Add 133 trajectories (phase 2, remaining runs; batch S18)

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--d6lwld9.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--d6lwld9",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1568,
+   "sim_steps": 1568,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.299,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.847,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-privileged--d6lwld9/replay.mp4",
+  "duration_s": 28.2,
+  "fps": 10.0,
+  "frames": 282,
+  "sha256": "b92316ef3783d70baa079b0f6d9c80ed90c7f6af990b13d52a9fb3e23c07bc90"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6 s 扣环仍闭合，视频 1.7 s 画面原生读数为 rings 0.17 rad、stage 0/4，视频 1.8 s 读数变为 rings 0.6 rad、stage 1/4；右手食指下压机构端部助力拨片后，三对环尖张开。视频 28.1 s 仍为张开的半环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 1.6–3.0 s，右手伸出的食指下压文件夹中缝机构端部的助力拨片，其余手指弯曲；未捏合金属环。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 7–24.5 s，右手手指多次接触画面后方那张纸的上表面，将纸沿桌面向文件夹方向拖移；纸未被夹起，也未移到三个扣环同站的位置。视频 24.5 s 纸仍在文件夹后侧的桌面，三孔边与环线分离；视频 28.1 s 撤手后两纸仍在扣环外，原生画面读数 holes threaded 0/6、linked 0/6。"
+     },
+     {
+      "t": null,
+      "log_step": 228,
+      "text_zh": "观察：log step 215–216 保存并复测的是原动作序列前1458行；log step 226 在此前缀后仅增加抬腕撤手和等待，log step 228 封装为1568行动作。交付不包含会话中另行测试的后续纵向装页动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 7–24.5 s，右手伸展手指按住同一张纸的上表面并沿桌面拖擦，期间抬手重定位；未见拇指从下方与其他手指形成对向夹持，故不记抓握。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–28.1 s 另一张纸始终平放在画面前方桌面，右手只操作后方那张纸；视频 28.1 s 两张纸均未套入扣环，未出现成功参考视频约 27 s 所示的两页叠放在后封面并入环的状态。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 三对扣环合成圆弧，画面原生读数 rings 0.0 rad；至视频 1.6 s 仍接近0，视频 1.7 s 已张开至0.17 rad，因此闭合状态区间约止于视频 1.7 s。"
+     },
+     {
+      "t": 28.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8 s 后右手离开开环机构，之后只操作纸张，未进行关环；视频 28.1 s 三对半环仍分开，画面读数 rings 0.6 rad。初始闭合按state节点计入，不受装页前置边门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 24.5,
+   "log_step": 228,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.5 s 右手仍按着第一张纸，纸留在文件夹后侧桌面、三孔边未套环，随后右手抬起，直至视频 28.1 s 都未完成装页。log step 215 明确选择保存移纸的稳定前缀，log step 226、228 仅追加撤手并交付；该装页步骤已开始而未完成。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：装页接触执行未解决，导致agent仅交付中途移纸前缀。log step 69–70 的脚本使用手指压纸、沿桌面分段拖移；log step 209 在与交付相同的1458行动作前缀后继续纵向拖纸，原生测试读数显示纸仍未穿孔，文件夹水平移位增至0.03006 m并报binder_displaced。log step 215 随后说明剩余装页动作仍会移动文件夹，因而保存此前缀；视频约 13–24.5 s 可见相应的桌面拖移，未形成装页。该碰撞失败属于会话测试，仅用于解释为何装页控制未完成，不记为交付视频中的现象；现有证据不足以区分接触设计与轨迹控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：本次没有状态日志；视频总览及原生画面读数足以判断开闭环与零张装页，但不能量出毫米级接触、穿透及静置指标，评分器也未报告这些原生指标数值。log step 215–228 表明交付刻意止于桌面横移前缀并撤手，未包含最终对孔或插入动作；交付视频没有可确认的掉落、夹持丢失或受阻事件，故现象层留空，不将其他会话测试的碰撞移植为本次现象。根因仅作控制大类推断。"
+ },
+ "summary_zh": "机器人在视频约 1.8 s 打开扣环，随后只将一张纸沿桌面拖向文件夹，视频 28.1 s 两张纸均未入环，扣环仍张开；最终仅开环节点成立，初始闭合状态已失去。断点为第1张纸入环：装页控制未解决，agent交付了移纸前缀并撤手；日志中的后续碰撞测试不属于交付视频。交付未呈现明确的对孔失误或接触故障瞬间，故现象层留空，且无状态日志可核实细微接触与容差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间（开环约视频1.8 s、两页均未入环、初始闭合至1.7 s）与断点pages_threaded_1和视频帧、原生画面读数一致；现象层留空有gap_zh说明，根因仅作控制大类推断，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:20:02Z",
+  "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/dexhand-binder-page-load-i00-privileged--d6lwld9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--d6lwld9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "502e712941c0184c1d6449dab4a3f9e62407c6bc935573200e9a40ecbe892fa4",
+   "video_sha256": "b92316ef3783d70baa079b0f6d9c80ed90c7f6af990b13d52a9fb3e23c07bc90",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--ghalddb.json

@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--ghalddb",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 5940,
+   "sim_steps": 5940,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.703,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.833,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-privileged--ghalddb/replay.mp4",
+  "duration_s": 31.8,
+  "fps": 10.0,
+  "frames": 318,
+  "sha256": "7a6d087def5182bc2b312ecb0af29764ff24bbbf9a97091c049509c2f2e26418"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s标注initial state、stage 0/4、rings 0.0 rad，三环起初闭合，两页散放桌面；视频0.7 s拨板开始张开，视频0.8 s已显示stage 1/4、rings 0.6 rad，右手食指位于助力拨片处，之后环尖保持分开供装页。"
+     },
+     {
+      "t": 0.8,
+      "log_step": 12,
+      "text_zh": "观察：log step 12记录右手食指接触booster_paddle_-1，机构由闭合变为两板约0.604 rad；视频0.6–1.0 s可见同一按压和开环过程。"
+     },
+     {
+      "t": 29.7,
+      "log_step": 53,
+      "text_zh": "观察：log step 53读取最终交付文件的两次新进程重放结果，均为success=True、stage=4、5940控制步，阶段控制步为[151,5426,5884,5940]且最终哈希一致；视频29.7 s显示PASS。开环为锁存事件，后续闭环不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.6–0.8 s，右手食指下压文件夹端部助力拨片，联动打开三对半环；没有捏握半环。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      28.8
+     ],
+     [
+      29.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 24,
+      "text_zh": "观察：视频2.5–4.5 s右手食指按住第一张纸将其拖向桌边；视频8.0 s纸页夹在拇指与食指之间并离开桌面，视频12.0–16.8 s随手移动到文件夹上方并降向开环，原先桌面位置已空。log step 24记录同一纸页由拇指、食指共同接触并抬高。"
+     },
+     {
+      "t": 17.0,
+      "log_step": 34,
+      "text_zh": "推断：视频16.8–17.2 s第一张纸从指间落至后封面，三孔边保留在三条环线上，右手向外退出，视频18.2–24.0 s该页一直留在文件夹上；首次离手且受支承约为视频17.0 s，边界约有视频0.2 s不确定性。log step 34记录该页三孔穿环、hand_on_pages为空且pages_resting为[True,False]，与画面一致。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 42,
+      "text_zh": "观察：视频28.8–29.2 s右手食指压在已装纸的孔边，纸边受压略翘；log step 42在控制步5800记录食指同时接触两页，hand_on_pages=[0,1]。纸没有脱环或离开后封面，但两页均被手接触时不满足本节点的离手条件。"
+     },
+     {
+      "t": 29.3,
+      "log_step": 43,
+      "text_zh": "推断：log step 9定义restore同时恢复快照和对应动作前缀；log step 46恢复log step 43的closing2再生成最终闭环段，log step 47保存，log step 53两次重放成功。因此log step 42–43是交付轨迹保留的前缀，log step 44–45的开环反弹试验不属于交付。视频标注4倍速、任务控制频率50 Hz，故控制步/200对应视频秒，已用控制步151的开环对应视频0.8 s及控制步5426的装页阶段对应视频27.2 s核对。控制步5860即视频29.3 s仅第一个装入的纸仍有食指接触，另一页离手；按至少一张计数，本节点约从视频29.3 s恢复，之前约视频28.8–29.3 s的离手条件短暂失去，边界为近似值。"
+     },
+     {
+      "t": 31.7,
+      "log_step": 46,
+      "text_zh": "观察：视频29.5 s手指退出，视频29.8–31.7 s近景可见纸页留在后封面且三环闭合，叠字linked 6/6、hold 50/50；log step 46最终记录两页linked=[3,3]、hand_on_pages为空、hand_on_binder=False。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手先用食指按压拖动第一张纸至桌边，再以拇指与食指对夹外侧页边，抬起、移到三环并放开；视频28.8–29.4 s关环时食指又压到孔边。上述接触依次发生。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.2,
+      28.8
+     ],
+     [
+      29.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 38,
+      "text_zh": "观察：视频19.5–21.0 s右手食指将第二张纸推向桌边，视频23.0–24.0 s拇指与食指夹住外侧页边并抬起，视频25.0–26.8 s将其从桌面移到第一张纸上方，第二张纸原位已空；第一张纸仍留在文件夹内。"
+     },
+     {
+      "t": 27.2,
+      "log_step": 40,
+      "text_zh": "观察：视频27.0 s两页已对着三环但手仍贴近页边，视频27.2 s状态栏变为stage 2/4、threaded 6/6、linked 6/6；视频27.3–28.3 s手退出，两张纸叠放后封面。log step 40记录两页三孔均穿环、全离手且pages_resting=[True,True]。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 42,
+      "text_zh": "推断：视频28.8–29.4 s食指压过纸页孔边再压拨板，log step 42在控制步5800记录两页均接触食指，log step 43在控制步5860仍记录其中一页接触食指；按两页都须离手的判据，本节点约在视频28.8–29.5 s暂时不成立，纸页本身一直留在环线上。控制步与视频的换算及该日志前缀属于交付的依据见本节点下一条证据。"
+     },
+     {
+      "t": 29.5,
+      "log_step": 46,
+      "text_zh": "推断：log step 46恢复closing2并在扣环首次闭合后立即撤手，log step 47保存为最终交付，log step 53两次重放成功；因此采用log step 42–43的保留前缀和log step 46的最终段，不采用log step 44–45的反弹试验。视频4倍速、控制50 Hz，控制步/200为视频秒，控制步151与5426已分别在视频0.8 s和27.2 s核对；log step 46控制步5909约对应视频29.5 s，两页均linked=[3,3]且全离手，与画面手指抬离一致。"
+     },
+     {
+      "t": 31.7,
+      "log_step": 53,
+      "text_zh": "观察：视频29.7 s显示PASS、stage 4/4、linked 6/6、hold 50/50，视频29.8–31.7 s近景显示两页叠在后封面、手与纸页及扣环分离；log step 53报告最终交付两次新进程重放成功且哈希相同。微小穿孔偏差由原生验收支持，不能仅凭画面量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手先用食指按压拖动第二张纸，再以拇指和食指夹住悬出桌边的页边，抬起并将三孔沿开环放到第一张纸上，随后退出；关环时食指又短暂压到纸页孔边，均为依次接触。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      0.7
+     ],
+     [
+      29.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s为initial state，状态栏rings 0.0 rad，三对环尖闭合；视频0.6 s仍闭合，视频0.7 s读数约0.1 rad并开始打开，视频0.8 s为0.6 rad。按机构状态本身计初始闭合，不以装页前置节点门控。DAG开放问题中“首帧已开环”的说法与本视频0.0 s不符。"
+     },
+     {
+      "t": 29.3,
+      "log_step": 43,
+      "text_zh": "观察：视频28.7–29.4 s右手食指下压孔边附近的金属拨板；log step 43列出食指与左右toggle_plate的接触。视频29.4 s环角约0.27 rad，尚未闭合；视频29.5 s三环对合且读数约0.0 rad，手开始退出。"
+     },
+     {
+      "t": 29.5,
+      "log_step": 46,
+      "text_zh": "观察：log step 46最终采用的闭环段在控制步5884检测两板角度约[0.024,0.023] rad后立即撤手，控制步5909两板均接近0 rad且手不接触纸或文件夹；视频29.5–29.7 s对应闭环后撤手并通过验收。"
+     },
+     {
+      "t": 31.7,
+      "log_step": 53,
+      "text_zh": "观察：视频29.7 s状态栏为PASS、stage 4/4、hold 50/50；视频29.8–31.7 s近景显示完整闭环、两页留在后封面和手指悬空。log step 53最终文件两次重放均成功，支持六孔链接及全局离手静置窗口通过。视频末尾为成功静帧，不将静帧时长当作模拟静置时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频28.8–29.4 s右手食指按压纸孔边附近及左右金属拨板，使过中心机构合环，随后抬手；未见捏握环尖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：右手按压助力拨片开环，依次夹起并装入两页，再按压拨板闭环，视频29.7 s显示PASS、六孔链接及hold 50/50，四个节点最终均完成，log step 53的交付文件两次重放也成功且哈希一致。推断：关环时的手指接触使装页节点的离手条件短暂失去，随后全部恢复，无未修复断点。观察：本任务无状态日志，毫米级穿孔与静置容差依赖原生验收，接触切换的视频时刻为约值；DAG开放问题所称首帧已开环与视频0.0 s闭环初态不符，oracle元数据指向本次运行，未作为独立参考证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，四个节点最终均完成；抽查视频17.4 s（stage 1/4，threaded 3/6）与29.0 s（stage 2/4，6/6，食指压孔边）均与标注一致，时间与接触标签合理，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": "2026-10-30T05:17:16Z",
+  "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/dexhand-binder-page-load-i00-privileged--ghalddb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--ghalddb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "744426966834bfd9c494aaddc928f6cf887adc0464fa9fce1d26c02427699aac",
+   "video_sha256": "7a6d087def5182bc2b312ecb0af29764ff24bbbf9a97091c049509c2f2e26418",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--iysiobk.json

@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--iysiobk",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 400,
+   "sim_steps": 400,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.538,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-privileged--iysiobk/replay.mp4",
+  "duration_s": 10.1,
+  "fps": 10.0,
+  "frames": 101,
+  "sha256": "8b619c2c0c80cd2c0fad0fd6aee1649bcbe8b0f55618d6396e8213b2f69369a3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.1,
+      "log_step": null,
+      "text_zh": "观察：视频 6.9–7.0 s 右手食指仍在文件夹端部下压助力拨片；视频 7.1 s 三对环尖明显分开，画面原生状态栏从 Stage 0/4 变为 Stage 1/4，rings 显示约 0.61 rad。视频 7.2–10.0 s 手撤离后扣环保持张开。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 35,
+      "text_zh": "观察：log step 35 对最终保存的400行动作文件进行独立回放，输出 stage 1、toggles [0.602 0.602]、success False；评分器字段 stages_completed=1、deterministic=1，与视频末态一致。此日志仅佐证结果，不用其 agent 时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 1.0–7.0 s，单只右手的食指在文件夹一端助力拨片处向下按压，随后抬起撤离，扣环机构张开；未见捏住金属环。log step 34 的交付控制器也指定食指尖下压该拨片。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.4,
+      "log_step": 34,
+      "text_zh": "观察：视频 0.0–10.0 s 两张纸始终分开放在文件夹右侧桌面，孔边没有移动至扣环；视频 7.4 s 右手开环后撤至文件夹上方，未接近纸张，视频 9.0–10.0 s 逐帧仍无取纸或装页。log step 34 的交付脚本只含接近拨片、按压、撤回和停驻，没有装页动作。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0 s 两张纸均不在后封面上，原生状态栏 holes threaded 0/6、linked 0/6。参考成功视频 17.0 s 可见一张纸已移到后封面及环线处，而本次全片未出现该关系。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.0 s 两张纸均留在各自桌面原处，既无第一张也无第二张装入；视频 10.0 s 仍为 holes threaded 0/6、linked 0/6。参考成功视频 27.0 s 两张纸叠到后封面，桌面散页位置已空，本次没有相应变化。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      5.6
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 三个金属环呈闭合弧圈，原生状态栏 rings 为 0.0 rad；按本节点的机构状态判据，初态闭合计入，不受装页前置边门控。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.3 s 状态栏 rings 约 0.04 rad，视频 5.4–5.6 s 约 0.05 rad，视频 5.7 s 已约 0.06 rad；随后继续张开，视频 7.1–10.0 s 约 0.60 rad且环尖分离。闭合区间约在视频 5.6 s 结束，显示角度仅保留两位小数，边界有约0.2秒不确定性；之后没有关环动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hole_capture_radius",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_tilt",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wire_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hand_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_translation",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 7.4,
+   "log_step": 34,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 7.1 s 开环完成后，右手在视频 7.2–7.5 s 撤回并停在文件夹上方，直到视频 10.0 s 都没有取纸、拖纸或穿孔动作，两张纸始终散放桌面。log step 34 的最终生成脚本开环后直接进入停驻；log step 35 验证保存文件只到 stage 1。推断：第1张纸入环的工作未启动；视频 7.4 s 作为撤回停驻的导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 7.4,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 0.0–10.0 s 右手仅在扣环区域动作，开环后撤手停驻，两张散页完全未被移动；log step 34 交付的状态机没有操作纸张的分支。第1张纸入环未开始，未观察到一次失败抓纸或穿孔操作。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本次无状态日志，扣环闭合状态的失效时刻由视频角度显示与环尖形态估计，约视频 5.6 s，误差约0.2秒。log step 29、31 只有未接触纸张的空中捏合姿态测试；log step 36 中 agent 自述尚需校准纸张操纵、预算不足，但没有实际抓纸或穿孔试验来判明具体能力缺陷。不能由未尝试或停止本身推断规划、感知或控制根因，故根因层留空。",
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  }
+ },
+ "summary_zh": "本次评分轨迹约在视频 7.1 s 打开扣环，但两张纸全程留在桌面，未启动第1张纸入环；开环后右手撤回停驻，最终仅开环事件成立，进度为1/4。扣环闭合初态计入，约在视频 5.6 s 随开环失去，后续未恢复。断点为第1张纸入环的首步前，现象为没尝试；缺少在纸张上实际测试的证据，无法确定停止背后的具体根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频一致：开环约 7.1–7.2 s 成立（状态栏 Stage 1/4、rings 0.6），两张纸全程未动，初态闭合约 5.3–5.6 s 失去；断点 pages_threaded_1/首步前/没尝试，根因层留空并附 gap_zh，符合 03 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": "2026-10-30T05:15:49Z",
+  "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/dexhand-binder-page-load-i00-privileged--iysiobk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--iysiobk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "55e6cfdbcf19d3da9183ab3873c654ff94fcca2bbfd8c1c6c3127ac8a9b4cd71",
+   "video_sha256": "8b619c2c0c80cd2c0fad0fd6aee1649bcbe8b0f55618d6396e8213b2f69369a3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--v8kdtog.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--v8kdtog",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 435,
+   "sim_steps": 435,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.646,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.981,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-privileged--v8kdtog/replay.mp4",
+  "duration_s": 10.8,
+  "fps": 10.0,
+  "frames": 108,
+  "sha256": "0bd4650eb9ccade9facd6ada86c57215f66a458788d09a66bd6420a80261b4db"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": 106,
+      "text_zh": "观察：视频2.2 s右手指尖压在文件夹端部助力拨片上；视频3.3 s画面原生阶段栏仍为Stage 0/4、环角约0.34 rad，视频3.4 s变为Stage 1/4、环角约0.53 rad，视频3.5 s约0.60 rad且可见环尖分开，之后保持至视频10.7 s。log step 106的最终生成脚本仅令右手下压拨片、竖直退开并停驻，评分器stages_completed=1与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频2.2–3.4 s右手以向下伸直的手指按压文件夹+y端助力拨片，带动三对扣环张开；log step 106的生成脚本及log step 147的agent说明将作用指认作中指，无捏合抓握。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": 106,
+      "text_zh": "观察：视频0–10.7 s两张纸始终分别散放于文件夹右侧桌面，右手只按开扣环后退回停驻，未拿起或搬运纸张；视频4.5 s及视频9.7–10.7 s逐帧检查均见原位两纸，原生画面显示threaded 0/6、linked 0/6。成功参考视频17.0 s则可见一张纸移至后封面且threaded 3/6；本次没有该入环形态。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.7,
+      "log_step": 142,
+      "text_zh": "观察：视频0–10.7 s没有任何纸张移到后封面，两张始终留在各自初始桌面位置，末帧仍为threaded 0/6、linked 0/6；成功参考视频27.0 s可见两页叠于后封面、threaded 6/6，本次全程未出现。log step 142对交付文件的重放也仅报告rings_opened阶段。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s三对环尖对合，画面原生环角为约0 rad；视频1.7–2.1 s仍显示约0 rad，视频2.2 s环角约0.06 rad，视频2.3 s约0.20 rad，闭合条件在视频约2.2 s失去（精度约0.1 s）。该state节点按DAG初始闭合也计入，不以装页前置门控。"
+     },
+     {
+      "t": 10.7,
+      "log_step": 146,
+      "text_zh": "观察：视频3.4–10.7 s扣环持续张开，末帧画面环角约0.60 rad，未见机器人重新合环；log step 146最终文件两次重放均报告rings_open=True。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hole_capture_radius",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_tilt",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wire_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hand_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_translation",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 4.5,
+   "log_step": 106,
+   "where": "首步前",
+   "evidence_zh": "观察：视频3.4 s已开环，视频4.5 s右手退回两纸与文件夹之间的空中，之后一直停至视频10.7 s，两纸未动；log step 106交付生成脚本在开环后仅退开、停驻220控制步，没有取纸或穿环动作，log step 142与146确认最终仍是同一435步、stage 1的交付。推断：最早未启动且未补做的下一步是第1张纸入环；初始闭环状态的失去是装页所需的正常开环，不把它作为故障断点。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 4.5,
+    "log_step": 106,
+    "evidence_zh": "观察：评分视频0–10.7 s右手只操作开环拨片后停驻，两张纸一直未被接近抓取或移动；log step 106最终生成脚本未包含任何纸张操作，log step 144重新执行该脚本仍仅生成435步、stage 1的文件。装第1张纸在已交付评分尝试中没有启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志 / agent 自述 / 视频",
+    "evidence_zh": "推断：agent未能形成可承载纸张的接触方案，最终只交付开环动作。会话测试中，log step 96纸张可被手指压拖，但抬手即无接触且纸仍在桌面高度；log step 120与130将悬边压翘后尝试抬手，纸又回落至约z=0.7004 m、接触消失，log step 138的接触法向诊断显示掌及指段仍在纸上方，未形成上下夹持或下托。agent在log step 147明确将未完成装页归于无法把这些接触组合成抬纸抓持；这些仅是会话根因证据，不是评分视频中的抓纸现象。成功参考视频8.0 s同为Sharpa手，已夹住桌边外伸纸张，视频12–17 s把纸移到后封面，验证有可行替代；不采信agent关于纸张根本不能抓起的绝对判断。"
+   }
+  ],
+  "gap_zh": "无模拟器状态日志，微小接触力及精确角度只可参考视频原生读数；开闭阈值时间按相邻视频帧估计。评分轨迹没有取纸动作，抓取和接触设计根因由会话测试及agent最终说明推断，无法在评分视频直接验证这些测试中的力学过程；这些测试未用于节点进度或contact_actual。原生指标未出现在评分器reward字段，故各value为null。"
+ },
+ "summary_zh": "评分轨迹在视频3.4 s打开扣环后退手停驻，两张纸全程仍散放桌面，最终仅打开扣环1/4节点成立；关上扣环从初态成立至视频约2.2 s，随后因正常开环失去。断点是第1张纸入环的首步前，评分尝试没有启动装页；会话日志支持抓取和接触设计不足导致仅交付开环轨迹，成功参考展示了可行的桌边抓取。无状态日志，根因依赖会话测试推断，未把这些测试算为评分轨迹动作。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与原生阶段栏一致（视频3.3→3.4 s进入Stage 1/4，末帧threaded 0/6），断点首步前/没尝试及contact_actual均与画面和log step 142/146吻合；根因已标注为推断并说明会话测试不计入评分轨迹，未发现需改动的问题。",
+    "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": "2026-10-30T05:15:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--v8kdtog/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--v8kdtog/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e9771f7df877977edf392f631950bcb0509fbfc7b78a4d6d9e4bea0231c71fd",
+   "video_sha256": "0bd4650eb9ccade9facd6ada86c57215f66a458788d09a66bd6420a80261b4db",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--vermrqj.json

