约0.5秒。"
+     },
+     {
+      "t": 44.96,
+      "log_step": 90,
+      "text_zh": "推断：log step 90 的机器人服务终态返回 episode=5、outcome=success、stages_reached=5，评分字段 live_success=1、graded_by_live=1；视频全程只有五轮举足回垂，故第3轮已满足原生的双脚同时触杠、位置与回垂判据。此处以视频帧估计该轮时刻，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第3轮举足及回垂期间，左、右灵巧手分别环握横杠的两处，共同承载悬挂的机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第3轮双脚抬至两手之间的杠位，结合该最终尝试五次均被裁判计数，双脚与横杠实际接触。候选：触碰；这是脚部触杠，不是抓握、支撑或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：视频 30.8–33.2 s，银灰机器人双手保持在横杠上，双腿一起抬起，双脚到达两手之间的杠位；视频 35.12–36.20 s，双脚一起下降并向杠后摆回悬垂。第4轮回垂完成的导航时刻取视频 35.80 s，视觉估计误差约0.5秒。"
+     },
+     {
+      "t": 44.96,
+      "log_step": 90,
+      "text_zh": "推断：log step 90 的机器人服务终态返回 episode=5、outcome=success、stages_reached=5，评分字段 live_success=1、graded_by_live=1；视频全程只有五轮举足回垂，故第4轮已满足原生的双脚同时触杠、位置与回垂判据。此处以视频帧估计该轮时刻，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第4轮举足及回垂期间，左、右灵巧手分别环握横杠的两处，共同承载悬挂的机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第4轮双脚抬至两手之间的杠位，结合该最终尝试五次均被裁判计数，双脚与横杠实际接触。候选：触碰；这是脚部触杠，不是抓握、支撑或击打，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44.96,
+      "log_step": null,
+      "text_zh": "观察：视频 40.4–42.8 s，银灰机器人双手保持在横杠上，双腿一起抬起，双脚到达两手之间的杠位；视频 44.48–44.96 s，双脚一起下降并向杠后摆回悬垂。第5轮回垂完成的导航时刻取视频 44.96 s，视觉估计误差约0.5秒。"
+     },
+     {
+      "t": 44.96,
+      "log_step": 90,
+      "text_zh": "推断：log step 90 的机器人服务终态返回 episode=5、outcome=success、stages_reached=5，评分字段 live_success=1、graded_by_live=1；视频全程只有五轮举足回垂，故第5轮已满足原生的双脚同时触杠、位置与回垂判据。此处以视频帧估计该轮时刻，未把 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：第5轮举足及回垂期间，左、右灵巧手分别环握横杠的两处，共同承载悬挂的机器人。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "其他",
+      "note_zh": "推断：第5轮双脚抬至两手之间的杠位，结合该最终尝试五次均被裁判计数，双脚与横杠实际接触。候选：触碰；这是脚部触杠，不是抓握、支撑或击打，现有接触方式无准确对应。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "value": 5,
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "grip_break_max_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：最终评分视频中机器人完成五轮举足及回悬垂，视频 44.96 s 末帧仍双手留杠；log step 90 的服务终态返回成功且 stages_reached=5，评分字段 live_success=1，五个节点均达成，无失败断点。推断：日志中的前四次尝试与重置属于会话调试，视频对应 log step 80 重置后开始的第五次尝试；reps=5 取自该尝试裁判返回的五个已完成阶段。观察：本任务无状态日志，固定远景及局部遮挡不能精确量出接触点、1.40米回垂边界和短时脱杠，节点时刻为视频估计，接触合规由最终成功判定补足；grip_break_max_s 未报告，保留为空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "五个节点均达成与裁判结果一致（log step 90 服务终态 stages_reached=5，sim 44.98 s 对应视频末帧），无失败断点；接触标注合理，时间为视频估计并已声明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T00:56:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--nhwhkbp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2f08558bbd804014f6756f760a82d27ed1deec74569dfc3899688aeb907cf304",
+   "video_sha256": "a3b0c24d571f67727a14fbbcb30f77419b1fbf23d10709196f0f96a97eb64953",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza.json
new file mode 100644
index 0000000000000000000000000000000000000000..29524fa26e6eeed548f7788ea2551f0a2e398928
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza.json
@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1000,
+   "sim_steps": 9915,
+   "calls": 40,
+   "rows": 9915,
+   "resets": 3,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 4558.2,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 2,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 5.107,
+   "peak_processes": 12,
+   "peak_disk_gb": 2.528,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza/replay.mp4",
+  "duration_s": 10.04,
+  "fps": 25.0,
+  "frames": 251,
+  "sha256": "bb8eedfb12c49de634bd023072ee077da3fa644b52d8b8a1f55dcf432e84e0f9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.88,