@@ -0,0 +1,302 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--vermrqj",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 682,
+   "sim_steps": 682,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.076,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.247,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-privileged--vermrqj/replay.mp4",
+  "duration_s": 15.7,
+  "fps": 10.0,
+  "frames": 157,
+  "sha256": "bf71145f4ca562d17c80d272913e20cf1cff583cc6aaebc32a49d4cfec02275e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频1.8–2.2 s右手伸出的食指下压文件夹扣环机构端部拨片，金属半环逐渐分开；视频2.2 s画面原生状态栏从Stage 0/4变为Stage 1/4，rings显示0.6 rad，随后直至视频15.6 s保持开环。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 55,
+      "text_zh": "观察：视频15.6 s环尖仍分开、状态栏为Stage 1/4；log step 55对最终682行动文件的新进程重放返回stage 1 rings_opened，评分器stages_completed=1，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指指端下压文件夹机构端部的助力拨片，驱动三对半环张开；其余手指弯曲，未抓握扣环。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频3.8–5.2 s右手食指压着靠近画面前方的纸页在桌面滑动，使其远离文件夹并悬伸桌边；另一张纸留在原处，没有纸页到达后封面。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 54,
+      "text_zh": "观察：视频8.0–12.6 s右手在悬伸纸页侧缘调整弯曲手指，视频12.8–13.6 s纸页倾转而未被搬向文件夹；log step 54生成并保存最终682行动文件时打印grip holds: False、GRASP FAILED，未执行后续搬运和穿孔。"
+     },
+     {
+      "t": 15.6,
+      "log_step": null,
+      "text_zh": "观察：视频15.6 s一张纸仍在桌边右手下，另一张仍在桌面原位，文件夹后封面为空；原生画面状态栏显示holes threaded 0/6、linked 0/6，没有一张纸的三孔边沿套入环线。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指先压住前方纸页表面并沿桌面擦拖到桌边，随后弯曲手指在纸页侧缘施压，近节部位接触使纸页倾转；未见拇指与食指从两面夹持纸页，不记为抓握。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.6,
+      "log_step": null,
+      "text_zh": "观察：视频0–15.6 s第二张纸始终散放在桌面后方，右手只操作前方纸页，末帧两张纸均远离文件夹且holes threaded 0/6、linked 0/6；没有两张纸入环，也未开始处理第二张。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.9
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s三对金属半环对合，原生状态栏rings为0.0 rad，机构闭合条件在初态成立，按state规则从视频0 s计入。"
+     },
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频1.8 s状态栏rings为0.01 rad，视频1.9 s变为0.07 rad，随后视频2.2 s为0.6 rad、环尖分开；闭合状态约在视频1.8–1.9 s之间失去，取视频1.9 s为区间终点。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 55,
+      "text_zh": "观察：视频2.2–15.6 s三对半环一直张开，右手转去拖纸并在桌边尝试取纸，没有回到机构执行关环；视频15.6 s状态栏仍为rings 0.6 rad，log step 55最终文件重放也停在rings_opened阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hole_capture_radius",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_tilt",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wire_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hand_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_translation",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 12.8,
+   "log_step": 54,
+   "where": "操作中",
+   "evidence_zh": "观察：视频12.8–13.6 s右手在桌边的第一张纸侧缘收拢手指并尝试抬起，纸页发生明显倾转，仍留在桌边，未进入向文件夹搬运或穿孔的动作；此后直到视频15.6 s没有修复。log step 54在grip holds: False后保存682行动，log step 55重放最终文件停于stage 1 rings_opened，log step 56确认重新生成的行动与所保存文件一致。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 12.8,
+    "log_step": 54,
+    "evidence_zh": "推断：所缺的是搬运纸页所需的对向夹持。视频8.0–12.6 s右手虽已贴近纸边并触纸，视频12.8–13.6 s抬手时纸页却在桌边倾转，没有形成可随手搬运的夹持；log step 54的实际接触诊断列出食指MCP/PP/MP及中指MCP与纸面接触，随后grip holds: False。前后帧未显示先夹住纸页后再滑脱，因此判为所需抓取接触未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 12.8,
+    "log_step": 54,
+    "source_zh": "日志",
+    "evidence_zh": "推断：该次握形未把拇指与食指安排为纸页两侧的承载接触。log step 47中的grasp_overhang计划为拇指在上、食指从下方顶起；log step 49–50改为纸页侧缘并将腕俯仰设为0.45 rad，log step 54最终生成时却打印食指近节MCP/PP/MP和中指MCP触纸，随后抬起检查失败，纸页位置及朝向大变；这与视频12.8–13.6 s纸页在桌边倾转一致。可行替代由另一次同任务成功参考验证：oracle视频8.0 s同为Sharpa Wave右手夹住纸边，oracle视频17.0 s已把一张纸移到文件夹并穿入三孔；这仅说明存在可行握法，不作为本次进度证据。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有逐帧状态日志；视频总览中纸页与手指的局部接触面部分被手遮挡，无法恢复每一时刻的接触力及对向接触分布。抓取几何根因结合视频前后运动与log step 54、56生成最终行动时的诊断推断，未断言所有握法均不可行；视频状态栏及两纸始终远离文件夹已足以判断装页节点为假。"
+ },
+ "summary_zh": "本次在视频2.2 s打开扣环，随后把一张纸擦拖到桌边，但取纸时未形成可搬运的对向夹持，纸页在视频12.8–13.6 s倾转后停止，未有纸页入环。终态仅保留打开扣环事件，节点为1/4；关环状态虽在初态成立，却约在视频1.9 s失去且未恢复。主要缺口是没有逐帧状态日志及局部接触面遮挡，抓取接触几何的归因结合最终文件生成诊断推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值与时间（扣环在视频2.2 s进入Stage 1/4，关环区间[0,1.9]，两张纸入环为假）、断点（pages_threaded_1，操作中）和根因均与视频及log step 54–56一致；没建立接触与没保持住的边界略有争议，但标签证据已说明未见先夹住再滑脱，不作为错误。",
+    "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": "2026-10-30T05:17:20Z",
+  "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/dexhand-binder-page-load-i00-privileged--vermrqj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--vermrqj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e584023e012d19ad7e14de8199234235ef973d2a0b4f5be8623b782adfd8ba8d",
+   "video_sha256": "bf71145f4ca562d17c80d272913e20cf1cff583cc6aaebc32a49d4cfec02275e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--dtk9zkn.json

@@ -0,0 +1,322 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--dtk9zkn",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1002,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 1785,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 15,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1785,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.46,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.356,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--dtk9zkn/replay.mp4",
+  "duration_s": 38.0,
+  "fps": 5.0,
+  "frames": 190,
+  "sha256": "929e20476699764b262cf5d27f17b979300ef7692f0487742b2c06c99b82c891"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.2–2.6 s，机器人右手食指下压文件夹近端助力拨片，三对环尖分开；视频 2.4 s 顶栏仍为 Stage 0/4、rings 0.11 rad，视频 2.6 s 变为 Stage 1/4、rings 0.6 rad。视频 37.8 s 仍为开环，故开环事件从视频约 2.6 s 锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手伸直食指下压文件夹近端助力拨片，触发三环联动打开。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–13.4 s，机器人右手指腹按住近侧纸张并向桌边拖动；视频 15.8–17.8 s，拇指与弯曲食指夹住悬伸页边，纸张离开原桌面位置并竖起，随后被搬向文件夹。"
+     },
+     {
+      "t": 35.8,
+      "log_step": 136,
+      "text_zh": "观察：视频 28.0–35.6 s，机器人夹持的纸张倾斜悬在扣环上方，孔边接近环尖，但没有落平到后封面；顶栏 holes threaded 始终为 0/6。视频 35.8 s 出现 FAIL: page_dropped，视频 37.0–37.8 s 的终帧仍为 Stage 1/4、threaded 0/6、linked 0/6，首张纸未达到离手且三孔入环的条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手指腹按压近侧纸张，以摩擦将其拖至桌边悬伸。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手拇指与弯曲食指从页边两侧捏持首张纸，提起、转向并送至打开的环尖处，随后尝试分阶段松指。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–37.8 s，远侧第二张纸一直散放在文件夹右方桌面，机器人只搬运近侧首张纸；视频 37.8 s 顶栏 threaded 0/6，第二张纸未被取起或入环。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.4
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，三环为闭合弧圈，顶栏 Stage 0/4、rings -0.0 rad；视频 2.2 s 仍显示闭合角度，因此按机构状态计入初始闭环。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4 s，机器人下压拨片后顶栏 rings 0.11 rad，已超过闭合阈值 0.05 rad；视频 2.6 s 达到 0.6 rad。此后直到视频 37.8 s 始终开环，机器人没有实施关环动作。闭环状态约在视频 2.4 s 失去，时间精度受 5 fps 限制。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 35.8,
+   "log_step": 136,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 28.0–35.6 s，机器人将首张纸的孔边送到开环尖端并继续推送，纸张仍倾斜，穿孔计数保持 0/6；视频 35.8 s 顶栏变为 FAIL: page_dropped，后续为同一终态。log step 136 的最后一次 reset 后运行 page1d，服务返回 control step 1785、done True、task_failure，与本视频的首张纸松指判负及 reward.n_actions=1785 一致；此前会话试验的装页自述不计入本回合。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 35.8,
+    "log_step": 136,
+    "evidence_zh": "观察：视频 28.0–35.6 s，机器人右手捏持首张纸，纸张陡斜悬在打开的环尖旁，孔边靠近环尖但未套入，顶栏 holes threaded 为 0/6；视频 35.8 s 松指时出现 FAIL: page_dropped，视频 37.8 s 仍为 threaded 0/6、linked 0/6。松指前纸张尚未到达穿孔支承的目标位姿；这些帧没有显示可确认的卡阻、穿透或异常接触力。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 17.8–35.6 s 显示机器人已捏起首张纸并搬到打开的扣环处，却未使纸孔套入环尖；视频 35.8 s 松指即出现 page_dropped。log step 136 的 calls[].code 实际定义并调用 page1d：先 reset、open_rings_fast，再拖纸、捏起、将孔线送到环尖，按 plane_rings 结果修正偏航，再执行 path([B,C],[2.0]) 推入和 release_staged；out.text 在推入后报告 done False、control step 1768，随后报告 done True task_failure、control step 1785，后者与 reward.n_actions=1785 对应。这是调用代码及服务返回，非仅采用 agent 对成败的自述。目标是向已打开的环装页，动作顺序也符合开环后搬页入环，未见选错目标或跨阶段顺序的证据；失败集中于环尖附近的精细对准、推入和释放，按 docs/03_trajectory.md Step 3.3 与 CASES.md FAIL-12 归为粗粒度控制推断。视频和返回值不能验证孔位估计、接触布局或轨迹跟踪哪项有误，不能证明具体对准方案可行，故不细分为抓取和接触设计、轨迹或逆解、反馈控制或感知；具体抓法或对准轨迹的可行替代仍未知。"
+   }
+  ],
+  "gap_zh": "无状态日志，也没有逐孔交点、手纸接触对或接触力读数；视频总览不能量出毫米级偏差，不能确认异常接触力。log step 136 的调用和服务返回可核对动作顺序与终止，但未提供可信的孔位真值、接触布局可行性或轨迹跟踪误差，无法区分具体对准设计、估计或执行误差，控制根因仅为粗粒度推断。顶栏的穿孔计数与 page_dropped 判负足以确认首张纸未装入；原生指标具体数值未在评分器字段中报告。"
+ },
+ "summary_zh": "机器人约在视频 2.6 s 打开三环，随后拖动、捏起并搬运首张纸，但始终未建立三孔入环；第二张纸未搬动，关环未尝试，最终只有开环事件保持达成（1/4）。首张纸在视频约 35.8 s 尚未套入环尖便松指，触发 page_dropped，断点为第1张纸入环，现象为位姿不准，根因仅推断为粗粒度控制。无状态日志，毫米级偏差、具体对准方案可行性及控制子类无法核实，因此 conf 从8降为7；较早会话试验的装页自述不属于本次评分回合。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（开环约 2.6 s、首张纸未入环、断点 pages_threaded_1、rings_closed 初始闭合 0–2.4 s）与视频一致。问题在 WHY：现象「接触力异常」缺乏力或穿透��据，视频只显示纸被捏持并倾斜悬在环尖旁、孔未对准套入，应为位姿不准。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "WHERE 标签与视频一致：视频约 2.6 s 开环，首张纸未入环，断点 pages_threaded_1，rings_closed 初态 0–2.4 s。现象位姿不准与粗粒度控制根因有证据且表述克制，第一轮问题已处理。",
+    "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": "2026-10-30T05:44:28Z",
+  "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/dexhand-binder-page-load-i00-standard--dtk9zkn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--dtk9zkn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--dtk9zkn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--dtk9zkn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e866de9be21fa7b04d27f689aab18952971181a4ec2d7051b4c44100c7bbc527",
+   "video_sha256": "929e20476699764b262cf5d27f17b979300ef7692f0487742b2c06c99b82c891",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--fxywtq6.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--fxywtq6",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 71,
+   "control_steps_total": 1154,
+   "elapsed_s": 2121.812,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1154,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1154,
+   "success": 0,
+   "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": 8,
+   "peak_disk_gb": 0.274,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--fxywtq6/replay.mp4",
+  "duration_s": 25.2,
+  "fps": 5.0,
+  "frames": 126,
+  "sha256": "ec48e3bf7a2fd7d06c5fe4ffdc3202ddb5e357848eb3fbbd4232215fbfaabf1d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 20,
+      "text_zh": "观察：视频 1.2–2.8 s，机器人右手指端下压文件夹扣环条附近，但三对环尖没有分开；原生视频叠字（基准显示的阶段、扣环角度和穿孔计数）仍为 Stage 0/4、rings -0.0 rad。"
+     },
+     {
+      "t": 9.8,
+      "log_step": 25,
+      "text_zh": "观察：视频 8.2–9.4 s 右手再次下压，视频 9.8–10.4 s 撤手后可见三环仍为完整闭环；log step 25 的 OPENED 来自 agent 自写的金属点云均值阈值，不是服务开环阶段读数。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 38,
+      "text_zh": "观察：已逐帧检查视频 0–25.0 s 的原生叠字，Stage 始终为 0/4、rings 约 0 rad；视频 17.6–22.2 s 再次下压后，视频 24.2–25.0 s 三环仍闭合。参考成功视频 1.0 s 显示 Stage 1/4、rings 0.6 rad 且环尖分开，本次没有该形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.2–2.8 s、4.2–7.4 s、8.2–9.4 s 及17.6–22.2 s，右手食指等指端在扣环条、端部及邻近封面处下压；未见捏合抓握。拨片附近部分被手遮挡，不能把每次下压都认定为准确压中助力拨片。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": 29,
+      "text_zh": "观察：视频 11.6–16.2 s，右手指腹从上方压住靠近画面下方的纸，将其平推向右侧桌沿；纸没有被拇指与食指夹住提起，也没有移向文件夹扣环。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 24.2–25.0 s 两张纸仍分别平放在文件夹右侧桌面，后封面没有装入纸页，原生叠字 holes threaded 0/6、linked 0/6。log step 41 也承认装页未完成；未执行的后续控制器不计作入环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 11.6–16.2 s，单只右手指腹抵住第一张待装纸的上表面向桌沿平推，纸始终受桌面支承；未形成对向夹持，故不标抓握。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 0–25.0 s 另一张纸一直留在桌面原处；视频 24.2–25.0 s 两张纸均在文件夹外，原生穿孔、链接计数均为 0/6。未见第二张纸的搬运或入环尝试。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 三环初始闭合，原生叠字 rings 0.0 rad。该节点仅判断机构闭合状态，按 DAG 从初态计入，不由装页前置门控。"
+     },
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程原生角度叠字约为 0 rad，右手各次撤离后（视频 3.2 s、9.8–10.4 s、16.4–17.0 s、22.6–25.0 s）三环均为完整闭环；逐帧未见分开。因此闭环状态持续成立，未执行独立的装页后关环操作，也不代表联合任务成功。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rings_opened",
+   "t": 2.0,
+   "log_step": 20,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.0 s，机器人第一次下压后扣环没有张开；随后多次重新下压，直至视频 25.0 s 仍为闭环且 Stage 0/4。第一步开环从未修复；之后拖纸不能替代开环，因此断点为 rings_opened。"
+  },
+  "unmet": {
+   "rings_opened": false,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 2.0,
+    "log_step": 20,
+    "evidence_zh": "观察：视频 1.2–2.8 s 右手指端已下压至扣环条及其邻近表面，但机构未被触发张开；视频 8.2–9.4 s 和17.6–22.2 s 的再次下压也没有产生分离的环尖，原生角度仍约 0 rad。这里是按压未触发所需机构运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "t": 2.0,
+    "log_step": 20,
+    "evidence_zh": "推断：视频 1.2–2.8 s、8.2–9.4 s、17.6–22.2 s 显示右手多次下压却始终不能驱动扣环打开；log step 20、25、36、38 的控制脚本确实发送了下降目标。故可确认开环接触操作未奏效，但没有足够接触或力测量来细分为接触几何、轨迹跟踪或按压力不足。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "t": 9.8,
+    "log_step": 25,
+    "evidence_zh": "推断：log step 25 用被颜色和高度筛选的金属点云 x 均值大于 0.487 判定 OPENED，log step 27 随即宣称开环并转向装页测量；然而视频 9.8–10.4 s 环尖仍闭合且原生阶段为 0/4。log step 39、41 又把末态闭环解释为 fully open。该错误机构状态估计使 agent 将未完成的开环当作已达成，错误监测未能纠正实际下压失败。"
+   }
+  ],
+  "gap_zh": "本次无状态日志，也没有服务逐板角度或接触对记录；视频叠字角度精度较粗，手在按压时遮住部分拨片，不能细分未触发的具体力学原因。agent 的自写点云指标及开环自述与原生视频读数、可见闭环形态冲突，节点以视频为准，不据此认定仿真或回放异常。run.json 的评分字段未报告 DAG 中九项原生指标的数值，均记 null。"
+ },
+ "summary_zh": "本次仅保持了初始闭环状态，进度从初态到终态均为1/4；开环从未达标，右手只将一张纸平推到桌边，两张纸均未入环。断点是打开扣环：多次下压未触发开环，且 agent 将自写点云指标误读为已开环；视频末帧仍为 Stage 0/4、扣环约0 rad、穿孔0/6。缺少逐板角度和接触力记录，无法进一步区分具体的接触控制失效机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "逐帧核对：视频全程叠字 Stage 0/4、rings≈0 rad、holes 0/6，三环始终闭合；两张纸只被平推、未入环。节点值、断点(rings_opened)、现象与根因(控制+感知)均有视频与日志(step 25/27/39/41)支持，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": "2026-10-30T05:20:21Z",
+  "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/dexhand-binder-page-load-i00-standard--fxywtq6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--fxywtq6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3b53c998a678eabf0e455fb803adb39a048f5b4fa29068090dfdb1c5415f6fc1",
+   "video_sha256": "ec48e3bf7a2fd7d06c5fe4ffdc3202ddb5e357848eb3fbbd4232215fbfaabf1d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--guys9pq.json

@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--guys9pq",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1946,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 975,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 975,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.401,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.394,
+   "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/dexhand-binder-page-load-i00-standard--guys9pq/replay.mp4",
+  "duration_s": 21.8,
+  "fps": 5.0,
+  "frames": 109,
+  "sha256": "bdb3dab7b1e64f3c29ebf621bdca43fcbf2be3109fc5b94f3986195ccb1c7d29"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频12.6 s扣环还在张开，原生画面读数为rings 0.43 rad、Stage 0/4；视频12.8 s三对环尖已分开，读数变为rings 0.6 rad、Stage 1/4，开环事件达到。"
+     },
+     {
+      "t": 19.6,
+      "log_step": null,
+      "text_zh": "观察：视频19.6 s失败时扣环仍张开，原生画面仍为Stage 1/4、rings 0.6 rad；开环事件不因随后文件夹移位而撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约11.6–19.6 s右手食指抵住并持续下压扣环机构远端的助力拨片，打开扣环后继续下压，末段使文件夹整体滑移；未见捏夹扣环。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s两张三孔纸均散放在文件夹右侧桌面，与扣环分离。"
+     },
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–19.6 s未见右手拾起或搬运纸页，视频20.8–21.6 s末尾静帧中两页仍在原桌面位置，文件夹后封面上没有纸页；原生画面显示holes threaded 0/6、linked 0/6。与参考成功视频17.0 s一页覆盖后封面并入环的外观不同。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频全程两张纸均与文件夹分离；视频19.6 s失败及视频21.6 s末帧均未见任何纸被套入扣环，原生画面显示holes threaded 0/6、linked 0/6，因此两页入环条件未成立。参考成功视频27.0 s可见的双页叠在后封面的结果在本次不存在。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      12.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s三对环尖闭合，原生画面显示rings 0.0 rad；按DAG的state规则计入初始闭环，不受装页前置边门控。"
+     },
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频12.0 s环仍闭合，视频12.2 s读数约0.05 rad，视频12.4 s为0.15 rad且环尖开始分离；闭环状态结束时间约记视频12.2 s，受画面读数舍入与5 fps采样限制。"
+     },
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频12.8–21.6 s环尖保持分开，原生画面为rings 0.6 rad；右手未进行另一次合环操作，终态闭环条件为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rings_opened",
+   "t": 19.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频12.8 s扣环已经打开，但视频13.0–19.6 s右手仍压着同一端的助力拨片并继续下降，没有离开机构去取纸；文件夹随接触滑移，视频19.6 s原生画面首次显示FAIL: binder_displaced，之后冻结。失败发生于开环操作的持续下压段，虽然开环事件本身已达到，尚未开始装页。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 19.6,
+    "log_step": null,
+    "evidence_zh": "观察：对照视频18.0–19.6 s连续帧，右手在助力拨片处继续向下施压，白色文件夹和金属机构一起相对静止的桌面、纸页滑动；视频19.6 s原生画面以binder_displaced判负。被操作部件的接触带动了本应留在原位的文件夹基体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频12.8 s环已完全打开，右手仍持续下压到视频19.6 s，并使文件夹滑移而终止，说明开环操作未在机构达到开位后及时结束或卸载，属于接触操作控制问题。视频直接显示目标机构被触发，不能将其归因为没有找到目标；缺少该评分回合的控制反馈与力数据，暂不细分控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐步接触力、两侧拨板精确角度记录，闭环失去时刻约有0.2 s采样及读数舍入误差，控制根因不能进一步区分接触设计、参数或反馈问题。日志含多次重置和调试；log step 123–128描述episode 6正在推纸，且agent最终报告称停在推纸阶段，但评分视频在开环下压期间已因binder_displaced结束，reward报告resets=5、live_matches_replay=1。无法将上述会话推纸记录对应到本次视频，故进度与失败现象以视频为准，不将其他回合的纸面穿透或推纸行为计入。"
+ },
+ "summary_zh": "评分视频中右手于视频约12.8 s打开扣环，之后仍持续下压助力拨片，视频19.6 s带动文件夹滑移并触发binder_displaced；两张纸始终留在桌面，未开始入环，终态仅开环事件为真（1/4）。失败断点为仍在进行的开环操作，现象为带动本体，根因为控制层面的持续下压未及时停止。日志末尾所述推纸回合与评分视频不一致，且没有状态或力日志，不能用会话自述补出装页进度或进一步细分控制原因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间、终态(仅开环为真)、binder_displaced判负时间与视频一致；断点、现象与根因有视频支持，未发现需改动内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:19:46Z",
+  "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/dexhand-binder-page-load-i00-standard--guys9pq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--guys9pq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "31b8938da599a608623f28eea696ed6e16012908ff3d61c8f571330053eef0cc",
+   "video_sha256": "bdb3dab7b1e64f3c29ebf621bdca43fcbf2be3109fc5b94f3986195ccb1c7d29",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--jrohbwq.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--jrohbwq",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 654,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 664,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 17,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 664,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.299,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.863,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--jrohbwq/replay.mp4",
+  "duration_s": 15.6,
+  "fps": 5.0,
+  "frames": 78,
+  "sha256": "feb8cf52f120d9891dadbe7577f57df804250c4cd23be7a3310849d98fa88007"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": 320,
+      "text_zh": "观察：视频 2.0 s 环仍近乎闭合，视频 2.2 s 右手指端下压机构近端后，三对半环分开；原生回放画面读数由 stage 0/4、rings 0.02 rad 变为 stage 1/4、rings 0.6 rad。视频 3.6 s 手离开后至视频 15.4 s 环持续张开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 1.8–2.4 s，右手伸直的指端下压文件夹近端助力拨片区域，随后扣环张开；未见捏握半环。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.4,
+      "log_step": 320,
+      "text_zh": "观察：视频约 5.4–9.0 s，右手指端接触近侧纸张并往返滑动调整；视频 11.8–13.2 s 又从纸面上方向文件夹压推，纸的三孔边逐渐进入封面下方，没有套到环线上。视频 13.4 s 画面出现 FAIL: page_below_desk，原生回放读数仍为 holes threaded 0/6、linked 0/6；至视频 15.4 s 未恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 5.4–9.0 s 及 11.8–13.4 s，右手多指指端从上方压住近侧纸面，以摩擦带动纸张在桌面滑动，最后向文件夹方向推入；拇指未与其余手指夹持纸边。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": 320,
+      "text_zh": "观察：视频 0.0–15.4 s 远侧另一张纸始终散放在桌面原处，机器人未接触或搬运它；本次只压推近侧纸，原生回放直到终帧仍显示 holes threaded 0/6。log step 320 的第二张纸控制段在第一张纸插入时返回 task_failure 后未执行。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 三环完整闭合，原生回放读数 rings 0.0 rad；视频 2.0 s 读数约 0.02 rad，视频 2.2 s 则变为 0.6 rad 且环尖分离，故闭环初态约在视频 2.0–2.2 s 间失去。"
+     },
+     {
+      "t": 15.4,
+      "log_step": 321,
+      "text_zh": "观察：视频 2.2–15.4 s 三环保持张开，终帧读数 rings 0.6 rad；机器人在第一张纸插入时停止，未执行最终关环。log step 321 服务确认 episode 18、control_steps 664、done=True、reason=task_failure。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 13.4,
+   "log_step": 320,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.6–13.2 s，右手仍从上方压推近侧纸向文件夹移动，纸的三孔边滑入封面下方，三孔尚未套环；视频 13.4 s 画面标示 FAIL: page_below_desk 并停止运动，视频 15.4 s 仍保持此终态。log step 320 在插入第一张纸的控制段收到 EpisodeOver: task_failure，log step 321 确认为最后的 episode 18；第二张纸及最终关环控制未执行。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 13.4,
+    "log_step": 320,
+    "evidence_zh": "观察：视频 12.6–13.4 s，右手压推的纸张从后封面的下方滑入，未到达封面上方的环线穿孔位置；视频 13.4 s 纸面大部分在桌面视图中消失，画面明确报 FAIL: page_below_desk，穿孔计数仍为 0/6。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 320 的第一张纸插入段保持腕部目标高度 0.901 m、零旋转，用固定水平轨迹从 x=0.845 m 压推至 x=0.55 m，段内不读取纸张姿态或接触反馈。视频 11.8–13.4 s 显示右手没有夹起或托起纸张，纸边沿封面下方进入并触发 page_below_desk；该压推执行未保持装页所需的纸面高度与接触状态，支持控制失败，但不足以确定具体力或参数错误。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供本次完整视频和日志，但无状态日志；视频有 page_below_desk 的原生判负提示，却无逐步页姿态、接触对或接触力数值。推断：可定位低位压推入页失败，尚不能区分接触几何、压力大小与跟踪误差，故控制根因不细分。此前重置回合的装页自述不计入本次进度。",
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  }
+ },
+ "summary_zh": "本次评分回合为 log step 320 重置后的 episode 18：视频约 2.2 s 完成开环，随后右手压推近侧纸，但未有一张纸入环；闭环仅在视频初态成立，最终节点为 1/4。视频约 13.4 s 第一张纸从封面下方滑入并触发 page_below_desk，断点为第1张纸入环，现象为位姿不准，根因为控制。无状态和接触力日志，无法进一步确定低位压推失败的具体控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点值、时间、断点（第1张纸入环，约13.4 s）与现象（位姿不准）均有视频与日志支持；根因停在“控制”符合“分不出子类时停在控制”。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": "2026-10-30T05:16:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--jrohbwq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--jrohbwq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "70b9bbce3c4919223742dc8b9c2a3b64e495ef9c3d2503e0cf900c26c03cc6a8",
+   "video_sha256": "feb8cf52f120d9891dadbe7577f57df804250c4cd23be7a3310849d98fa88007",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--r23fwn6.json

@@ -0,0 +1,326 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--r23fwn6",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 87,
+   "control_steps_total": 3298,
+   "elapsed_s": 1723.623,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 505,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 505,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.469,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.329,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--r23fwn6/replay.mp4",
+  "duration_s": 12.2,
+  "fps": 5.0,
+  "frames": 61,
+  "sha256": "dc3943f2b4105d6d86762d6976656a4ec53bbffdab129865c7e4716bb917358b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2 s，机器人右手食指接近文件夹端部助力拨片，三对扣环仍闭合；画面原生叠字（环境的阶段、环角度及穿孔计数显示）为 stage 0/4、rings -0.0 rad。"
+     },
+     {
+      "t": 1.6,
+      "log_step": 213,
+      "text_zh": "观察：视频 1.4 s 食指下压拨片时环角度显示为0.18 rad；视频 1.6 s 两侧半环已经分离，原生叠字变为 stage 1/4、rings 0.6 rad，此后直至视频 12.0 s 保持张开。log step 213 的最终控制脚本包含该食指下压后撤离动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手伸直食指下压文件夹一端助力拨片，触发三对扣环联动张开，随后向上撤离。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 213,
+      "text_zh": "观察：视频 3.6–5.4 s，机器人右手卷曲手指，从画面近侧纸张的外缘将其沿桌面推向文件夹；视频 5.4–5.8 s 撤手后，纸张孔边仍在文件夹后封面的外侧，三个孔与金属环明显分离，未见纸张被夹起或套环。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 218,
+      "text_zh": "观察：视频 8.4–12.0 s 两张纸均停在文件夹旁的桌面，未有任何一张纸的三孔边沿套住扣环；本次视频原生叠字始终显示 holes threaded 0/6、linked 0/6。log step 218 返回最终 episode 11、control_steps 505，与 log step 212 重置后执行最终脚本的回合一致；此前重置掉的试验不计入进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手用卷曲手指的外侧接触画面近侧纸张外缘，将纸沿桌面向文件夹方向推送；没有形成拇指与其他手指的对向夹持，纸未入环。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 213,
+      "text_zh": "观察：视频 6.8–8.4 s，机器人右手下降到画面远侧的另一张纸外缘并斜向推纸，随后抬手；该纸向近侧纸张靠拢，但其孔边仍远离三枚金属环，两张纸没有叠放到后封面上。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.2、11.4、11.6、11.8、12.0 s 的末段画面中，两张纸均保持在文件夹外侧桌面，所有孔仍未套环；叠字为 stage 1/4、holes threaded 0/6、linked 0/6、hold 0/50。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手以卷曲手指外侧单侧接触画面远侧纸张外缘，沿桌面将其斜推向文件夹和第一张纸，随后撤离；未夹持、未入环。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.4
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.2 s 三对金属半环形成完整弧圈，原生叠字 rings -0.0 rad；关环是状态节点，初始闭合计入，不受装页前置节点门控。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.4 s 环角度已经显示0.18 rad，超过闭合阈值；视频 1.6 s 起为0.6 rad。视频 8.4–12.0 s 机器人右手撤到纸张上方后未再接触扣环，三环仍张开，没有恢复闭合。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 223,
+      "text_zh": "观察：agent 在 log step 223 自述控制器包含下压中脊关环，但 log step 213 的最终脚本只有开环、推两页和高位静置；视频 0.0–12.0 s 也未出现装页后的关环动作。关环按本次视频终态判为假，不采用该自述。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 5.4,
+   "log_step": 213,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.4–5.8 s，机器人结束对近侧第一张纸的推送并抬手，纸的三孔边沿仍在扣环外，原生穿孔计数为0/6；随后机器人改推另一张纸，直到视频 12.0 s 仍没有任何纸入环。第一张纸入环是最早尝试后未修复的步骤。"
+  },
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.4,
+    "log_step": 213,
+    "evidence_zh": "观察：视频 4.0–5.4 s 机器人确实接触并推动第一张纸，但视频 5.4–5.8 s 撤手后，纸张仍平放桌面，孔边停在后封面外缘附近，距三枚金属环有明显间隔，未对准并套过环尖；视频 12.0 s 仍为0/6孔穿入。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 5.4,
+    "log_step": 213,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 213 的最终脚本固定卷指，用指节从纸边单侧推送，推完直接抬手；视频 3.6–5.8 s 显示该接触只把第一张纸沿桌面推进了一段，未建立夹持或其他能继续控制纸张套孔的接触，抬手时纸孔仍远离环尖。本次接触安排未实现所需装页位姿。可行替代已由成功参考视频验证：inputs/oracle/replay.mp4 视频 12.0–18.0 s 机器人夹持纸边搬至扣环、放开后纸留在后封面且显示3/6孔穿入；参考只用于验证替代方案，不计作本次进度。"
+   }
+  ],
+  "gap_zh": "本任务没有状态日志，评分器reward也未报告逐孔位置、接触对或原生连续指标；无法量化毫米级孔心误差及手指具体接触力。视频可直接看见纸孔与扣环分离，足以判定两张装页节点均未达到；根因的具体接触设计归因由最终脚本与视频共同推断。"
+ },
+ "summary_zh": "本次评分回合完成了开环，随后右手卷指先后推动两张纸，但都停在文件夹旁桌面，未有纸孔套入扣环；初始闭环状态在视频约1.4 s 失去，终态仅开环事件为真（1/4）。断点为第1张纸入环：单侧推纸的接触安排未把纸送至套环位姿，机器人转去推第二张后也未修复，最终扣环仍张开、原生穿孔计数0/6。无状态日志及逐孔测量，细微误差与接触力无法量化，但未入环和未关环均在视频中可见。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：视频 1.2 s 环闭合，1.4 s 起张开（1.6 s 叠字 stage 1/4、rings 0.6 rad），0–12.0 s 无纸孔套环（叠字始终 0/6），终态 1/4 与 rings_closed 区间 [0,1.4] 正确；断点、位姿不准与抓取和接触设计的归因有视频支持。",
+    "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": "2026-10-30T05:16:47Z",
+  "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/dexhand-binder-page-load-i00-standard--r23fwn6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--r23fwn6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1bdede4aedbb4248be4acc138a159d01e4c019ecc972d3721c3ad9232f6957d",
+   "video_sha256": "dc3943f2b4105d6d86762d6976656a4ec53bbffdab129865c7e4716bb917358b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--tt7uvu3.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--tt7uvu3",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 238,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 3880,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 4,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3880,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.301,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.074,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--tt7uvu3/replay.mp4",
+  "duration_s": 62.0,
+  "fps": 5.0,
+  "frames": 310,
+  "sha256": "725ab4a20a7ac89c670639262520d9467a97d64311388d4fdd055dd495560207"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–1.6 s，机器人右手食指下压扣环机构端部拨片，金属半环分开；视频 1.4 s 原生画面读数为 rings 0.17 rad、Stage 0/4，视频 1.6 s 变为 rings 0.6 rad、Stage 1/4。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4 s 右手已离开拨片并移向纸张，三对半环仍保持张开；视频 57.8 s 后为装订而闭合不撤销此前开环事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指指尖下压文件夹中缝机构端部的助力拨片，触发两侧扣环张开，然后抬指离开。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3–6 s 右手以手指按住靠画面下方的纸并向桌沿拖移；视频 9.6 s 手指伸到悬伸纸边下方，视频 11.6–16 s 拇指与下方手指夹持纸页，将其抬离原位并带到文件夹上方，另一张仍留在桌面。"
+     },
+     {
+      "t": 25.6,
+      "log_step": 108,
+      "text_zh": "推断：视频 24.6–25.0 s 纸页虽已有三个孔入环，右手仍夹持其远端；视频 25.4–26.2 s 手指张开、向右退出，纸页随之落稳在后封面，三孔边仍套在三个右半环上。以视频约 25.6 s 记首次离手入环，误差约 0.4 s；视频 26.2 s 原生画面显示 holes threaded 3/6、linked 3/6。"
+     },
+     {
+      "t": 38.2,
+      "log_step": null,
+      "text_zh": "观察：视频 28–47.6 s 右手转而处理另一张纸时，第一张一直留在文件夹后封面和扣环上，未重新取走；视频 59.8–61.8 s 两页仍装在闭环中，画面显示 PASS、六孔链接。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手先用手指下压并拖动第一张纸至桌沿，再以拇指在上、其余手指在下相向夹住悬伸页边，托持搬运并调整倾角套环，最后张指退出。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.2,
+      "log_step": null,
+      "text_zh": "观察：视频 29–33 s 右手将桌上剩余纸页拖到桌沿；视频 36–40 s 拇指与下方手指夹持其页边并将纸抬起，原先散放处已空，第一张纸仍留在文件夹上。"
+     },
+     {
+      "t": 47.6,
+      "log_step": 123,
+      "text_zh": "观察：视频 42–47.4 s 右手将第二张纸的孔边移到三个右半环上并下降；视频 47.6 s 纸页落在第一张上，原生画面由 Stage 1/4 变为 Stage 2/4，显示 holes threaded 6/6、linked 6/6，扣环仍为 0.6 rad；视频 48.4–49.6 s 右手退出后两页未被带走。"
+     },
+     {
+      "t": 61.8,
+      "log_step": null,
+      "text_zh": "观察：视频 59.8 s 显示 PASS、Stage 4/4、hold 50/50；视频 60.0–61.8 s 成功近景中三环穿过叠放纸页的孔边，纸页留在后封面，手指悬在机构上方，��孔链接读数保持不变。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手先用手指按住并拖动桌上剩余纸页至桌沿，再以拇指和下方其余手指相向夹住页边，抬起搬至第一张纸上方，降低三孔边套环后松开并撤手。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.4
+     ],
+     [
+      57.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–1.2 s 三对扣环合拢，原生画面 rings 为 0 rad；视频 1.4 s 右手压动端部拨片后读数升为 0.17 rad、环尖开始分开，因此初始闭合区间结束。"
+     },
+     {
+      "t": 57.8,
+      "log_step": 133,
+      "text_zh": "观察：视频 50–57.6 s 右手食指多次下压机构内侧拨板，视频 57.6 s 扣环读数约 0.1 rad，视频 57.8 s 变为约 0 rad、Stage 3/4，三对半环已合成闭环；纸页仍留在后封面，孔链接读数为 6/6。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频 58.8–59.8 s 右手抬离机构，原生静置计数逐步增加，视频 59.8 s 显示 PASS、Stage 4/4、hold 50/50；视频 61.8 s 末帧近景仍为三环闭合、两页留在后封面。inputs/run.json 的评分器字段 success=1、live_success=1、replay_success=1、live_matches_replay=1 与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指指尖在装入两页后反复下压扣环机构内侧拨板，调整下压位置和深度使机构闭合，随后抬指离开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分回合中，右手在视频约 1.6 s 打开扣环，视频约 25.6 s 和 47.6 s 依次完成两页离手入环，视频 57.8 s 恢复闭环，四个节点最终均成立；闭环初态按规则从视频 0 s 计入。视频 59.8 s 原生画面显示 PASS、六孔链接及 hold 50/50，视频 61.8 s 末帧保持成功终态，评分器也报告实时与回放均成功。没有状态日志，第一张纸完全离手时刻有约 0.4 s 的视觉估计误差，毫米级孔心偏差和静置容差依靠原生阶段及成功读数确认；九项原生连续指标未在评分器字段中报告，均填 null。",
+ "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，四个节点时间与接触标注与视频及原生读数一致（1.6 s 开环、26.2 s 3/6 孔、47.6 s 6/6 孔、57.8 s 闭环、59.8 s PASS），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": "2026-10-30T05:16:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--tt7uvu3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--tt7uvu3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "143eebdc3ca9062c5f44c1f861f292138249240bc2290ad282af3645a3be8aaf",
+   "video_sha256": "725ab4a20a7ac89c670639262520d9467a97d64311388d4fdd055dd495560207",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--v8m3jm3.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--v8m3jm3",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 37,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 1444,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1444,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.509,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.295,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-binder-page-load-i00-standard--v8m3jm3/replay.mp4",
+  "duration_s": 31.2,
+  "fps": 5.0,
+  "frames": 156,
+  "sha256": "9753842cf05bcf5bf764b4eff181c17df270581d563fa4c7cd89d061d41dccae"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": 77,
+      "text_zh": "观察：视频0.8 s扣环仍闭合，视频1.0 s开始分开、顶部rings为0.49 rad；视频1.2 s三对半环明显张开，rings为0.6 rad、Stage为1/4。画面顶部是基准生成的原生阶段、环角度及穿孔/链接计数，非agent自述。右手伸直的中指下压文件夹端部助力拨片；log step 77为最后一次重置后该动作的提交。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频0.8–1.4 s，右手中指指端下压文件夹端部助力拨片，使联动扣环张开；未捏握环线。"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.8,
+      "log_step": 83,
+      "text_zh": "推断：视频7.0–9.8 s右手拇指与上方手指夹住原画面远侧纸的桌边悬伸部分，将纸提离原处并运到文件夹；视频10.8 s顶部已显示三孔穿入及链接3/6，但尚在夹持，故不据此提前计入。视频11.4–12.0 s纸落到后封面、手指张开并开始退出，结合log step 83的松夹指令，估计约视频11.8 s离手入环，时间不确定约0.3 s；视频13.0 s纸仍留在三个环线上。"
+     },
+     {
+      "t": 31.0,
+      "log_step": 97,
+      "text_zh": "观察：视频13.0–21.0 s先装入的纸始终留在后封面环线上，随后被另一张纸覆盖；视频31.0 s末尾近景两页叠在后封面，三环闭合，顶部显示穿孔6/6、链接6/6、hold 50/50及PASS。run.json评分器live_success=1、replay_success=1、live_matches_replay=1；log step 97服务返回done=True、reason=success。按达到关系的顺序计第1张，不固定纸张编号。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "先于夹持：视频3.0–6.2 s，右手伸直手指压住远侧纸的上表面并沿桌面摩擦拖向桌边，形成悬伸。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "随后视频7.0–11.8 s，右手拇指在纸下、食指/中指在纸上形成对向夹持，提起并将三孔边沿移到右半环上，放开纸后撤手。"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.4,
+      "log_step": 91,
+      "text_zh": "观察：视频17.8–20.8 s右手在桌边夹住剩余近侧纸并将其提起，桌面原位置空出；视频21.6 s穿孔和链接计数均增为6/6，但手仍夹纸。视频22.4 s顶部Stage由1/4变为2/4，右手松夹、两页叠放在后封面且六孔留在环线上；视频23.0 s右手横向退出，纸未随手移动。log step 91是本回合第二张纸的穿入和松手提交。"
+     },
+     {
+      "t": 31.0,
+      "log_step": 97,
+      "text_zh": "观察：视频27.6 s扣环闭合后两页仍留在后封面，视频30.2–31.0 s近景均显示三环穿过纸孔、六孔链接6/6及hold 50/50、PASS。评分器replay_success=1与该终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/��",
+      "note_zh": "先于夹持：视频13.0–17.0 s，右手伸直手指压住剩余近侧纸的上表面，沿桌面摩擦拖向桌边。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "随后视频17.8–22.4 s，右手拇指与食指/中指从下上两侧夹住纸的悬伸边，提起、移至文件夹并将三孔套入对应半环后松夹。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.0
+     ],
+     [
+      27.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s初始三对金属环对合，顶部rings为0.0 rad，故闭环状态从视频0.0 s计入；视频0.8 s仍闭合，视频1.0 s已张开至0.49 rad，闭环状态在此失去。"
+     },
+     {
+      "t": 27.6,
+      "log_step": 97,
+      "text_zh": "观察：视频24.2–25.8 s右手首次向拨板下压后，扣环仍张开且rings保持0.6 rad；视频27.4 s再次下压时rings为0.57 rad，视频27.6 s环尖对合、rings回到约0.0 rad且Stage为3/4，闭环状态恢复。右手随后抬离，视频28.0–28.6 s原生hold计数从6/50升至36/50，视频31.0 s近景为Stage 4/4、hold 50/50、PASS。log step 97服务返回成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频24.6–25.2 s及视频27.2–27.8 s，右手伸直的中指向下按金属拨板内侧凸边；第二次下压使三对半环合拢，随后手指上抬离开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hole_capture_radius",
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "binder_tilt",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wire_page_penetration",
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "hand_page_penetration",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_translation",
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "page_window_rotation",
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分回合完成全部4个节点：视频约1.2 s开环，第1张纸约11.8 s离手入环，第2张纸在22.4 s通过装页阶段，27.6 s闭环并最终通过全局离手静置验收；闭环状态按DAG从初始视频0.0 s计入，开环时失去、末尾恢复。视频末尾近景显示六孔链接6/6、hold 50/50及PASS，与log step 97服务成功、评分器实时与重放成功一致；此前重置回合的试验不计入本轨迹。无状态日志，首张纸完全离手时刻约有0.3 s不确定，毫米级穿孔及静置容差依靠原生阶段和成功判定支持；评分器未报告各原生连续指标的数值，均保留null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功回合，四个节点的时间与证据与视频顶部原生计数一致，未发现需修改的错误；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": "2026-10-30T05:15:55Z",
+  "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/dexhand-binder-page-load-i00-standard--v8m3jm3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--v8m3jm3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b39e3a312c9d5fa25abb1f29908767ab1420bbaab261163d1113dfa5bcee5f60",
+   "video_sha256": "9753842cf05bcf5bf764b4eff181c17df270581d563fa4c7cd89d061d41dccae",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh.json