+      "log_step": 101,
+      "text_zh": "观察：视频 0.0–10.0 s 为同一局悬垂，两轮抬腿后回落；视频 2.72–3.12 s 逐帧和视频 7.44–8.56 s 密集帧中，双脚在抬腿高点仍低于两手所握横杠，存在可见间隙，没有双脚触杠。视频 9.0–10.0 s 双腿放下，机器人仍悬挂，未完成首次触杠回垂。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 103,
+      "text_zh": "观察：log step 101 重置后提交一个 5 s 抬腿动作段，log step 103 继续提交并返回仿真 10.0 s、done=False；与视频中的两轮动作及末帧悬挂一致。log step 97–99 是重置前各局，不用于本局节点计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右灵巧手分别闭合握住横杠两处，共同承载悬垂身体；视频 0.0–10.0 s 两轮抬腿过程中双手均留在杠上。未见脚部与横杠发生实际接触。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–10.0 s 仅有两轮未触杠的抬腿，视频 2.88 s 与视频 7.92 s 的双脚仍低于横杠；首次完整触杠回垂始终未完成，因此顺序锁存的第2次触杠回垂也未达到。后一次抬腿仍是首次触杠的重试，不是已完成一次后的第2次动作。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–10.0 s 仅有两轮未触杠的抬腿，视频 2.88 s 与视频 7.92 s 的双脚仍低于横杠；首次完整触杠回垂始终未完成，因此顺序锁存的第3次触杠回垂也未达到。后一次抬腿仍是首次触杠的重试，不是已完成一次后的第2次动作。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–10.0 s 仅有两轮未触杠的抬腿，视频 2.88 s 与视频 7.92 s 的双脚仍低于横杠；首次完整触杠回垂始终未完成，因此顺序锁存的第4次触杠回垂也未达到。后一次抬腿仍是首次触杠的重试，不是已完成一次后的第2次动作。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–10.0 s 仅有两轮未触杠的抬腿，视频 2.88 s 与视频 7.92 s 的双脚仍低于横杠；首次完整触杠回垂始终未完成，因此顺序锁存的第5次触杠回垂也未达到。后一次抬腿仍是首次触杠的重试，不是已完成一次后的第2次动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 2.88,
+   "log_step": 101,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.72–3.12 s 首轮举足高点，机器人双手仍握杠，双脚却停在杠下后回落；视频 7.44–8.56 s 重试再次出现同样间隙，直到视频 10.0 s 仍未修复首次触杠。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.88,
+    "log_step": 101,
+    "evidence_zh": "观察：视频 2.88 s 的抬腿高点，机器人双脚虽向上卷起，却仍明显低于横杠；视频 7.92 s 重试也未抬到杠的高度，随后放下双腿。没有形成任务要求的两手之间双脚同时触杠。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 103,
+    "evidence_zh": "推断：log step 96 定义按预设关节路点插值的 5 s 抬腿动作，log step 98–99 修改髋、膝、腰与肩部路点；log step 101、103 在最后一局直接调用该动作生成器。视频 2.88 s、7.92 s 显示实际举足幅度均不足以触杠，说明该关节动作没有实现足部目标位置。log step 106 的 agent 自行标定正运动学也估算足部高度不足，但其数值不作为实测距离；现有记录不足以区分轨迹设计与关节跟踪问题，归因保留在控制层。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐物理步接触记录，也未报告原生 reps、grip_break_max_s；视频可确认足杠间隙，但不能精测三维足杠距离、接触点或短暂握杠闪断。log step 106 的 0.327 米来自 agent 自行假定悬垂位置后标定的正运动学估算，未经独立验证。缺少足部目标轨迹及跟踪误差，控制根因不细分。log step 103 返回 done=False，之后 log step 107、109 仅提出调整而无执行调用；记录未说明会话为何在此结束。"
+ },
+ "summary_zh": "评分局仅执行两轮举足与回落，双手维持悬垂，但双脚在两次高点均未到横杠，五个完整触杠回垂节点均未达到。断点为第1次触杠回垂，现象是举足位姿不准，日志与视频支持预设关节动作未实现触杠目标的控制问题；此前重置前各局的动作不计入本局。无状态接触日志及可靠三维距离，不能细分控制机制，agent 估算的高度差不作为实测。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频一致：整局10 s 内两轮抬腿，双脚高点仍明显低于横杠，五个节点均未达到；断点、现象与归因有证据支持且表述保守。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-31T01:10:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ob6vmza/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b93cd5446caf6f37ec9b5db9a1bebb81a9d6c6d8dfc08b4fe672ae950243b24",
+   "video_sha256": "bb8eedfb12c49de634bd023072ee077da3fa644b52d8b8a1f55dcf432e84e0f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb.json b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb.json
new file mode 100644
index 0000000000000000000000000000000000000000..45b5e33f51757d37c54ccc4704260d543a8431dc
--- /dev/null
+++ b/phase2/embodied-olympics-fun/toes_to_bar/trajectories/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb.json
@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb",
+ "taskKey": "embodied-olympics-fun/toes_to_bar",
+ "dag_sha256": "ac964ab85ff6f7f76f4e7777abc98665ca1819d4122120d46d6b9b1067731cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 10,
+   "sim_steps": 10,
+   "calls": 53,
+   "rows": 0,
+   "resets": 0,
+   "reset_budget": 5,
+   "sim_startups": 1,
+   "elapsed_s": 7192.4,
+   "video_rendered": 1,