@@ -0,0 +1,317 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-privileged--8x6s4dh",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 443,
+   "sim_steps": 443,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.773,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.985,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh/replay.mp4",
+  "duration_s": 10.9,
+  "fps": 10.0,
+  "frames": 109,
+  "sha256": "9bc5582799e64d978c16912b8d1ad2186adb73831fcd7e620395401759cad915"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两半架面重叠，原生字幕 fold 为180°，初态未展开。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4 s 活动半框落向台面，fold 字幕为21°；视频 6.5 s 降至12°，两半架面已摊开，随后视频 6.6–8.8 s 保持约1°，视频 9.8–10.8 s 的末段逐帧仍为1°，故达标时间取视频 6.5 s。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–2.9 s 右手伸直的手指插到活动半框端杆下方并向上托举，视频 3.5–6.2 s 随端杆绕铰链抬升；没有合手夹住管杆的可见动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "右侧灵巧手的伸直手指从下方托起活动半框端杆，随铰链开合托送；活动半框落下时手移到下方承接。未见拇指与其他手指对夹管杆。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.3 s 机器人操作主架时，随活动半框抬起的两条支腿有小幅摆动；视频 3.5–4.0 s 的 legs 字幕约为0°、0°、32°、32°，未见任何腿达到90°，故达标支腿数量不足1条。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 119,
+      "text_zh": "观察：视频 6.5–8.8 s 支腿回落至收纳位置，视频 9.8–10.8 s 末段逐帧的 legs 字幕四项均约0°，机器人没有对任一球足或支腿执行独立开腿动作；达标数量为0，第1条腿展开未达成。log step 119 的最终生成脚本将开腿阶段置于未启用的 DEXHAND_LEGS 条件内，其输出为443行动行。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.3 s 机器人操作主架时，随活动半框抬起的两条支腿有小幅摆动；视频 3.5–4.0 s 的 legs 字幕约为0°、0°、32°、32°，未见任何腿达到90°，故达标支腿数量不足2条。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 119,
+      "text_zh": "观察：视频 6.5–8.8 s 支腿回落至收纳位置，视频 9.8–10.8 s 末段逐帧的 legs 字幕四项均约0°，机器人没有对任一球足或支腿执行独立开腿动作；达标数量为0，第2条腿展开未达成。log step 119 的最终生成脚本将开腿阶段置于未启用的 DEXHAND_LEGS 条件内，其输出为443行动行。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.3 s 机器人操作主架时，随活动半框抬起的两条支腿有小幅摆动；视频 3.5–4.0 s 的 legs 字幕约为0°、0°、32°、32°，未见任何腿达到90°，故达标支腿数量不足3条。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 119,
+      "text_zh": "观察：视频 6.5–8.8 s 支腿回落至收纳位置，视频 9.8–10.8 s 末段逐帧的 legs 字幕四项均约0°，机器人没有对任一球足或支腿执行独立开腿动作；达标数量为0，第3条腿展开未达成。log step 119 的最终生成脚本将开腿阶段置于未启用的 DEXHAND_LEGS ���件内，其输出为443行动行。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.3 s 机器人操作主架时，随活动半框抬起的两条支腿有小幅摆动；视频 3.5–4.0 s 的 legs 字幕约为0°、0°、32°、32°，未见任何腿达到90°，故达标支腿数量不足4条。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 119,
+      "text_zh": "观察：视频 6.5–8.8 s 支腿回落至收纳位置，视频 9.8–10.8 s 末段逐帧的 legs 字幕四项均约0°，机器人没有对任一球足或支腿执行独立开腿动作；达标数量为0，第4条腿展开未达成。log step 119 的最终生成脚本将开腿阶段置于未启用的 DEXHAND_LEGS 条件内，其输出为443行动行。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 架子倒放，字幕 tilt 为180°，由架框接触台面，非四足正放。"
+     },
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5–8.8 s 主架展开后仍平躺倒放，机器人未翻转整架；视频 9.8–10.8 s 的末段逐帧显示腿均收拢、框边留在台面，tilt 为180°且 hold 为0/50，始终未形成四足支承正放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_1",
+   "t": 8.2,
+   "log_step": 119,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 6.5 s 主架已摊开；视频 7.6–8.8 s 右手停在展开架面的中部附近，支腿逐渐回拢，没有开始拨动任一支腿或球足，视频 9.8–10.8 s 末段也保持此状态。log step 119 明确从最终记录中省去开腿阶段，log step 121 验证同一443行交付两次回放均结束于 fold=0.013 rad、无立即失败原因；因此首个未启动的必要步骤为第1条腿展开，视频 8.2 s 仅作为停在该步骤之前的导航锚点。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 8.2,
+    "log_step": 119,
+    "evidence_zh": "观察：视频 6.5–8.8 s 主架摊开后机器人仅维持原位，没有针对支腿的开腿动作；视频 9.8–10.8 s 仍为四腿约0°。log step 119 的脚本注释明确说开腿阶段不写入记录，默认生成的最终文件只有主架展开与末段保持动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：未能建立有效开腿接触方案导致最终交付省略开腿。会话试验的 log step 113 输出显示指尖高于球足、四腿仍约0°；log step 115 的不同腕姿探针均报告手与台面接触；log step 107、117 的推腿试验中腿角仅约0.01 rad或0 rad，反而移动架体并触发 rack_off_counter。log step 119 随后删除最终记录中的开腿阶段。上述记录支持所试的指尖接近高度与推力方向没有产生有效支腿相对转动，替代接触方案是否可行未知；这些试验的越界不属于本次评分视频的现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志及成功示范视频；接触细节仅由单个overview视角及前后运动判断，不能核验具体手指碰撞对。开腿接触设计的根因来自会话试验及最终脚本删减记录，评分轨迹本身没有执行该阶段；agent 自述的毫米级间隙与���分量比例未独立核验，也无证据排除其他合法开腿方案。评分器reward未报告DAG的八项原生数值，native_metrics均留null，未用会话自测值替代评分器字段。"
+ },
+ "summary_zh": "评分轨迹中右手从下方托起活动半框，主架约在视频 6.5 s 达到展开阈值并保持到视频 10.8 s，最终完成1/6个节点。首个断点为第1条腿展开：最终交付未启动开腿，四腿收拢且整架倒放，后续开腿计数与正放均未完成；会话试验表明所试指尖接触方案未能有效转动支腿，随后该阶段被从交付中省去。没有状态日志与成功示范，根因依赖会话控制试验，不能把调试中的越界或掉落当成评分轨迹现象。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（rack_unfolded 视频约6.5 s达成，四条腿与正放未达成）、断点（legs_opened_1，没尝试，首步前）与根因（会话试验推断、已标为推断）均与视频字幕和 log step 119/121 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": "2026-10-30T05:28:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ce58db022f73b69102d28c4994f7f1106d0a397ff5db926b8408b8d153d583f8",
+   "video_sha256": "9bc5582799e64d978c16912b8d1ad2186adb73831fcd7e620395401759cad915",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx.json

@@ -0,0 +1,397 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-privileged--g5ydpzx",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 4810,
+   "sim_steps": 4810,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.193,
+   "peak_processes": 10,
+   "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/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx/replay.mp4",
+  "duration_s": 30.3,
+  "fps": 10.0,
+  "frames": 303,
+  "sha256": "5f6a037052055b206ae8e6519e3551d15e69c9de2b406e7e2a78442cf3348e8e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 2,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      8.1
+     ],
+     [
+      11.8,
+      19.2
+     ],
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s两半架面重叠，原生fold字幕180°；视频4.7 s为20°、4.8 s为9°，两半已摊开。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "观察：视频7.8 s的fold为9°，视频8.1 s升至20°，随后持续回折；视频11.7 s仍为44°，视频11.8–11.9 s由18°降到约0°，恢复展开。"
+     },
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "观察：视频19.1 s的fold为16°、19.2 s为19°；视频20.7 s为23°、20.8 s为18°、20.9 s为13°，随后到视频30.2 s保持约0°。阈值附近时间按字幕和相邻帧估计，误差约0.1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频1.5–4.8 s右手弯曲的手指勾包活动半框端杆，向上提起并绕铰链翻开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.0–11.9 s右手包住活动半框端杆承载、转动架体；视频18.6–21.2 s又合手抓住侧铰链提拉、放低，主架随之回折后恢复展开。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.8,
+      20.8
+     ],
+     [
+      23.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.8,
+      "log_step": null,
+      "text_zh": "观察：视频16.7 s的legs约19°、19°、86°、85°，视频16.8 s约19°、19°、96°、96°，至少一腿首次达标；视频17.0–18.7 s后两腿约100°。"
+     },
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：视频19.3 s后只剩一条腿达标；视频20.7 s该腿仍约91°，视频20.8 s降至87°，到视频22.9 s仍不足90°，该段逐帧字幕未见达标。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频23.0 s的legs约72°、21°、91°、17°，此后第三个角保持约91–100°；视频28.3–30.2 s终态字幕约84°、62°、99°、62°，最终至少一腿达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频16.6–16.9 s，右手食指抵住一条仍收拢支腿的球足向外拨推；架体也随之平移，另一半框的两条腿被动展开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手合拢手指包住架框侧铰链或端杆，提拉、转动及放下架子，使支腿随架体姿态和球足承托被动开合；视频18.6–21.2 s及23.0–28.2 s可见。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.8,
+      19.3
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.8,
+      "log_step": null,
+      "text_zh": "观察：视频16.8 s字幕中两条腿同时约96°，视频16.9–18.7 s两条腿均约99–100°，因此至少两腿达标。"
+     },
+     {
+      "t": 19.3,
+      "log_step": null,
+      "text_zh": "观察：视频19.2 s四腿约46°、35°、98°、98°；右手提拉侧铰链、球足仍与台面承托交互，视频19.3 s变为51°、36°、98°、94°，视频19.4 s变为55°、37°、97°、89°。两腿状态于视频19.3–19.4 s之间失去，此后至视频30.2 s从未再次同时有两腿达标；区间端取视���19.3 s附近。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频16.6–16.9 s，右手食指抵住一条仍收拢支腿的球足向外拨推；架体也随之平移，另一半框的两条腿被动展开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手合拢手指包住架框侧铰链或端杆，提拉、转动及放下架子，使支腿随架体姿态和球足承托被动开合；视频18.6–21.2 s及23.0–28.2 s可见。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.7,
+      "log_step": null,
+      "text_zh": "观察：视频16.8–18.7 s最多两腿达标；右手随后抓框提拉试图进一步展开其余支腿，视频19.0–21.2 s已有支腿反而回折。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：视频23.0–28.2 s右手继续提放端杆，最多一条腿达标；视频28.3–30.2 s四腿约84°、62°、99°、62°。所检查全程未出现至少3条腿同时达到90°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手合拢手指包住架框侧铰链或端杆，提拉、转动及放下架子，使支腿随架体姿态和球足承托被动开合；视频18.6–21.2 s及23.0–28.2 s可见。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.7,
+      "log_step": null,
+      "text_zh": "观察：视频16.8–18.7 s最多两腿达标；右手随后抓框提拉试图进一步展开其余支腿，视频19.0–21.2 s已有支腿反而回折。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：视频23.0–28.2 s右手继续提放端杆，最多一条腿达标；视频28.3–30.2 s四腿约84°、62°、99°、62°。所检查全程未出现至少4条腿同时达到90°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手合拢手指包住架框侧铰链或端杆，提拉、转动及放下架子，使支腿随架体姿态和球足承托被动开合；视频18.6–21.2 s及23.0–28.2 s可见。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–13.8 s右手持端杆将竖起架体转到架面朝上、腿朝下并放低，随后离手；视频14.0–15.5 s虽倾斜约9°，四腿只有约19°、19°、78°、77°，未同时展开。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：视频28.3–30.2 s右手已退开，架面近水平，tilt约1°，但四腿约84°、62°、99°、62°，hold始终0/50；未达到四腿同时展开后松手静置的联合验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频5.0–13.8 s右手包住端杆承载架体，翻到正面朝上并降至台面，随后张手退开；视频23.0–28.2 s再次抓端杆提起、调平和放低，再离手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_2",
+   "t": 19.3,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频16.8–19.3 s已有两腿达到90°，视频19.3–19.4 s右手抓侧铰链提拉架框时，其中一腿从约94°回折到89°，球足仍落在台面支承一侧；此后没有恢复两腿同时达标。视频20.8 s另一���也短暂回折，视频23.0 s后仅恢复一条，至视频30.2 s仍只有一条达标。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": true,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 19.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频18.8–20.7 s右手从侧铰链提拉、倾斜架框，远侧球足仍在台面上，支腿相对架面向内回折，已达标的一腿由视频19.2 s约98°降至视频19.4 s约89°、视频20.0 s约72°。推断：提拉时球足与台面的承托接触推动被动支腿收回，破坏已完成的两腿展开状态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 19.3,
+    "log_step": 65,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：视频18.8–20.7 s右手抓的是架框侧铰链而非已展开的两腿，提拉时球足仍受台面支承，支腿回折；会话脚本在log step 65、67、69中以合手抓侧铰链、上提、横移和滚转架框改变支腿姿态，没有独立稳住已展开支腿的接触，log step 66、68、70的反馈也显示部分腿角减小。log step 102从先前动作重放并压缩末段生成compactrest，log step 136最终选择此轨迹提交。",
+    "note_zh": "推断：该抓框承载布局未能在继续开腿时保持已展开支腿的相对姿态，台面接触将部分运动转成收腿。没有已验证的完整可行替代方案。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频；支腿角度及跨阈值时间来自视频原生整数字幕与相邻帧，边界约有0.1–0.2 s不确定性。球足/台面的具体接触力未记录，接触受力机制是结合可见运动和会话脚本的推断。log step 104是最终被选compactrest轨迹的重放反馈，较晚会话测试出现的rack_dropped等不能视为本视频事件；全部原生指标在评分器reward字段中未报告，故native_metrics均为null。"
+ },
+ "summary_zh": "提交轨迹展开并翻正主架，曾使两条支腿同时达标，进度最高3/6；视频19.3 s附近抓框提拉时，球足与台面交互使已展开支腿回折，两腿达标状态随后未恢复。视频30.2 s终态主架近乎平展，四腿约84°、62°、99°、62°，最终2/6，未满足四腿展开后离手静置。没有状态日志和成功参考视频，具体接触力及受力归因需依靠运动和脚本推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查的视频帧与标注一致：16.8 s与18.0 s两腿约96–100°，19.0 s为99/100°，19.6 s降为97/80°，折角19.6 s为22°，节点区间、最高3/6、终态2/6及断点legs_opened_2合理；根因标为推断并有会话脚本支持。",
+    "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": "2026-10-30T05:33:58Z",
+  "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/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8474a564099a941ad07eacb0dd6b54a1deb0a934f0f6ff3bdcf0c831a2bc3316",
+   "video_sha256": "5f6a037052055b206ae8e6519e3551d15e69c9de2b406e7e2a78442cf3348e8e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--mxppkno.json

@@ -0,0 +1,376 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-privileged--mxppkno",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 5546,
+   "sim_steps": 5546,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.228,
+   "peak_processes": 24,
+   "peak_disk_gb": 0.388,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-privileged--mxppkno/replay.mp4",
+  "duration_s": 31.2,
+  "fps": 10.0,
+  "frames": 312,
+  "sha256": "56ad9a42311faf429c6692a34be229f9659648d6052bff9b1811db54adbdc332"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 3,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.7–2.3 s，右手合指包住活动半框端杆，将原先叠合的上半框绕中间铰链翻起。"
+     },
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "观察：视频 3.3 s 原生 fold 字幕为19°，视频 3.4–3.5 s 约18°，视频 3.6 s 短暂回到21°，视频 3.7 s 降至14°、视频 3.8 s 为1°，两半框已摊开；以视频 3.7 s 作为明确达标锚点，整数字幕使边界有约0.3 s不确定性。"
+     },
+     {
+      "t": 31.1,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–31.1 s 所检查的全程抽帧中两半框保持摊开，翻转期间 fold 最大读数约11°；视频 31.1 s 为约0°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指合拢包住活动半框端杆并转腕展开；视频 1.7–2.3 s 可见端杆随手翻起。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.9–6.5 s，右手拇指、食指夹住近侧支腿球足并向上扳起；视频 6.5 s 第一条腿角82°，视频 6.6 s 为93°，首次至少一条腿达到90°。"
+     },
+     {
+      "t": 31.1,
+      "log_step": null,
+      "text_zh": "观察：视频 31.1 s 原生 legs 字幕为100°、87°、33°、91°，至少一条达标。各腿按当前达标数量计数，不固定实例。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指捏住第一条操作支腿的球足，绕其铰链向上扳开；视频 5.9–6.6 s。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.9–9.5 s，右手夹住另一侧的第二条支腿球足抬起；视频 9.5 s 腿角85°、100°、0°、0°，视频 9.6 s 为95°、100°、0°、0°，至少两条达标。"
+     },
+     {
+      "t": 31.1,
+      "log_step": null,
+      "text_zh": "观察：视频 26.7–31.1 s 检查帧虽显示一条腿回折、另一条逐渐降至87°，但仍有两条始终不低于90°；视频 31.1 s 为100°和91°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹住第二条操作支腿的球足，向上扳开；视频 8.9–9.6 s。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.6,
+      27.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 11.9–12.5 s，右手捏住远侧第三条支腿球足向上扳；视频 12.5 s 腿角100°、100°、85°、0°，视频 12.6 s 为100°、100°、94°、0°，至少三条达标。"
+     },
+     {
+      "t": 27.7,
+      "log_step": null,
+      "text_zh": "观察：视频 26.7 s 一条腿已回折，但另外三条仍达标；视频 27.6 s 字幕为100°、90°、27°、96°，视频 27.7 s 为100°、89°、25°、96°，此后至视频 31.1 s 只余两条达标。整数字幕使第二条腿越过90°的时间约有0.1 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹住第三条操作支腿的球足，向上扳开；视频 11.9–12.6 s。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      26.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.9–15.5 s，右手夹住最后一条收拢支腿的球足扳起；视频 15.4 s 最后一腿80°，视频 15.5 s 四腿为100°、100°、100°、90°且阶段字幕变为1/3 unfolded，视频 15.6 s 最后一腿98°。"
+     },
+     {
+      "t": 26.7,
+      "log_step": null,
+      "text_zh": "观察：视频 26.6 s 四腿仍为93°、92°、94°、98°；视频 26.7 s 落台过程中第三个角度骤降为69°，视频 26.8 s 进一步降至54°，四腿同时达标状态失去且未恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹住第四条操作支腿的球足，向上扳开；视频 14.9–15.6 s。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.1,
+      "log_step": null,
+      "text_zh": "观察：视频 17.4–18.1 s，右手拇指与食指夹住框架侧边并抬起，架体绕另一侧台面接触边翻转；视频 19.0–26.4 s 手仍夹持高处侧边，架面逐渐朝正面转下。"
+     },
+     {
+      "t": 26.7,
+      "log_step": null,
+      "text_zh": "观察：视频 26.6–26.8 s 下降中的晾衣架在近台面的支腿处发生明显回折，手仍抓着高处框边；此后架子未形成四足同时展开支承。"
+     },
+     {
+      "t": 31.1,
+      "log_step": null,
+      "text_zh": "观察：视频 28.4 s 手向上撤离；视频 29.0–31.1 s 最终静帧显示架子倾斜支承，原生字幕 tilt 8°、legs 100°/87°/33°/91°、hold 0/50、Stage 1/3 unfolded。主架虽已朝正面且手已离开，四腿展开与四足静置联合验收始终未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹持主架侧边，抬升、翻转并控制下降，随后张指撤离；视频 17.4–28.4 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rack_standing",
+   "t": 26.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.5–26.6 s 主架及四腿已经展开；右手随后正在夹持框边翻转、下降以正放晾衣架。视频 26.6–26.8 s 支腿落台时一腿回折至69°继而54°，之后未恢复；视频 31.1 s 仍仅两腿达到90°且 hold 0/50，正放步骤没有完成。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": true,
+   "legs_opened_2": true,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 26.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.4–26.8 s，右手夹持框边下放晾衣架，近台面的一条支腿在接触台面并承载时向架面内折，原生腿角由视频 26.6 s 的94°降到视频 26.7 s 的69°、视频 26.8 s 的54°，碰坏此前四腿展开状态；视频 31.1 s 该腿约33°，未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 26.6–28.4 s 显示机器人下放时未维持已打开支腿的承载姿态，腿受台面接触而回折后仍继续下降并撤手。log step 63–65 的交付生成脚本用腕部位置弧线逐段下放，依据球足触台选择支点，未在腿角跌破阈值后实施修复；log step 65 保存了该参数轨迹，log step 73 确认交付5546行，评分器同样记录5546动作。目标顺序符合任务，但落台控制没有保住四腿展开状态；现有证据不足以细分为握法、轨迹还是力反馈问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触力或关节力矩记录，也没有成功参考视频；落台时局部接触部分被架面遮挡，能由连续画面及原生腿角字幕确认回折，但不能确定具体受力方向或控制子类型。字幕角度取整，节点阈值时刻约有0.1–0.3 s不确定性；所有区间直接取视频时钟，没有用agent时间换算。原生指标未出现在评分器reward字段，native_metrics按要求留null。"
+ },
+ "summary_zh": "机器人展开主架并依次打开四条支腿，视频 15.5 s 达到5/6个节点；随后夹框翻转正放时，视频 26.7 s 一条支腿落台回折，另一条后来低于90°，终态保留3/6个节点。落台控制未维持支腿承载姿态，手撤离后字幕仍为阶段1/3、hold 0/50；无状态日志和力数据，根因只标到控制，具体子类型无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间、终态3/6、断点rack_standing（26.7 s）与现象/根因（落台时腿回折，控制不细分）与帧和原生字幕一致，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": "2026-10-30T05:34:30Z",
+  "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/dexhand-drying-rack-unfold-i00-privileged--mxppkno/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--mxppkno/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "692ef908ba21878d15ca4a7459f6dde4226a6623767360ff245db2c7a8d75f9b",
+   "video_sha256": "56ad9a42311faf429c6692a34be229f9659648d6052bff9b1811db54adbdc332",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--yrbukhw.json

@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-privileged--yrbukhw",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 380,
+   "sim_steps": 245,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.854,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.254,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-privileged--yrbukhw/replay.mp4",
+  "duration_s": 7.0,
+  "fps": 10.0,
+  "frames": 70,
+  "sha256": "31acd2ea9924fea83ef4fecf1c95e38f4eac5a2a33df3376a27cc423039472ec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两半架面重叠、底面朝上，原生字幕 fold=180°；视频 1.4–3.8 s 右手在活动半框端杆处逐渐合拢，视频 4.4–4.9 s 整架随手向台边滑移，架面未绕中间铰链摊开。"
+     },
+     {
+      "t": 4.9,
+      "log_step": 76,
+      "text_zh": "观察：视频 4.9 s 出现 FAIL: rack_off_counter，fold 字幕仍为180°；视频 5.0–6.9 s 终态保持折叠。log step 76 官方回放输出 fold_angle_rad=3.1348381276222597、stage=0；log step 82 重新生成同一380行动作文件并再次确认 rack_off_counter，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.8–4.9 s，单只 Sharpa 右手弯曲手指并以拇指侧对向包夹活动半框的端杆，随后保持合手接触牵动架体；视频中未见分离后再抓。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0.0–6.9 s 的全部帧，四条腿均未从夹在两半架面间的收纳位置展开到90°；视频 4.9 s 及视频 6.9 s 字幕 legs 约为0、0、8、8°，达标腿数为0，因此至少1条腿展开的条件从未成立。右手操作端杆，未见单独拨动支腿。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0.0–6.9 s 的全部帧，四条腿均未从夹在两半架面间的收纳位置展开到90°；视频 4.9 s 及视频 6.9 s 字幕 legs 约为0、0、8、8°，达标腿数为0，因此至少2条腿展开的条件从未成立。右手操作端杆，未见单独拨动支腿。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0.0–6.9 s 的全部帧，四条腿均未从夹在两半架面间的收纳位置展开到90°；视频 4.9 s 及视频 6.9 s 字幕 legs 约为0、0、8、8°，达标腿数为0，因此至少3条腿展开的条件从未成立。右手操作端杆，未见单独拨动支腿。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0.0–6.9 s 的全部帧，四条腿均未从夹在两半架面间的收纳位置展开到90°；视频 4.9 s 及视频 6.9 s 字幕 legs 约为0、0、8、8°，达标腿数为0，因此至少4条腿展开的条件从未成立。右手操作端杆，未见单独拨动支腿。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.9 s 架面始终倒放且折叠，未出现展开后翻到四足支承的动作；视频 4.9–6.9 s 手仍贴在端杆处，字幕 tilt=180°、hold=0/50，四足正放并离手静置的条件从未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": 3.1348381276222597
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rack_unfolded",
+   "t": 4.7,
+   "log_step": 76,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.4–4.9 s 右手合握活动半框端杆，整架沿台面向近侧边缘滑移，两半架面仍相叠；视频 4.9 s 显示 rack_off_counter 并终止，随后至视频 6.9 s 未恢复。log step 76 官方回放定位越界部件为 fixed_corner_l，stage=0；log step 82 重新生成并验证该最终交付。"
+  },
+  "unmet": {
+   "rack_unfolded": false,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 4.7,
+    "log_step": 76,
+    "evidence_zh": "观察：视频 3.8–4.9 s 右手抓着活动半框端杆操作时，固定半框和活动半框一起平移并轻微转动，主折角始终约180°，没有形成需要的相对展开运动；视频 4.9 s 触发 rack_off_counter。log step 76 官方回放报告 fixed_corner_l 越界。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 4.7,
+    "log_step": 75,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 2.8–4.9 s 合手包夹端杆后，施力主要牵动整个折叠架而未打开铰链，说明当前握持及承载布局未能在活动半框与固定半框之间建立有效的相对展开作用。log step 75 交付生成脚本采用深度卷指、放松卷指后跟随端杆提升的方案，没有固定另一半框的接触；log step 76 官方回放及 log step 82 最终重建均以 rack_off_counter 结束。替代握法是否能完成本任务未验证。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志或成功参考视频，只有 overview 回放；逐指接触面及接触力方向不能精确核验，抓取设计归因是结合架体运动和交付脚本作出的推断。log step 76 官方回放仅露出主折角数值，其余原生连续指标未完整报告，故相应 native_metrics.value 留空；未把会话测试或 agent 在 log step 85 总结的部分展开成绩当作本次交付的进度。"
+ },
+ "summary_zh": "观察：评分尝试中右手合握活动半框端杆，但两半架面始终重叠，四腿均未达到90°，正放也未开始，最终0/6节点达标。观察：视频约 4.4–4.9 s 整架随手滑向台边，随后以 rack_off_counter 终止，断点为展开主架，现象为带动本体；推断：当前抓取与承载布局未形成有效相对展开作用。观察：没有状态日志或成功示范，具体接触力与可行替代握法尚不能核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全未达成、断点 rack_unfolded、带动本体现象与抓取和接触设计根因（已标推断、alt_feasible 未知）均与视频字幕、帧和 log step 76/82 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": "2026-10-30T05:30:26Z",
+  "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/dexhand-drying-rack-unfold-i00-privileged--yrbukhw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--yrbukhw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c324d12331dabe09ea0301fa8c75e4037294fd0bcc12b072a1f983f75bd722e8",
+   "video_sha256": "31acd2ea9924fea83ef4fecf1c95e38f4eac5a2a33df3376a27cc423039472ec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6hzmmh7.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--6hzmmh7",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 48,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 2667,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 1,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2667,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.215,
+   "peak_processes": 9,
+   "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/dexhand-drying-rack-unfold-i00-standard--6hzmmh7/replay.mp4",
+  "duration_s": 55.6,
+  "fps": 5.0,
+  "frames": 278,
+  "sha256": "034cc498f17039753e8665fd05d276380586807b34ca75d7f3a6f198cab5c312"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 7.4 s 两半主架仍有夹角，原生 fold 字幕为29°；视频 7.6 s 两半架面已摊到同一平面，fold 为1°，之后直至视频 55.4 s 末帧保持约1°，低于18°。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.6–7.6 s，右手掌心朝上，用伸出的手指从活动半框管边下方托起并向铰链另一侧翻开；未见拇指与其余手指对夹管边。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "观察：视频 5.6–7.6 s，右手数根手指从活动半框外侧横管下方承托并抬扫，使半框绕中间铰链展开，随后手离开；不是合手抓握。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–11.0 s，右手食指、中指在画面右侧近缘支腿的杆端附近抵推，腿仍贴近架面；视频 13.8–14.6 s 换到画面左侧近缘腿拨动，该腿原生角度仅短暂升至12°后回到0°。视频全程逐帧检查 legs 字幕，任一腿均未达到90°；视频 55.4 s 四腿均约0°。"
+     },
+     {
+      "t": 53.4,
+      "log_step": null,
+      "text_zh": "观察：视频 47.2–53.4 s 机器人再次以伸指在右侧近缘腿处推进，整个倒放架体沿台面滑动；视频 53.4 s 原生字幕变为 FAIL: rack_off_counter，四腿仍约0°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 9.8–34.0 s，右手食指、中指先后在画面右、左两条近缘支腿杆端处拨推、压抵并抬扫；视频 38.0–53.4 s 继续在右侧腿处尝试。第2条计数节点的接触表示机器人确实操作过第二条实体腿，不表示已有两腿达标；视频未确认手指夹住杆件形成有效抓握。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–14.8 s 机器人先后操作画面右、左两条近缘支腿，视频 16.0–34.0 s 还反复换侧尝试；没有出现任意两条腿同时展开到90°的画面，逐帧 legs 字幕也无此记录。视频 55.4 s 四腿均约0°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 9.8–34.0 s，右手食指、中指先后在画面右、左两条近缘支腿杆端处拨推、压抵并抬扫；视频 38.0–53.4 s 继续在右侧腿处尝试。第2条计数节点的接触表示机器人确实操作过第二条实体腿，不表示已有两腿达标；视频未确认手指夹住杆件形成有效抓握。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–55.4 s，四条腿始终没有形成至少3条展开到90°的状态；展开主架时随活动半框转动的两腿最大字幕读数约19��，随后回落，视频 55.4 s 四腿均约0°。主架展开后机器人只在两条近缘腿处反复操作，未见针对其余腿的独立开腿动作。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–55.4 s，四条腿始终没有形成至少4条展开到90°的状态；展开主架时随活动半框转动的两腿最大字幕读数约19°，随后回落，视频 55.4 s 四腿均约0°。主架展开后机器人只在两条近缘腿处反复操作，未见针对其余腿的独立开腿动作。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55.4,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–55.4 s 主架虽已摊平，却一直倒放在台面，支腿贴近架面，机器人没有将架面翻到四腿朝下的正放姿态；原生 tilt 始终约180°、hold 为0/50。视频 55.4 s 末帧仍为此姿态，未达到四足支承且松手静置的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_1",
+   "t": 10.4,
+   "log_step": 77,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.8–11.0 s，机器人对第一条近缘支腿抵推、抬扫后该腿仍平贴架面；随后换腿与重试均没有任何一条达到90°，所以这一开腿步骤始终未修复。视频 53.4 s，在同一开腿工作中整架被推移并出现 FAIL: rack_off_counter；log step 77 的脚本开始依次打开两条前侧腿，log step 136 的服务状态确认最后一局 episode=2、done=True、reason=task_failure。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 10.4,
+    "log_step": 77,
+    "evidence_zh": "观察：视频 9.8–11.0 s 右手指端抵住右侧近缘支腿杆端并推进，抬手后杆件仍贴着架面；视频 13.8–14.6 s 对另一腿的拨动仅使其短暂升至12°，随后回到0°，远未到90°。视频 16.0–43.2 s 的重复抵推仍没有把腿扳开。"
+   },
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 49.6,
+    "log_step": 126,
+    "evidence_zh": "观察：比较视频 46.4、49.6、52.8 s 的台面与框角，机器人在右侧近缘腿附近推进时，两半已展开的框架一起沿台面向近缘滑移，支腿却仍贴着架面。视频 53.4 s 原生判负字幕为 rack_off_counter，说明开腿操作最终把整架带出允许台面范围。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人用于开腿的接触没有把支腿相对主框有效扳起，推力反而传给整个框架。依据是视频 9.8–34.0 s 反复以指端抵推而腿角接近0°，以及视频 47.2–53.4 s 手继续抵推时框体整体滑动；log step 77、126 的脚本采用食指和中指沿台面楔入后向上抬扫，且未安排另一接触固定框体，log step 129–130 的实际关节位置诊断也显示低位推进受阻。可行的替代接触方案没有在本局得到验证。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功示范，overview 画面中的指尖与细杆局部重叠，不能逐对确认接触或认定剪式合指形成了有效夹持，也不能将失败进一步归为某个已证实的参数或反馈问题；接触设计根因是结合视频与脚本的推断。评分字段未报告DAG列出的8项原生连续指标，故其数值均为null。log step 137 的模型过滤发生在 log step 134 已返回 EpisodeOver: task_failure、log step 136 已确认本局结束之后，不改变已发生的物理失败。"
+ },
+ "summary_zh": "机器人在视频约7.6 s 将主架展开，此状态一直保持至视频55.4 s，最终完成1/6个节点；四腿均未达到90°，架体始终倒放。断点是第1条腿展开：反复指端拨推未能扳起支腿，并在视频47.2–53.4 s 带动整架滑移，最终出现rack_off_counter判负，接触设计不足为有证据支持的推断。没有状态日志和成功示范，局部夹持细节及精确受力无法确认；模型过滤发生在本局已经物理判负之后。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "rack_unfolded 在视频 7.6 s fold=1° 成立；四腿全程未达90°，末帧 FAIL: rack_off_counter，断点 legs_opened_1 与现象/根因均有帧支持。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:36:39Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--6hzmmh7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--6hzmmh7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1cb920672ddcbb7529ac2322ba663d3207feb327d6b98f31c12fa76a5a301a2b",
+   "video_sha256": "034cc498f17039753e8665fd05d276380586807b34ca75d7f3a6f198cab5c312",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6ybzseu.json

@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--6ybzseu",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 24,
+   "control_steps_total": 4397,
+   "elapsed_s": 2360.37,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 315,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 315,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.305,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.245,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--6ybzseu/replay.mp4",
+  "duration_s": 8.6,
+  "fps": 5.0,
+  "frames": 43,
+  "sha256": "85ff40ef33eb82329d753bcdb8503fb4b5ec34340c76e708d0ebd699d065a9e0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两半矩形架面重叠倒放，原生字幕 fold 180 deg；视频 0.0–8.4 s 逐帧检查中 fold 始终为180°，没有摊开至18°以内。"
+     },
+     {
+      "t": 4.6,
+      "log_step": 57,
+      "text_zh": "观察：视频 3.2–6.2 s 右手卷指带起折叠架，两半保持重叠并一起转动；视频 6.4 s 字幕变为 FAIL: rack_dropped，至视频 8.4 s 保持失败终态。log step 57 的服务输出为 episode 4、F1 done True task_failure；这是最后一次 reset 后的开架动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "右侧Sharpa灵巧手卷曲手指勾住重叠架框的近侧管边并沿弧线提拉；视频 2.4–6.2 s 可见手贴在边框处，架子随手抬起，未见明确的拇指与其余手指对向夹紧。结合log step 57的卷指提拉脚本判为勾，非已证实的抓握。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.4 s 四条支腿一直贴近架面，仅有小幅被动摆动，没有任何一条达到90°；视频 6.4 s 原生 legs 字幕为7、5、-1、1 deg，视频 7.4–8.4 s 终态相同。因此至少1条腿展开的条件从未成立；右手没有单独操作支腿。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.4 s 四条支腿一直贴近架面，仅有小幅被动摆动，没有任何一条达到90°；视频 6.4 s 原生 legs 字幕为7、5、-1、1 deg，视频 7.4–8.4 s 终态相同。因此至少2条腿展开的条件从未成立；右手没有单独操作支腿。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.4 s 四条支腿一直贴近架面，仅有小幅被动摆动，没有任何一条达到90°；视频 6.4 s 原生 legs 字幕为7、5、-1、1 deg，视频 7.4–8.4 s 终态相同。因此至少3条腿展开的条件从未成立；右手没有单独操作支腿。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.4 s 四条支腿一直贴近架面，仅有小幅被动摆动，没有任何一条达到90°；视频 6.4 s 原生 legs 字幕为7、5、-1、1 deg，视频 7.4–8.4 s 终态相同。因此至少4条腿展开的条件从未成立；右手没有单独操作支腿。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–8.4 s 架面始终重叠、四腿未展开；视频 6.4 s 至视频 8.4 s 终态仍是倾斜的折叠���，tilt 27 deg、hold 0/50，没有四足向下独立支承并离手静置的结果。右手此前抬起架子属于开架尝试，未进入展开后翻转正放的操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rack_unfolded",
+   "t": 3.8,
+   "log_step": 57,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.8–5.4 s 右手沿弧线提拉边框时，两半架面仍重叠，整个折叠架一同被翻起，fold保持180°；视频 6.4 s 显示 FAIL: rack_dropped，此后没有恢复。log step 57 在最后一次重置到episode 4后只执行开架脚本F1，并返回task_failure。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 3.8,
+    "log_step": 57,
+    "evidence_zh": "观察：视频 3.8–5.4 s 机器人右手提拉本应打开的活动半框，固定半框也随同抬起转动；原生字幕fold始终180°，而tilt由视频 3.8 s 的138°变至视频 5.4 s 的83°，两半之间没有所需的展开运动。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.4,
+    "log_step": 57,
+    "evidence_zh": "观察：视频 5.4–6.2 s 机器人右手带着重叠的折叠架继续转动；视频 6.4 s 原生评分字幕变为 FAIL: rack_dropped，至视频 8.4 s 手仍位于架体上缘，绿色接触标记可见，未见架体持续脱手落下。log step 57 的F1脚本在卷指后持续保持GRASP2目标，没有安排松手，服务返回task_failure。推断：按 task/task_dag.json:368 的 rack_dropped 判据（某个2 ms物理子步无台面和手接触、根刚体竖直速度小于-0.05 m/s），原生失败信号支持提拉中曾短暂失去承载接触；这不是帧上直接看见的持续脱手或计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 3.8–6.4 s 机器人右手钩持边框时，两半架面始终重叠并整架随动，实际接触布局未能将活动半框的运动与固定半框分离；视频 6.4 s 原生字幕变为 FAIL: rack_dropped。log step 57 的控制脚本在管边卷指后，以固定手指目标执行预设腕部圆弧，没有根据接触反馈重新选择承载位置；其接触布局在本局没有实现所需的相对转动。视频末段手仍在上缘，不据此声称持续脱手掉落；没有本局验证过的可行替代接触方案。"
+   }
+  ],
+  "gap_zh": "无状态日志，视频仅有overview视角，手下方的具体接触指节、是否同时勾到两层管边及2 ms物理子步的接触状态不可见。视频 6.4–8.4 s 手仍在架体上缘，绿色接触标记可见，无法从5 fps帧确认脱离瞬间或持续脱手；“没保持住”仅由原生rack_dropped信号与冻结DAG中该信号的判据推断，缺少逐子步接触数和竖直速度日志作独立核验。接触设计根因由整架随动及最后一局脚本推断。不能将log step 56关于episode 3已展开的自述计入最后一局；评分字段未报告DAG列出的八项原生连续指标，其value均留null。",
+  "unmet": {
+   "rack_unfolded": false,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  }
+ },
+ "summary_zh": "最后参与评分的是log step 57重置后的episode 4；机器人右手勾住边框提拉，两半主架始终重叠（视频fold持续180°），六个节点均未达到。开架时整架被带起转动，视频 6.4 s 原生字幕变为FAIL: rack_dropped；结合冻结DAG的掉落判据推断曾短暂失去承载接触，结合预设卷指圆弧脚本推断接触设计未能实现相对开合。视频末段手仍在架体上缘，未直接显示持续脱手，且无逐子步接触和速度日志核验瞬间失载，故conf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": 7,
+    "summary_zh": "WHERE 标签（六节点均未达成、断点 rack_unfolded、带动本体）与视频一致；但「没保持住」一条把架子在视频 6.4 s 后读成脱手掉落，帧上看不到：手一直勾着架子，架子挂在手下，tilt 27°。该现象是推断，缺乏证据。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成、断点 rack_unfolded、带动本体与帧一致（fold 全程180°，腿≤7°）；没保持住已按上轮意见改为标明的推断，证据与 gap_zh 相符，无需再改。",
+    "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": "2026-10-30T05:48:19Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--6ybzseu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--6ybzseu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--6ybzseu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--6ybzseu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "843778962d10c93281450f5cdd42a6de2822cd98b4cdf26097fe2a589f99eda3",
+   "video_sha256": "85ff40ef33eb82329d753bcdb8503fb4b5ec34340c76e708d0ebd699d065a9e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--aqckxaa.json