+   "first_success": 0,
+   "first_reason_code": 4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.522,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.313,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb/replay.mp4",
+  "duration_s": 0.12,
+  "fps": 25.0,
+  "frames": 3,
+  "sha256": "0a023b3610e69daca2d4a1924aa5f288256f68a120fc794b1bd3693e4a32f5f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "toes_to_bar_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": 107,
+      "text_zh": "观察：已检查评分视频全部三帧（视频 0.00、0.04、0.08 s），机器人始终双手在杠上悬挂，双脚位于身体下方，未出现举足至杠边、双脚触杠及随后回垂的完整动作，第1次触杠回垂未达成。log step 107 的机器人服务调用仅为 get_obs(seconds=0.10)，返回仿真 0.00 s 与 0.10 s 的悬挂观测；log step 109 服务状态为 control_steps=10、rows=0、episode=1。"
+     }
+    ]
+   },
+   "toes_to_bar_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": null,
+      "text_zh": "观察：已检查评分视频全部三帧（视频 0.00、0.04、0.08 s），机器人始终双手在杠上悬挂，双脚位于身体下方，未出现举足至杠边、双脚触杠及随后回垂的完整动作，第2次触杠回垂未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": null,
+      "text_zh": "观察：已检查评分视频全部三帧（视频 0.00、0.04、0.08 s），机器人始终双手在杠上悬挂，双脚位于身体下方，未出现举足至杠边、双脚触杠及随后回垂的完整动作，第3次触杠回垂未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": null,
+      "text_zh": "观察：已检查评分视频全部三帧（视频 0.00、0.04、0.08 s），机器人始终双手在杠上悬挂，双脚位于身体下方，未出现举足至杠边、双脚触杠及随后回垂的完整动作，第4次触杠回垂未达成。"
+     }
+    ]
+   },
+   "toes_to_bar_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.08,
+      "log_step": null,
+      "text_zh": "观察：已检查评分视频全部三帧（视频 0.00、0.04、0.08 s），机器人始终双手在杠上悬挂，双脚位于身体下方，未出现举足至杠边、双脚触杠及随后回垂的完整动作，第5次触杠回垂未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "reps",
+   "unit": "count",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "grip_break_max_s",
+   "unit": "s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toes_to_bar_1",
+   "t": 0.0,
+   "log_step": 107,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.00–0.08 s 的全部三帧只显示机器人保持初始双手悬挂，双脚未抬向横杠。log step 107 仅调用机器人服务 get_obs(seconds=0.10) 观察悬挂；log step 109 服务记录 control_steps=10、rows=0、done=False；评分器最终记录 sim_steps=10、resets=0。推断：评分局未启动第1次举足触杠，后续本地仿真测试未进入评分局。"
+  },
+  "unmet": {
+   "toes_to_bar_1": false,
+   "toes_to_bar_2": false,
+   "toes_to_bar_3": false,
+   "toes_to_bar_4": false,
+   "toes_to_bar_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 107,
+    "evidence_zh": "观察：评分视频 0.00、0.04、0.08 s 中，机器人仅保持双手悬挂、双脚下垂，未启动举足动作；log step 107 只推进悬挂观测，log step 109 的服务状态仅10个控制步、零动作行。推断：第1次触杠回垂在评分尝试中没有启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中有完整评分视频和会话日志，没有状态日志；视频仅0.12秒，已检查全部三帧。log step 267 的 reps=1、foul=None 来自 agent 自建 LocalToesToBarSim，log step 272、275、280 仍在该本地仿真测试，最后 log step 281 只表示等待本地测试；这些不是评分局的动作或裁判结果。推断：现有证据能确认评分局未启动举足，但不足以确定为何未将本地控制方案用于评分局，不能仅据未启动或预算耗尽归因于规划、控制或交付错误，故根因留空。评分器未报告 reps 和 grip_break_max_s 数值，原生指标均留null。"
+ },
+ "summary_zh": "评分视频全部三帧（视频 0.00、0.04、0.08 s）只显示机器人保持初始悬挂，五次触杠回垂均未达成，最终0/5。断点为第1次触杠回垂的首步前，现象为没尝试；log step 107 只观察悬挂，评分器最终仅记录10个仿真控制步。会话中的举足测试属于 agent 自建本地仿真，不能计入评分进度，也不足以确定评分局未启动的具体根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分视频仅3帧（视频 0.00–0.08 s），机器人始终悬挂；log step 109 的服务读数为 control_steps=10、rows=0，agent 自建本地仿真的结果未被计入评分局，五个节点均未达成、断点首步前+没尝试、根因留空并写明 gap，均与证据一致。",
+    "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": "2026-10-31T00:58:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/embodied-olympics-fun-toes-to-bar-i00-standard--ye598eb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4ffad5eda7f547d975be7576b2cffd4fb5a150f6ec7c6aa3a9f37abd2bf04201",
+   "video_sha256": "0a023b3610e69daca2d4a1924aa5f288256f68a120fc794b1bd3693e4a32f5f3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}