@@ -0,0 +1,362 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--aqckxaa",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 316,
+   "control_steps_total": 13129,
+   "elapsed_s": 2585.261,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1402,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1402,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.575,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.267,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--aqckxaa/replay.mp4",
+  "duration_s": 30.2,
+  "fps": 5.0,
+  "frames": 151,
+  "sha256": "4a0c6b64250cc76d789eccbb6c71fae2600413303ce579515a4f997e1d5c3610"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s两半架面重叠，原生fold字幕为180°，尚未展开。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频9.4 s原生fold为20°，视频9.6 s降到14°，两半架面已基本摊平；视频10.6 s短暂回到21°，视频10.8 s恢复1°，该约0.2 s波动按短于约0.3 s不计丢失。视频30.0 s两半仍摊平，fold为1°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "观察：视频4.0–7.0 s右手手指从活动半框外侧管边下方承托并抬起，活动半框随手绕中铰链翻开；随后手沿弧线带框边下降至摊平。未见拇指与其余手指对夹管边，不记抓握。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频12.4–14.6 s右手在第1处支腿附近下降、横移并抬起，但细杆和球足仍停留在架面收纳位置，没有随手竖起。视频12.0–28.0 s四次开腿动作后，各腿仍收拢；视频30.0 s原生legs四角度均约0°，达标数为0，未达到至少1条的条件。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354的最终控制脚本依次对四处支腿执行scoop动作，log step 356重置后由log step 357执行；这里按尝试顺序关联四个计数节点，不把脚本中宣称开腿完成当作达标证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频12.4–14.6 s可见右手在支腿附近执行开腿动作，手与细杆局部重叠，但单一远景无法确认是否发生瞬时擦碰，也无法确认具体接触方式；没有可见夹持、勾住或承托并带起支腿的结果。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频16.4–18.6 s右手在第2处支腿附近下降、横移并抬起，但细杆和球足仍停留在架面收纳位置，没有随手竖起。视频12.0–28.0 s四次开腿动作后，各腿仍收拢；视频30.0 s原生legs四角度均约0°，达标数为0，未达到至少2条的条件。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354的最终控制脚本依次对四处支腿执行scoop动作，log step 356重置后由log step 357执行；这里按尝试顺序关联四个计数节点，不把脚本中宣称开腿完成当作达标证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频16.4–18.6 s可见右手在支腿附近执行开腿动作，手与细杆局部重叠，但单一远景无法确认是否发生瞬时擦碰，也无法确认具体接触方式；没有可见夹持、勾住或承托并带起支腿的结果。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频20.4–22.6 s右手在第3处支腿附近下降、横移并抬起，但细杆和球足仍停留在架面收纳位置，没有随手竖起。视频12.0–28.0 s四次开腿动作后，各腿仍收拢；视频30.0 s原生legs四角度均约0°，达标数为0，未达到至少3条的条件。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354的最终控制脚本依次对四处支腿执行scoop动作，log step 356重置后由log step 357执行；这里按尝试顺序关联四个计数节点，不把脚本中宣称开腿完成当作达标证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频20.4–22.6 s可见右手在支腿附近执行开腿动作，手与细杆局部重叠，但单一远景无法确认是否发生瞬时擦碰，也无法确认具体接触方式；没有可见夹持、勾住或承托并带起支腿的结果。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.8,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–26.4 s右手在第4处支腿附近下降、横移并抬起，但细杆和球足仍停留在架面收纳位置，没有随手竖起。视频12.0–28.0 s四次开腿动作后，各腿仍收拢；视频30.0 s原生legs四角度均约0°，达标数为0，未达到至少4条的条件。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354的最终控制脚本依次对四处支腿执行scoop动作，log step 356重置后由log step 357执行；这里按尝试顺序关联四个计数节点，不把脚本中宣称开腿完成当作达标证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频24.0–26.4 s可见右手在支腿附近执行开腿动作，手与细杆局部重叠，但单一远景无法确认是否发生瞬时擦碰，也无法确认具体接触方式；没有可见夹持、勾住或承托并带起支腿的结果。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频27.0–30.0 s右手已撤离并停在架子外侧，架面仍贴台、四腿收拢，未出现翻转后四足向下支承；视频30.0 s原生tilt为180°、hold为0/50。"
+     },
+     {
+      "t": null,
+      "log_step": 354,
+      "text_zh": "观察：log step 354中标作站立阶段的实际代码仅调用get_obs(seconds=1.5)等待，未包含翻转或放到四足支承的运动。视频中也未见此步骤启动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_1",
+   "t": 13.8,
+   "log_step": 357,
+   "where": "操作中",
+   "evidence_zh": "观察：视频12.4–14.6 s右手完成第一次开腿的下降、横移、抬起动作，但相邻支腿始终贴着架面，未随手展开；其后其他位置的尝试也没有使任一条腿达到90°，直至视频30.0 s仍全部收拢。log step 356重置后，log step 357运行最终脚本。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 13.8,
+    "log_step": 357,
+    "evidence_zh": "推断：视频12.4–14.6 s右手在支腿附近移动后空手抬离，支腿杆端既未被带���也未绕铰链转开；视频16.4–26.4 s其余开腿动作后同样没有支腿竖起。结合原生legs始终约0°，判断没有建立能驱动支腿展开的有效勾托接触；不排除瞬时轻触，不能据此称为握住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 354脚本对支腿执行预设的下降、平移、屈指及提升序列，随后直接执行下一条腿，没有按支腿是否转开修正动作；视频12.4–14.6 s和16.4–26.4 s手完成这些位移，支腿却未被带起，支持开腿接触执行失败。现有证据不足以区分具体接触几何、定位误差或关节跟踪问题，保留控制大类。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "推断：agent在log step 364最终报告中明确称相机确认四腿均开到100°，并以已验证执行完成结束；log step 362的资源记录尚有1049.9 s预算。视频27.0–30.0 s却清楚显示四腿仍贴架面、legs约0°，且没有后续修复动作，支持错误的开腿完成判断促成停止。此处仅针对支腿完成信念，不把一般最终报告标为汇报现象。",
+    "source_zh": "agent 自述 / 日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/提供视频和完整运行日志，但没有状态日志或成功参考视频；唯一overview远景及手部遮挡无法确定四次开腿尝试的瞬时接触对、摩擦方向与接触力，故contact_actual记未知，控制根因不细分。视频中四腿仍收拢，与log step 364“四腿开到止挡”的agent自述矛盾，节点以视频为准；没有证据据此判定服务或回放异常。评分器未报告DAG所列八项原生指标的数值，因此native_metrics的value均为null。"
+ },
+ "summary_zh": "评分轨迹在视频约9.6 s展开主架，终态完成1/6节点；四次开腿动作均未带起支腿，视频30.0 s四腿仍约0°、架体仍倒放，首次未修复断点为第1条腿展开。开腿时未建立有效带动接触，agent随后自述四腿已完成并停止；实际瞬时接触与控制失效的具体子类型因缺状态日志和近景而不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频与日志后未发现需改动的错误：展开主架约9.6 s达标（fold 14°），四次开腿动作（约12.4/16.4/20.4/24.0 s起）后30.0 s legs均约0°，断点为legs_opened_1，终态1/6与视频一致；agent在log step 364自述四腿100°与视频矛盾，已按视频为准。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:29:27Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--aqckxaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--aqckxaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3d96a483fdf88a66c78f8ebdc82bcaf23633712ab419d7160ad47e0238fc70f6",
+   "video_sha256": "4a0c6b64250cc76d789eccbb6c71fae2600413303ce579515a4f997e1d5c3610",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--e3yzjdc.json

@@ -0,0 +1,322 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--e3yzjdc",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 730,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 200,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 200,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.376,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.268,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--e3yzjdc/replay.mp4",
+  "duration_s": 6.2,
+  "fps": 5.0,
+  "frames": 31,
+  "sha256": "f6bb7e41d5d3866befdcb9d7b85b9e2a763bd43bdb2e73fb255236cdf6b97e7e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两半架面重叠倒放，原生 fold 字幕为180°；右手随后靠近活动半框外缘。"
+     },
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–6.0 s，右手弯指带起活动半框，视频 2.8 s 所见最小折角约96°，两半仍近直角，未达到不超过18°的展开阈值。"
+     },
+     {
+      "t": 3.4,
+      "log_step": 110,
+      "text_zh": "观察：视频 3.0–3.4 s 右手张开后活动半框回落，两半重新重叠，fold 达174°；视频 5.2–6.0 s 末秒各帧仍为174°。log step 110 确认最后评分 episode 为4、200控制步；log step 111 自述“成功展开、旋转180°”与这些画面不符，节点按视频判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频 1.4–2.8 s 右侧灵巧手以弯曲的手指勾住活动半框外缘管边并将其抬转；视频 3.0–3.2 s 手指张开脱离。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.0 s 未见右手单独扳腿；支腿随半框抬起时仅小幅摆动，视频 2.6 s 原生 legs 字幕约为0°、0°、21°、21°，全片无腿达到90°，因此至少1条腿达标的条件从未成立。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 5.2–6.0 s 各帧四腿仍收在重叠架面附近，legs 字幕约为0°、0°、19°、19°，不足1条腿达标。log step 109 加入 SKIP_REST 提前退出，log step 110 用该开关运行最终 episode；此前其他 episode 的开腿试验不计入本次进度。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.0 s 未见右手单独扳腿；支腿随半框抬起时仅小幅摆动，视频 2.6 s 原生 legs 字幕约为0°、0°、21°、21°，全片无腿达到90°，因此至少2条腿达标的条件从未成立。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 5.2–6.0 s 各帧四腿仍收在重叠架面附近，legs 字幕约为0°、0°、19°、19°，不足2条腿达标。log step 109 加入 SKIP_REST 提前退出，log step 110 用该开关运行最终 episode；此前其他 episode 的开腿试验不计入本次进度。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.0 s 未见右手单独扳腿；支腿随半框抬起时仅小幅摆动，视频 2.6 s 原生 legs 字幕约为0°、0°、21°、21°，全片无腿达到90°，因此至少3条腿达标的条件从未成立。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 5.2–6.0 s 各帧四腿仍收在重叠架面附近，legs 字幕约为0°、0°、19°、19°，不足3条腿达标。log step 109 加入 SKIP_REST 提前退出，log step 110 用该开关运行最终 episode；此前其他 episode 的开腿试验不计入本次进度。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.0 s 未见右手单独扳腿；支腿随半框抬起时仅小幅摆动，视频 2.6 s 原生 legs 字幕约为0°、0°、21°、21°，全片无腿达到90°，因此至少4条腿达标的条件从未成立。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 5.2–6.0 s 各帧四腿仍收在重叠架面附近，legs 字幕约为0°、0°、19°、19°，不足4条腿达标。log step 109 加入 SKIP_REST 提前退出，log step 110 用该开关运行最终 episode；此前其他 episode 的开腿试验不计入本次进度。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 晾衣架底面朝上折叠躺在台面上，tilt 为180°，并非四足正放。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.0 s 架体未整体翻转正放；视频 5.2–6.0 s 手已远离，但两半架面仍重叠倒放，tilt 为180°、hold 为0/50，四足向下承重和离手静置的联合条件从未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rack_unfolded",
+   "t": 3.0,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.8 s 右手仍带着活动半框，fold 仅降至约96°；视频 3.0 s 右手开始明显张开，半框在视频 3.2–3.4 s 回落至折角174°，此后未修复。log step 109–110 表明最终评分 episode 4 只执行开架阶段后退出，因此失败发生在尚未完成的展开主架操作中。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.0,
+    "log_step": 95,
+    "evidence_zh": "观察：视频 2.8 s 主架折角约96°，仍远大于18°；视频 3.0–3.4 s 右手在此未摊平姿态张开并撤离，活动半框随即回合至174°。log step 95 的最终控制序列在开架弧段后显式下发张指释放，未将半框送到展开姿态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 62 的 hand_frame/arc_rows 将 alpha 定义为从折叠位置绕铰链的开架转角；log step 95 把该转角仅从0扫到1.745 rad（约100°）便主动张手、等待并撤离。由初始180°折角到不超过18°至少需展开约162°，此计划自身未覆盖目标；视频 2.8 s 仅开至约96°折角、视频 3.4 s 回合与该不足一致。log step 109–110 保留这段轨迹作为最终 episode，log step 111 却将其描述为已旋转180°并成功展开，说明未纠正对开架结果的判断。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志或成功示范视频；已检查评分视频全部31帧，包括视频 5.2–6.0 s 的最后一秒。原生字幕和可见几何足以判定六个节点均未达标，但无法量化各指接触力或进一步分解实际运动相对指令的偏差；前面被重置的 episode 仅作为会话背景，不用于节点或现象。评分器 reward 未报告 DAG 所列八项原生指标的终值，native_metrics 均保留 null。",
+  "unmet": {
+   "rack_unfolded": false,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  }
+ },
+ "summary_zh": "评分 episode 4 中，右手勾抬活动半框，视频 2.8 s 折角最低约96°，张手后在视频 3.4 s 回合至174°���主架、四腿计数与正放均未达成，终态为0/6。断点为展开主架：脚本只规划约100°开架弧段便释放，未覆盖摊平目标，agent 在 log step 111 自述的“成功展开”与视频不符。没有状态日志及成功示范，接触力和指令跟踪偏差无法精确核验，节点依据逐帧画面与原生字幕判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "逐帧核对：视频 0–2.8 s 右手勾抬活动半框，fold 最低96°（2.8 s），3.2–3.4 s 张手后回落至174°，末秒保持174°、legs 19/19、tilt 180°；六节点均未达成，断点 rack_unfolded、位姿不准、规划（arc 仅扫到1.745 rad，log step 95/62）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": "2026-10-30T05:36:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--e3yzjdc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--e3yzjdc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "829b96e6877b471382b81039d1d3d0ba57902f4daa42979bf5d616393ee02c5d",
+   "video_sha256": "f6bb7e41d5d3866befdcb9d7b85b9e2a763bd43bdb2e73fb255236cdf6b97e7e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--fqukl5r.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--fqukl5r",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "finalized": 1,
+   "hand_wuji": 0,
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+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 412,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
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+   "sim_startups": 1,
+   "sim_steps": 412,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.306,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.924,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--fqukl5r/replay.mp4",
+  "duration_s": 10.6,
+  "fps": 5.0,
+  "frames": 53,
+  "sha256": "596697889e1e6bccc1ad862b343780c98969c1c9cac7c45f4e4725134edcabba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两半主架重叠倒放，原生字幕 fold 180 deg；逐帧检查视频 0.0–10.4 s，主架始终未摊平。"
+     },
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–5.8 s 右手勾起一侧框边，仅小幅拉开两半；视频 5.8 s 原生字幕 fold 156 deg，远大于18°。视频 6.0 s 手已离开框边、主架回折至171°；视频 10.4 s 仍为176°。"
+     },
+     {
+      "t": null,
+      "log_step": 324,
+      "text_zh": "观察：log step 324 机器人服务重置到 episode 21、resets_left 0 后运行展开脚本；评分器字段 live_matches_replay=1、deterministic=1。该最后一局与视频中的接近、勾边、抬腕和回折过程相符，早先重置掉的试验不计节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频约 3.2–5.8 s，右手弯曲手指勾挂活动半框的管边并随抬腕带起框边，随后脱离；接近时手指先贴在架面上。可见勾挂，未见可靠的对向夹紧，故不记抓握。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.4 s，四条腿均未转到垂直于架面的展开位置，机器人未单独扳腿；视频 5.8 s 原生 legs 字幕约为0、0、34、34度，视频 10.4 s 为0、0、16、16度。未见任何一腿达到90°，因此至少1条达标的条件从未成立。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.4 s，四条腿均未转到垂直于架面的展开位置，机器人未单独扳腿；视频 5.8 s 原生 legs 字幕约为0、0、34、34度，视频 10.4 s 为0、0、16、16度。未见任何一腿达到90°，因此至少2条达标的条件从未成立。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.4 s，四条腿均未转到垂直于架面的展开位置，机器人未单独扳腿；视频 5.8 s 原生 legs 字幕约为0、0、34、34度，视频 10.4 s 为0、0、16、16度。未见任何一腿达到90°，因此至少3条达标的条件从未成立。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.4 s，四条腿均未转到垂直于架面的展开位置，机器人未单独扳腿；视频 5.8 s 原生 legs 字幕约为0、0、34、34度，视频 10.4 s 为0、0、16、16度。未见任何一腿达到90°，因此至少4条达标的条件从未成立。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.4 s 架子���直倒放，未翻到四腿向下的正放姿态；视频 10.4 s 两半仍重叠、框边靠台面，字幕 tilt 180 deg、hold 0/50。机器人没有进入四足着台后离手静置的操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rack_unfolded",
+   "t": 6.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.0–5.8 s 机器人右手勾着框边小幅掀开主架；视频 6.0 s 手与框边明显分离，主架回折，展开动作未完成。视频 8.0–8.4 s 手重新下降接近主架，但未恢复展开；视频 8.4 s 原生标题显示 FAIL: rack_dropped，之后至视频 10.4 s 为同一终态。"
+  },
+  "unmet": {
+   "rack_unfolded": false,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.0–5.8 s 框边随右手弯曲手指上抬，两半主架出现小角度分离；视频 6.0 s 手继续升高而框边落回，手与架子之间出现间隙，fold 从视频 5.8 s 的156°回到视频 6.0 s 的171°。已有的勾挂接触丢失，未把活动半框持续带到展开位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频、日志",
+    "evidence_zh": "推断：展开过程的接触与腕部运动未能协调维持。视频 4.0–5.8 s 右手只能带起框边小角度，视频 6.0–7.6 s 手继续上抬、横移而架子留在台面并回折；log step 323 的控制脚本在收拢手指后依次执行 raise_edge 和固定腕部航点，log step 324 确认最后一局执行该脚本。脚本未在框边脱离后先恢复可靠接触再继续开架，支持控制层归因；现有证据不足以细分为接触设计、轨迹或反馈控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志或成功示范，视频只有 overview 视角；评分器 reward 未报告8项原生连续指标，故 native_metrics.value 均留 null。手部局部有遮挡，无法核验逐指接触对、接触力和腕部跟踪误差，因此根因只标到控制，不认定特定抓取几何或参数有误；rack_dropped 来自视频原生判负字幕，无法由状态量独立复核其瞬时触发条件。"
+ },
+ "summary_zh": "评分采用 log step 324 最后重置出的 episode 21；机器人右手勾起框边，但主架仅小幅打开，视频 5.8 s 折角仍为156°，四条腿均未达90°，最终完成0/6个节点。视频约 6.0 s 手与框边分离、主架回折，展开主架这一步始终未修复，视频 8.4 s 显示 rack_dropped 判负。现象为没保持住，根因支持到控制层；缺少状态日志和接触力信息，无法可靠细分控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点0/6、breakpoint=rack_unfolded、没保持住与控制根因均与视频字幕和日志相符；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": "2026-10-30T05:30:47Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--fqukl5r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--fqukl5r/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a32b74111968a1fb09c314b49b089a00677e107b010ae8b9d025b03e0b35959",
+   "video_sha256": "596697889e1e6bccc1ad862b343780c98969c1c9cac7c45f4e4725134edcabba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--ihkvlr3.json

@@ -0,0 +1,397 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--ihkvlr3",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 569,
+   "control_steps_total": 28682,
+   "elapsed_s": 3607.203,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 3830,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 12,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3830,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.309,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.848,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--ihkvlr3/replay.mp4",
+  "duration_s": 61.0,
+  "fps": 5.0,
+  "frames": 305,
+  "sha256": "6783a0ed7f1b04e35a698071e094c29487ae4aa861841e72ed7afd11b09d997c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 2,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两半架面重叠、fold 为180°；右手弯曲手指勾住上半框管边，带其绕铰链翻开。视频 9.6 s 的fold 为23°，视频 9.8 s 为17°，随后架面摊平，达到18°阈值。"
+     },
+     {
+      "t": 60.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.2–60.8 s 主架始终摊开，fold 从约6°降至约1°，没有重新超过18°；末帧仍是展开的倒放架面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频 3.4–10.2 s 右手弯曲的四指从管边下方勾提活动半框，另一半框由台面承托；未见拇指与其余手指对向夹紧管边，按勾记。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.6,
+      33.2
+     ],
+     [
+      34.4,
+      35.0
+     ],
+     [
+      44.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.6,
+      "log_step": null,
+      "text_zh": "观察：视频 21.6–23.6 s 右手勾提画面右侧支腿，腿离开收纳平面；原生legs 字幕第一项由视频 23.4 s 的89°升至视频 23.6 s 的96°，此时至少一腿达标。"
+     },
+     {
+      "t": 33.2,
+      "log_step": null,
+      "text_zh": "观察：视频 24.2–33.0 s 第一项约90°；视频 33.2 s 降至89°，第二项仅43°，四腿均未到90°。视频 34.4 s 第二项94°、视频 34.6 s 为93°，恢复至少一腿达标，视频 35.0 s 已降至87°；其后逐帧检查至视频 44.4 s 均无达标腿。"
+     },
+     {
+      "t": 44.6,
+      "log_step": null,
+      "text_zh": "观察：视频 44.4 s 第四项83°，视频 44.6 s 为97°，视频 44.8 s 为100°；这条腿之后保持在100°，故至少一腿达标直到视频 60.8 s。字幕为整数角度，90°附近的区间边界约有半秒不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频 18–58 s 右手依次接近四处支腿，用弯曲手指勾住细杆并向上、向外提拨，随后伸指离开；至少一腿的达标身份随回折而改变，不绑定某条腿。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.6,
+      56.8
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.4,
+      "log_step": null,
+      "text_zh": "观察：视频 31.8–35.0 s 右手操作下一条腿时，原先已开的腿由约90°降至89°；新腿短暂达94°又回折，未同时保住两条达标腿。视频 44.6 s 又有一腿达到97°时，其他腿均低于90°。"
+     },
+     {
+      "t": 55.6,
+      "log_step": null,
+      "text_zh": "观察：视频 55.4 s 的legs 为约24°、0°、82°、100°；视频 55.6 s 为20°、0°、95°、100°，首次明确同时有两腿达标，视频 55.8–56.0 s 后两项均100°。"
+     },
+     {
+      "t": 56.8,
+      "log_step": null,
+      "text_zh": "观察：右手伸指并抬离后，视频 56.6 s 第三项92°，视频 56.8 s 降���88°；视频 60.8 s 终态四项约0°、0°、69°、100°，仅一腿达标，两腿同时展开的状态未恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频 28–58 s 右手为增加同时展开的腿数，先后勾提其余三条物理支腿；先前的腿回折，使这些操作多次仅恢复一腿达标。视频 55.6 s 勾提最后一条物理支腿时才短暂达到两腿，随后撤手。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：检查视频全程的架体与legs 字幕，达标数量最多为视频 55.6–56.6 s 的两条；视频 56.0 s 四项约10°、0°、100°、100°，没有三腿同时达到90°。"
+     },
+     {
+      "t": 60.8,
+      "log_step": null,
+      "text_zh": "推断：DAG按当前达标腿数计数；虽然右手依次操作四条物理支腿，前腿回折使后续操作一直在补足第一、第二条达标腿，未进入维持两腿并继续增加第三条的阶段；本节点始终未成立。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.8,
+      "log_step": null,
+      "text_zh": "观察：视频全程没有四腿同时竖起；视频 60.8 s 原生legs 为约0°、0°、69°、100°，四腿全开的条件明确不满足。"
+     },
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "推断：视频 55.6–56.6 s 最多两腿达标，机器人未在保持三腿达标后进一步操作第四条；四条物理支腿的依次勾提已计入前两个计数节点，不能据操作次数认定本节点达成。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 晾衣架底面朝上，tilt 为180°，框架由台面承托。"
+     },
+     {
+      "t": 60.8,
+      "log_step": null,
+      "text_zh": "观察：视频全程右手只展开架面并逐一提拨支腿，没有翻转整个主架；视频 60.0–60.8 s 手已悬空离开，架面仍倒放贴台，tilt 为180°、hold 为0/50，没有四足向下支承的正放状态。"
+     },
+     {
+      "t": null,
+      "log_step": 102,
+      "text_zh": "观察：log step 96 重置后启动最终展开及四腿脚本；log step 102 的机器人服务状态为episode 13、control_steps 3830、done false；log step 103 agent 自述腿展开和正放未完成。此前翻转测试属于被重置的其他episode，未计入本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_2",
+   "t": 56.8,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：最后一次episode中，右手逐腿勾提时已开的腿持续回折；视频 55.6–56.6 s 曾同时有两腿达标，但撤手过程中正在操作的腿从视频 56.0 s 的100°回折至视频 56.8 s 的88°，视频 60.8 s 为69°，两腿达标状态此后未恢复。推断：按DAG的达标数量节点，断在补足并保持第二条展开腿，后三腿、四腿及正放目标均未进入达标状态；不是此前已重置测试中的整架翻转失误。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": true,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 56.8,
+    "log_step": 96,
+    "evidence_zh": "观察：视频 55.8–56.0 s 右手把最后操作的支腿拨到约100°，释放时已超过90°展开阈值；随后右手伸指并上撤，支腿向架面回折，视频 56.8 s 为88°、视频 60.8 s 为69°，右手已离开。其余一腿保持100°、两腿收在架面上，两腿同时达标状态未恢复。推断：支腿已到位后按计划释放，却未能停稳，属于放后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：最终支腿控制没有使离手后的关节稳定留在展开端。log step 71 给出的leg脚本以及log step 96、97 的最终序列，采用预定的勾提、横移、伸指和上撤动作；视频 34.4–37.4 s 与视频 55.6–58.0 s 均可见被提开的腿在释放时回折，而视频 44.8 s 到达100°的另一腿留在止挡处。证据支持支腿操作的控制失败，但不足以区分接触几何、关节跟踪或释放时的扰动。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志或成功示范，视频仅提供overview；原生角度字幕按整数显示，90°附近的精确跨阈时刻约有半秒不确定性。评分器reward未报告DAG列出的角度、倾角及速度数值，native_metrics均留null；没有接触对或力读数，无法确定回折的具体控制子类。视频按原生时间戳标注，未将agent工作时间或其他episode的control_steps映射到视频。"
+ },
+ "summary_zh": "观察：最终评分episode在视频约9.8 s 展开主架，依次提拨四条物理支腿，但同时达标最多两条，终态仅主架展开和至少一腿展开成立（2/6）。观察：视频 55.6–56.6 s 的两腿达标状态在撤手后丢失，末帧支腿约0°、0°、69°、100°，架体仍倒放，断点为第二条展开腿的保持；推断：预定的支腿勾提与释放控制未稳定完成展开。观察：无状态日志和力读数，阈值附近时间依赖整数角度字幕，具体控制子类不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点时间、断点（legs_opened_2）和字幕读数与视频一致；但现象 运动·位姿不准 与证据矛盾：支腿在松手时已到100°（超过90°阈值），之后才回折，应为接触类（放后不稳）而非位姿不准。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点区间、断点（legs_opened_2）与字幕读数和视频一致；上一轮的现象修正已落实，未发现需要改动内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:46:53Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--ihkvlr3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--ihkvlr3/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--ihkvlr3/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--ihkvlr3/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d2245730ca2331dd9dbe2e74befc4b3746c16a6a2ffb51e8f9fa4e0984148e30",
+   "video_sha256": "6783a0ed7f1b04e35a698071e094c29487ae4aa861841e72ed7afd11b09d997c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--j6utvar.json

@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--j6utvar",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 571,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 3253,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3253,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.467,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.467,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-drying-rack-unfold-i00-standard--j6utvar/replay.mp4",
+  "duration_s": 61.4,
+  "fps": 5.0,
+  "frames": 307,
+  "sha256": "9865c3555f62bff60c3293a1570ba8b0b3f9842e42c368c2d0903bb21da3c753"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.4 s 原生 fold 字幕为19°，视频 9.6 s 为16°，右手夹着活动半框外沿将重叠两半摊开。"
+     },
+     {
+      "t": 35.6,
+      "log_step": null,
+      "text_zh": "观察：视频 33.6–36.4 s 开腿时活动半框被带起，逐帧 fold 最高约17°，仍未超过18°；随后重新落平。"
+     },
+     {
+      "t": 61.2,
+      "log_step": null,
+      "text_zh": "观察：视频 61.2 s 主架两半仍展平，原生 fold 为2°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指对夹活动半框的外侧管边，将其绕中央铰链翻开，随后张指释放。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "观察：视频 19.0 s legs 为约[0,89,0,0]°，视频 19.2 s 为约[0,96,0,0]°；右手已将近侧角的一条腿扳离架面，首次有一条腿超过90°。"
+     },
+     {
+      "t": 61.2,
+      "log_step": null,
+      "text_zh": "观察：视频 61.2 s legs 为约[100,100,100,0]°，至少一条腿仍达标；所有计数节点按达标数量标注，不固定物理实例。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指捏住近侧支腿的杆端并上提转开，随后张指用食指拨推杆端至止挡附近。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.2,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0 s legs 为约[89,100,0,0]°，视频 28.2 s 为约[96,100,0,0]°；右手在画面右侧角扳开另一条腿，达标腿增至两条。"
+     },
+     {
+      "t": 61.2,
+      "log_step": null,
+      "text_zh": "观察：视频 61.2 s legs 为约[100,100,100,0]°，至少两条腿仍达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹住画面右侧角的支腿杆端并绕其铰链转开，随后张指拨推，使其保持在展开位置。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.6,
+      "log_step": null,
+      "text_zh": "观察：视频 32–38 s 右手在画面左侧角操作，但该腿角仅约0–7°，没有增加达标数量。"
+     },
+     {
+      "t": 47.6,
+      "log_step": null,
+      "text_zh": "观察：视频 47.2 s legs 为约[100,100,82,0]°，视频 47.4–47.6 s 第三个角显示约90°，视频 47.8 s 为91°；右手扳起远侧角另一条腿，首次达到三条，达标时刻约为视频 47.6 s（字幕整度取整，误差约0.2 s）。"
+     },
+     {
+      "t": 61.2,
+      "log_step": null,
+      "text_zh": "观察：视频 61.2 s legs 为约[100,100,100,0]°，三条腿保持达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指夹住远侧角支腿的杆端并向上转开，随后张指拨压杆端；此腿是第三条实际达标腿。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.6,
+      "log_step": null,
+      "text_zh": "观察：视频 32–38 s 右手在画面左侧未开腿处合指并上提，带起整片活动半框；视频 35.6 s fold 为17°，该腿仅约7°，视频 36.8 s 又回到约0°，未达到90°。"
+     },
+     {
+      "t": 49.0,
+      "log_step": null,
+      "text_zh": "推断：视频 47.8 s 另一条腿达标后已有三条腿展开，但视频 49.0 s legs 仍为约[100,100,93,0]°；按至少四条的计数定义，先前未开成功的左侧角腿对应尚未补齐的第四条。"
+     },
+     {
+      "t": 61.2,
+      "log_step": 118,
+      "text_zh": "观察：视频 59.2–61.2 s 的失败终帧 legs 为约[100,100,100,0]°，左侧那条腿仍贴近架面，始终没有四条同时达标。agent 在 log step 118 自述“四条腿都展开”与视频不符，未据此记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指在画面左侧未开腿及邻接框条区域合拢夹持并牵起半框，随后张指在该区域拨压；实际有夹持牵动，但目标腿没有独立转开。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52–58.8 s 右手夹住端框抬起并翻转整架，架面从倒置接近竖立，仍靠框边而非四足正放。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 59.0 s tilt 为77°、hold 为0/50；视频 59.2 s 原生字幕显示 FAIL: rack_dropped，tilt 为63°，架面仍倾立且有一条腿收拢。"
+     },
+     {
+      "t": 61.2,
+      "log_step": 115,
+      "text_zh": "观察：视频 60.4–61.2 s 保持同一失败终态，hold 为0/50，从未出现四足正放、离手静置完成。log step 115 的最后一次 reset 21 后服务返回 task_failure，与该视频结局一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与食指对夹架面一端管框并抬起翻转，接近竖立时张开为松夹并继续导引；尚未下降成四足支承即失败。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "tilt_deg",
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_4",
+   "t": 35.4,
+   "log_step": 115,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 33.6–36.4 s，右手操作画面左侧未开腿时牵起活动半框，fold 从约2°升至17°，目标腿仅约0–7°后回落；视频 61.2 s 该腿仍约0°。推断：视频 47.8 s 另一个角的腿达标修复了“至少三条”的计数，但未修复这条遗留腿，故断点为第四条腿展开；后来视频 59.2 s 翻转触发 rack_dropped 是后续终止事件。log step 115 是执行最后评分 episode 21 的整段脚本调用，未将其 agent 时间换算为视频时间。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": true,
+   "legs_opened_2": true,
+   "legs_opened_3": true,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 35.4,
+    "log_step": 115,
+    "evidence_zh": "观察：视频 33.6–35.6 s，右手夹持未开腿附近并上提时，活动半框整片绕中央铰链翘起，fold 从2°升至17°，而被操作支腿仍仅约0–7°；视�� 36.8 s 半框落平，该腿也回到约0°。目标腿的独立开合没有建立，动作主要带动了其所在半框。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 32.8–36.8 s 右手已在目标腿附近接触并施力，却把运动传给活动半框，未实现该腿绕自身铰链展开，说明这次对准、夹持和开腿施力控制未成功。log step 107 所示脚本为各腿使用固定目标位置并依次调用 open_leg；log step 115 沿用该开腿段执行最终 episode，视频中这次失败后没有重新操作该腿。现有证据不足以区分误夹框条、指部抵住框面或其他具体接触几何，根因停留在控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或其他相机的同步视频，目标腿附近的精确接触对与受力不可分辨，不能进一步确认控制子类型；没有成功示范可验证替代握法。视频原生字幕给出角度取整值和 rack_dropped 终止提示，不能据此确定丢失手/台面接触的2 ms子步；所有视频时间直接取检查帧，未按控制步换算。inputs/run.json 的 reward 未报告 DAG 所列八项连续原生指标，故其 value 均留 null。"
+ },
+ "summary_zh": "评分 episode 21 在视频约9.6 s 展开主架，并于视频约19.2 s、28.2 s、47.6 s 达到至少一、二、三条腿展开，最终为4/6节点。视频约34–36 s 对剩余腿的操作带起活动半框而未开成该腿，此失败未修复；随后翻转在视频59.2 s 显示 rack_dropped，未达到四足正放。agent 在 log step 118 声称四腿均已展开，但视频末尾为约[100,100,100,0]°；缺少接触状态日志，控制根因不细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间（9.6/19.2/28.2/47.6 s）、第4腿断点、带动本体现象与控制根因均与视频字幕和帧一致；未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:31:14Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--j6utvar/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--j6utvar/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f52ce9db31cd1b7ca81107dc434b7f3848024482f750e457e22ff5768d083c80",
+   "video_sha256": "9865c3555f62bff60c3293a1570ba8b0b3f9842e42c368c2d0903bb21da3c753",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fsxfxer.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--fsxfxer",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 251,
+   "sim_steps": 251,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.691,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--fsxfxer/replay.mp4",
+  "duration_s": 5.08,
+  "fps": 25.0,
+  "frames": 127,
+  "sha256": "23cdf40a481624307c3991ed98d57ac87429faf95f20f2bc2aa7b7f0099f0962"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": 40,
+      "text_zh": "观察：视频 0.00–4.80 s，固定腕右手的相对手指围住蓝球并缓慢换位，球一直位于指尖间；方向小标记大多被遮住。评分器 reward.stages_completed=1，log step 37 保存的251行动交付文件在 log step 40 独立回放返回 stage_index=1，确认首检查点已经通过。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 38,
+      "text_zh": "推断：log step 36 的E配置在 log step 37 被用于生成交付文件，log step 38 的同配置记录在控制样本索引239首次显示R2/stage=1。按任务50 Hz控制率，239×0.02约为仿真 4.78 s；251样本约为仿真 5.02 s，与视频 5.04 s最后一帧的终止位置相符（约一帧差）。据此把已检查的视频 4.80 s作为首检查点导航锚点，误差约0.1 s；该时刻的精确朝向及子步保持由原生阶段结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.00–4.80 s，右手相对指尖夹持蓝色球，手指缓慢换位滚动球，手腕保持原位；log step 38 的同配置记录列出拇指、食指、中指触球。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.04,
+      "log_step": 40,
+      "text_zh": "观察：视频 4.80–5.04 s，蓝球仍在相对指尖附近，仅有少量指位和球位置变化，没有出现一段可辨认的次轴目标停稳过程。log step 40 对交付文件的独立回放返回 stage_index=1、stage_hold=0、failure=invariant:object_hand_contacts，评分器也只记录 stages_completed=1；第二检查点未通过。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 38,
+      "text_zh": "推断：同配置记录在控制样本索引239进入R2后，到索引250仍是stage=1，次轴误差约1.49 rad；结合视频 4.80–5.04 s的末段手内动作和交付文件回放结果，机器人已开始第二次旋转，但在完成前失去有效手部接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 4.80–5.04 s，右手相对指尖继续围着蓝色球做细小换位，球仍在手内区域；推断：结合 log step 38 的R2切换，此段为第二次旋转中的手内调整，末端接触中断由 log step 40 的原生回放返回值确认。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.04,
+      "log_step": 40,
+      "text_zh": "观察：视频 0.00–5.04 s未显示完整的两次旋转后回初始朝向并稳住的过程；log step 40 的交付文件回放返回 stage_index=1、terminal_hold=0、success=False，评分器 stages_completed=1。推断：完整有序验收及末段保持未达成；开局虽为初始朝向，也不满足此节点的原生阶段条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_second_orientation",
+   "t": 5.0,
+   "log_step": 40,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 4.80–5.04 s机器人继续以指尖调整蓝球；log step 38 的同配置记录已进入R2但stage维持1，log step 40 对 log step 37 保存的交付文件回放在251样本终止，返回 invariant:object_hand_contacts、stage_index=1。首检查点已完成，第二次旋转期间接触失效且未修复，故断点为球达次轴朝向，视频约5.00 s作导航锚点。"
+  },
+  "unmet": {
+   "sphere_first_orientation": true,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 5.0,
+    "log_step": 40,
+    "evidence_zh": "推断：视频 0.00–4.96 s右手相对指尖一直把球夹在手内，视频 5.00–5.04 s球仍靠近指尖，画面不足以分辨微小间隙；log step 40 的交付文件独立回放明确返回 invariant:object_hand_contacts（原生检查器判定有效手部接触数不足）。结合先前持续夹持和末段原生接触判负，判为第二次旋转中没保持住；视频没有显示球已经落到桌面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.0,
+    "log_step": 38,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 36 的E配置被 log step 37 用于生成交付文件；log step 38 的同配置控制器记录在R2期间拇指、食指、中指的接触力由约0.21/0.23/0.29 N降至约0.00/0.01/0.00 N，同时角速度分量显著增大。log step 40 的交付文件回放确认相同阶段及接触失效，视频 4.80–5.04 s手指仍在球旁做调整。因此归因为滚动控制未能维持接触；没有足够证据在接触布局、逆解、反馈或某个参数之间细分。"
+   }
+  ],
+  "gap_zh": "无状态日志；本次及成功参照均只有远距离总览，球的方向小标记和指尖接触区遮挡，无法逐帧独立核实0.16 rad朝向阈值、接触力及2 ms子步保持，也看不清终止瞬间的接触间隙。首检查点通过与后两点未通过有评分器阶段数及交付文件回放支持；首节点视频约4.80 s时间由同配置控制样本索引辅助推断。log step 38 是生成交付文件所用同配置的诊断记录，并非完整的逐帧交付状态日志；根因仅判到控制，不能确认具体失稳机制。"
+ },
+ "summary_zh": "固定腕右手在手内缓慢滚动蓝球，评分器及交付文件独立回放确认首轴检查点已通过，最终完成1/3节点。机器人在第二次旋转中未保持住有效手部接触，约视频 5.00 s终止，未完成次轴朝向及回初始朝向保持；同配置诊断支持控制未维持接触。无状态日志，远景与遮挡限制了精确朝向、接触瞬间及具体控制失稳原因的核实，首检查点约视频 4.80 s为推断时间。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与评分器阶段数（stages_completed=1）、交付文件回放（stage_index=1，invariant:object_hand_contacts）及日志一致；视频为远景，无法反驳。首节点4.8 s为控制步计数推断且已标明，断点、现象（没保持住）和根因（控制，未细分）均有证据支撑，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:25:55Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--fsxfxer/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--fsxfxer/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "03b4dd64b3bc7e6d7702295913110406b24157f68a24195518be9a627a13e65c",
+   "video_sha256": "23cdf40a481624307c3991ed98d57ac87429faf95f20f2bc2aa7b7f0099f0962",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--gshwsyh.json

@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--gshwsyh",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 298,
+   "sim_steps": 298,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.219,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.833,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--gshwsyh/replay.mp4",
+  "duration_s": 6.0,
+  "fps": 25.0,
+  "frames": 150,
+  "sha256": "a57112c798fb8875d58dad10a002227dca915d2628352692472ccd649902b14b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–1.36 s 的逐帧放大画面中，右手手掌保持固定，白色手指围住蓝球并逐渐换位；视频 1.08–1.32 s 手指与球的可见相对运动较小，随后手指继续弯曲换位。方向标记过小且部分被遮挡，不能仅凭蓝色轮廓确认正转90°或数值阈值。"
+     },
+     {
+      "t": 1.2,
+      "log_step": 107,
+      "text_zh": "推断：评分器 reward.stages_completed=3、success=1、deterministic=1，故有序首检查点已通过；log step 105 保存最终成功轨迹，log step 107 的两次新进程回放输出均成功且末状态相同，支持该阶段属于交付轨迹。以视频 1.2 s 附近低运动片段作为首检查点的近似导航锚点，约有0.3 s不确定性；没有逐控制样本的阶段计数，无法直接定位首次满足时刻，事件通过后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.00–1.36 s，单只右手的相向手指包围并接触蓝球，指关节换位时蓝球留在指间；未见松手再抓，实际接触方式为手内调整。总览遮挡部分指尖，未据此指定每个接触手指或接触力。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.40–2.36 s，右手指继续弯曲、改变与蓝球的相对位置；视频 2.40–2.64 s 的指球布局变化减小，随后视频 2.76–3.00 s 手指开始反向换位。蓝球始终位于指间，未见掉落或碰桌；方向标记不足以独立识别精确的第二轴目标。"
+     },
+     {
+      "t": 2.6,
+      "log_step": 107,
+      "text_zh": "推断：评分器 reward.stages_completed=3、success=1，表示第二个有序检查点也已通过；log step 105 保存交付，log step 107 输出其两次新进程回放成功且末状态一致。结合视频中换位、短暂减速及反向换位的次序，将第二检查点近似锚定于视频 2.6 s，不确定性约0.3 s；这不是从手指姿态测得目标角度，后续转离不取消此事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 1.40–2.76 s，单只右手的相向手指持续围住蓝球，通过屈伸及指尖换位改变指球相对布局；球未离开手内区域。与首阶段为同一指球接触链，记手内调整。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.96,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.76–4.60 s，右手指反向换位并逐渐减速；逐帧检查视频 5.00–5.96 s，蓝球仍夹在相向指尖间，末段指球布局基本稳定，未见松手、掉球或外部支撑。画面不能独立量出初始朝向误差、指尖接触力或0.06的速度上限。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 107,
+      "text_zh": "推断：评分器 reward.success=1、stages_completed=3、sim_steps=n_actions=298，证明交付轨迹通过第三阶段和末段保持。log step 104 的最终 gripauto 输出为 stage 3 success，log step 105 将该轨迹保存为交付文件；log step 107 输出交付文件两次新进程回放成功且末状态相同，log step 108 输出生成器逐项重现该文件。"
+     },
+     {
+      "t": 5.96,
+      "log_step": 109,
+      "text_zh": "推断：任务文本控制周期为0.02 s，评分器记录298个控制步，对应298×0.02=5.96 s；该控制步时钟与已检查的视频 5.56–5.96 s 稳定末段、视频总长6.00 s吻合，因而将含完整末段保持的节点记在视频最后一帧5.96 s达到。此前只是回转或保持过程，开局几何姿态不计有序返回；首次通过的控制子步未单独记录，时间精度受视频帧率限制。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 2.76–4.60 s，右手的相向手指保持蓝球在指间并反向换位；视频 5.00–5.96 s 指尖继续夹持、布局逐渐稳定。回转与末段稳住属于同一手内调整接触链，未见释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "右手在固定手掌的条件下保持蓝球于指间并完成重定向；依据评分器 success=1、stages_completed=3 和交付文件两次确定性回放通过，三个节点最终均完成，前两检查点约锚定于视频 1.2 s、2.6 s，含末段保持的返回节点在视频 5.96 s完成。视频全程及最后一秒逐帧检查未见蓝球掉落或借桌面支撑，失败标签为空。没有状态日志或独立参考视频，方向标记在总览中太小且被遮挡，首两时刻为约有0.3 s不确定性的推断，接触力、精确角度及子步保持不能独立复核；评分器未报告DAG各原生连续指标的数值，均留null。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分器 success=1、stages_completed=3，三个节点最终完成、failure 为空均有依据；时间为近似锚点且已声明不确定性，视频帧中球始终在指间，未见掉落。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:23:21Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--gshwsyh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--gshwsyh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79d65e178e9f94adf9f9dc4002157230a6c97e8eadd951a2186ca91a256a58ca",
+   "video_sha256": "a57112c798fb8875d58dad10a002227dca915d2628352692472ccd649902b14b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--iyj3xmy",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 857,
+   "sim_steps": 857,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.854,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.835,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy/replay.mp4",
+  "duration_s": 17.2,
+  "fps": 25.0,
+  "frames": 430,
+  "sha256": "9f77bb87bca8e0ef94bf5a8e8f01995c6001b3556111f251bb0cfbce98365f7f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色球已夹在固定右手的手指之间；视频 0.0–17.16 s 可见手指逐渐换位，球相对指尖位置变化，末段仍留在手内。总览中的方向标记很小且多被遮挡，不能凭球轮廓测量目标角度。"
+     },
+     {
+      "t": 16.4,
+      "log_step": 160,
+      "text_zh": "观察：评分器 reward.stages_completed=0、n_actions=857、deterministic=1，直接报告首个有序检查点从未被接受。log step 154 的脚本重放已保存动作再逐样本追加并保存；log step 160 的已执行动作反馈仍为 stage 0，首轴误差约 0.61–0.64 rad，而非目标容差 0.16 rad。视频 16.2–17.16 s 手指继续弯曲包围球，未出现参考视频那样完整的连续重定向过程。"
+     },
+     {
+      "t": 17.16,
+      "log_step": null,
+      "text_zh": "推断：结合原生阶段计数和视频中的实际手内调整，首轴调整已尝试但其完整朝向、双指接触与低速保持验收从未完成，因此没有到达区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "视频 0.0–17.16 s，固定右手的拇指与对侧弯曲手指围住蓝色球，手指换位使球在指间移动；视频 12.0–17.16 s 可见指尖进一步弯曲、球进入更深的指间区域。精确的逐帧指尖接触数与接触力不能由该视角定量确认。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.16,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.stages_completed=0 表明首检查点未完成；次轴节点要求先完成首检查点，因此整个视频 0.0–17.16 s 不存在合格的次轴到达区间。视频中仅见同一球持续接受手内调整，没有可确认的第二阶段动作；未将首轴尝试的接触重复记到该节点。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0 s 的开局球姿态不等于已经依次转过两轴并返回。评分器 reward.stages_completed=0，故视频结束时也未满足该节点所含的第三阶段与末段保持验收；视频 16.2–17.16 s 仍是手指围球调整，未完成有序返回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 16.4,
+   "log_step": 160,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.0–17.16 s 固定右手继续弯曲手指，在指间移动蓝色球；评分器 stages_completed=0。log step 154 的交付脚本仍以首轴误差为目标追加动作，log step 160 的已执行动作反馈保持 stage 0、首轴误差约 0.61–0.64 rad。推断：本轨迹在首轴朝向调整中未能到达并稳住目标，后续检查点尚未启动；视频 16.4 s 是末段调整的粗略导航锚点。"
+  },
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 16.4,
+    "log_step": 160,
+    "evidence_zh": "推断：视频 12.0–17.16 s 可见机器人手指不断换位、球向指间内部移动，但没有完成目标重定向。log step 154 的脚本从已保存轨迹重放后追加并定期保存真实执行动作；log step 156–160 对这些已执行动作的反馈显示首轴误差仍约 0.61–0.72 rad，超过 0.16 rad 容差，并始终处于 stage 0；评分器对交付轨迹也报告 stages_completed=0。由此判定为首轴目标朝向仍偏离，角度依据来自日志而非蓝色轮廓。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 126 的控制脚本在回放保存前缀后搜索协调手指动作；log step 137、141 的前缀反馈中首轴误差仅降至约 0.75、0.73 rad，log step 143 返回 no safe。log step 154 改为三样本预测、只执行一个样本后重规划，候选只强制至少一处手接触；log step 156–160 的真实执行反馈反复只有一个指尖接触，速度波动，误差仍约 0.61–0.72 rad。控制器未能同时实现剩余转角及双指低速稳定，解释了视频末段持续换位却首阶段未完成；现有证据不足以在接触设计、逆解和反馈控制之间进一步区分。"
+   }
+  ],
+  "gap_zh": "没有状态日志。已检查完整视频的间隔帧、全程手部放大图及视频 16.2–17.16 s 的逐帧末段，并对照成功参考视频；两者的总览均不足以逐帧辨明全部方向标记或定量验证接触力、速度和 2 ms 子步。节点未达由评分器原生 stages_completed=0 决定，位姿偏差结合保存动作的执行反馈推断；未获得最终 857 个动作的完整逐样本物理记录，故不能给出确切终态误差或唯一的控制子类。"
+ },
+ "summary_zh": "固定右手持续在指间调整蓝色球，但首轴目标朝向未通过原生验收，最终完成 0/3 个节点，后两步未启动。断点为首轴调整操作中；保存动作的执行反馈显示朝向误差仍大且接触、速度未稳定，根因归为控制。总览方向标记过小且遮挡、无状态日志，精确角度和控制子类仍有证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分器 stages_completed=0，三个节点未达、断点在首轴调整、位姿不准 + 控制（未细分）均有日志与视频支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:20:43Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "76737f2d52bb3858296590d9a9f5d2c702777bceb040d120af572f7166da9cfe",
+   "video_sha256": "9f77bb87bca8e0ef94bf5a8e8f01995c6001b3556111f251bb0cfbce98365f7f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--jmc46hl.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--jmc46hl",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 206,
+   "sim_steps": 206,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.525,
+   "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
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--jmc46hl/replay.mp4",
+  "duration_s": 4.16,
+  "fps": 25.0,
+  "frames": 104,
+  "sha256": "864361999ed655b8c90387307dbcb72c7d3202a93fcb73c88c80a6810c7f7fbe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.4 s，固定腕的右手以多指夹住蓝球并改变指尖位置，确有手内调整；视频 3.6–4.12 s，球逐渐滑到上方横向手指下侧。方向小标记被手指遮挡，不能由蓝色轮廓量出目标角度。"
+     },
+     {
+      "t": 4.12,
+      "log_step": 48,
+      "text_zh": "观察：评分器 reward.stages_completed=0、sim_steps=206、deterministic=1；log step 48 保存 206×28 行动作并回放该文件，返回 invariant:object_hand_contacts。log step 47 是这些动作的生成测试，原生状态 stage_index=0、stage_hold=0。"
+     },
+     {
+      "t": 4.12,
+      "log_step": null,
+      "text_zh": "推断：结合视频中的夹持滑移和评分器明确的有序阶段计数为零，首轴检查点从未通过；不是仅凭 success=0 判未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–3.4 s，右手多个手指围夹蓝色标记球，指尖相对球换位、带动球在手内移动；视频 3.6–4.12 s 球向原夹持区下方滑移。log step 47 的生成测试记录拇指、食指、中指起初触球，后段仅余拇指和中指，log step 48 的保存文件回放最终失去手部接触。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.12,
+      "log_step": 48,
+      "text_zh": "推断：视频 0.0–4.12 s 只见首轮手内调整及其后的下滑，未见完成首轴后转入次轴的可辨阶段；评分器 stages_completed=0，且 log step 48 回放所保存轨迹以失去手部接触终止。因此依赖首轴完成的次轴检查点未通过。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.12,
+      "log_step": 48,
+      "text_zh": "推断：视频 0.0 s 的初始朝向不等于有序返回；视频 3.6–4.12 s 球下滑，未呈现完成两次重定向后的返回保持。评分器 stages_completed=0，log step 48 保存文件回放因失去手部接触终止，故包含有序第三阶段和末段低速保持的完整节点未达。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 3.6,
+   "log_step": 48,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.6–4.12 s，右手仍在首轮手内调整中，蓝球从原来夹在指尖上缘的位置下滑到横向手指下侧，未被重新稳住；log step 48 保存并回放的 206 行轨迹以 invariant:object_hand_contacts 终止，评分器 stages_completed=0。断点锚在可见下滑处，未把失去接触约束另作步骤。"
+  },
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 3.6,
+    "log_step": 48,
+    "evidence_zh": "观察：视频 0.0–1.6 s 蓝球夹在右手多指之间；视频 3.6–4.12 s 球向夹持区下方滑出。log step 48 对实际保存动作的回放报告 invariant:object_hand_contacts，支持原有手球接触最终丢失；画面尚未展示球落到桌面，不声称发生落桌。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 47 的生成测试始终处于 stage_index=0，接触输出从拇指、食指、中指变为仅拇指和中指，随后以失去手部接触结束；log step 48 确认保存并回放同为 206 行的动作得到同一失败原因。结合视频 1.4–2.4 s 手指持续换位、视频 3.6–4.12 s 球下滑，说明执行首轴滚动时未能维持稳定持球接触，归为控制；现有证据不足以区分接触布局、反馈或参数的具体责任。"
+   }
+  ],
+  "gap_zh": "没有逐帧模拟器状态日志；本次及成功参考总览中的球体方向小标记经常被遮挡，不能独立量出三个朝向误差、指尖接触力、速度或子步保持时间，节点未达依据可见过程及评分器 stages_completed=0。视频末帧仍有手指遮住部分球面，完全失去接触由 log step 48 的保存文件回放结果补证；根因仅能定位控制，不能验证更细的机制。DAG 的全部原生连续指标均未由本次评分器字段报告，value 留 null。"
+ },
+ "summary_zh": "本次右手已夹持并尝试滚动蓝球，但首轴检查点未通过，评分器有序阶段完成数为 0，三个节点最终均未达。视频 3.6–4.12 s 球向夹持区下方滑移，所保存轨迹回放因失去手部接触终止，断点为首轴重定向操作中的没保持住，根因可定位为控制。无逐帧状态日志且方向标记遮挡，无法进一步核定精确朝向、力速阈值或控制细因；后续会话测试未替换该交付。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达、断点在首轴检查点操作中的判断与评分器 stages_completed=0、log step 47/48 的 206 行回放（invariant:object_hand_contacts）一致；视频 4.16 s 内未见检查点达成，没保持住/控制的归因有 log 支撑且明确保留了不确定性。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": "2026-10-30T05:24:18Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--jmc46hl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--jmc46hl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1706c886bafec69d9f268c17a10dfe29905658374317e66b930f25b84e4b942",
+   "video_sha256": "864361999ed655b8c90387307dbcb72c7d3202a93fcb73c88c80a6810c7f7fbe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk.json

@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--yhtr7dk",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 306,
+   "sim_steps": 306,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.992,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.977,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk/replay.mp4",
+  "duration_s": 6.16,
+  "fps": 25.0,
+  "frames": 154,
+  "sha256": "f6691cdfcb7ff08a732575ec61fbc63fa303ccf2c8cfe599e1767ae240e21fbc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.52,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.4 s，固定手掌上方的白色右手手指逐渐换位，蓝色球始终留在指间；视频 3.0–4.4 s 的球和手指运动较小。总览中小方向标记不能清楚辨认。"
+     },
+     {
+      "t": 4.52,
+      "log_step": 75,
+      "text_zh": "推断：log step 75 的控制器在控制样本 226 转入 p2，结束于样本 306，末状态哈希与 log step 80 保存的交付文件一致；log step 117 对该文件的新进程回放及评分器 stages_completed=1 均确认首阶段已通过。按控制周期 0.02 s，样本 226 对应视频约 4.52 s；已核对视频 4.4–4.8 s 手指开始下一段运动，以及样本 306 对应视频 6.12 s 的末帧，时间为近似锚点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–4.52 s，固定右手的多个手指围住蓝色球，食指等手指换位驱动球在手内运动；未见把球主动松开再抓回。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": 80,
+      "text_zh": "观察：视频 4.6–6.12 s，机器人继续用右手手指调整蓝色球，球逐渐向夹持区上缘移动；视频 5.8–6.12 s 可见球与右侧上方指垫的间隙增大。log step 80 保存的轨迹只有 306 行，原生 stage_index=1、failure=invariant:speed；log step 117 新进程回放该交付文件仍为 stage=1/3、steps=306，评分器 stages_completed=1。"
+     },
+     {
+      "t": 6.12,
+      "log_step": 117,
+      "text_zh": "推断：评分器按序锁存前两阶段；交付文件终止时阶段数仍为 1，因此次轴检查点没有完成。视频末段尚在该次轴动作中，未出现成功参考视频后半段那样的后续手指大幅换位；不把 log step 94 以后的独立调试进展计入本次交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 4.6–6.12 s，右手多个手指在蓝色球周围共同换位并尝试继续滚动球；末段球偏离原先的对向夹持位置，仍靠近下方手指，不能声称已完全掉出手。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.12,
+      "log_step": 117,
+      "text_zh": "推断：视频 0.0–6.12 s 的交付轨迹止于次轴动作，log step 117 对保存文件回放给出 stage=1/3，评分器也只记录完成一个阶段；尚未完成次轴检查点，故未通过第三阶段及额外低速保持。开局球处于初始朝向不等于完成有序返回；后续会话测试不属于该交付轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_second_orientation",
+   "t": 5.84,
+   "log_step": 117,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 4.6 s 后机器人正在执行次轴重定向，视频约 5.84–6.12 s 球逐渐滑向原夹持区上缘、与一侧指垫拉开间隙，未恢复稳定夹持。log step 80 保存该 306 行轨迹，log step 117 对保存文件的新进程回放报告 invariant:speed、stage=1/3、steps=306；结合评分器 stages_completed=1，失败发生在未修复的次轴步骤，而非返回初始朝向步骤。"
+  },
+  "unmet": {
+   "sphere_first_orientation": true,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 5.84,
+    "log_step": 117,
+    "evidence_zh": "推断：视频 5.2–5.8 s 球在指间向上移，视频 5.84–6.12 s 球与右侧上方指垫之间形成较明显间隙，球在下方指端上滑动，原来的对向夹持未维持；末帧仍靠近手指，并非已观察到落地。log step 117 对实际交付文件回放显示速度越界终止，支持末段失稳，而非正常完成后的释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 79–80 的交付生成器为次轴转动预设三个指垫绕球心的轨道，再在关节空间插值；没有在该段重新安排稳定承载的手指。log step 84 用同一 p1/p2 构造和控制律作会话诊断，次轴食指目标逆解残差为 7.97 mm，随后拇指接触消失、接触数由 3 降至 2 再至 1，并在第 306 个控制样本速度越界；这是根因的会话补证，不是另一次节点进展。视频 5.84–6.12 s 的球滑离原夹持位置与这种接触布局失稳相符，故归因于所用滚动接触方案未能持续约束球；未独立验证具体换指替代方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志；本次及成功参考均为远景总览，方向标记、各指垫接触力和 2 ms 子步速度无法从画面定量核实。首阶段通过和后两阶段未通过由评分器阶段数及已保存文件的新进程回放确认，首阶段时间借助相同末状态哈希的生成记录估计；接触布局根因结合了会话诊断推断，不能由此声称本次球已完全离手或量化末帧速度。"
+ },
+ "summary_zh": "本次交付轨迹完成首轴朝向检查点（视频约 4.52 s），最终进展为 1/3；随后在次轴重定向中未保持稳定夹持，球在视频约 5.84–6.12 s 滑向夹持区上缘，保存文件回放因速度越界终止。根因推断为次轴滚动的接触布局未能持续约束球，未开始完整的返回初始朝向验收。没有状态日志，远景方向标记及子步阈值不可直接辨认；精确验收依靠评分器阶段数及交付文件回放确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与证据一致：评分器 stages_completed=1、log step 117 新进程回放 stage=1/3、invariant:speed、steps=306，支持首节点达成、次节点未达成；控制样本 226→视频约 4.52 s 的换算有说明且已核对。视频末帧球仍在手中，标签未声称球落地，处理得当。远景下指垫间隙等细节无法独立核实，但已标为推断，故不要求修改。",
+    "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": "2026-10-30T05:21:21Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b83a58954d4c43e30f1a41667e5c70b295682ae6812d2b659a2e2bcc1df3fb88",
+   "video_sha256": "f6691cdfcb7ff08a732575ec61fbc63fa303ccf2c8cfe599e1767ae240e21fbc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--z8sexho.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--z8sexho",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 242,
+   "sim_steps": 242,
+   "stages_completed": 2,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.168,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.257,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-privileged--z8sexho/replay.mp4",
+  "duration_s": 4.92,
+  "fps": 25.0,
+  "frames": 123,
+  "sha256": "c5773d1c3aad9446140f48d55fc2a3d8b45e9859175b1ea7be73e00a780b7dcf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.04,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.04,
+      "log_step": 194,
+      "text_zh": "观察：视频 0.00–1.12 s，固定掌部的白色右手用相向手指夹住蓝球，手指换位后短暂停留；评分器 reward.stages_completed=2，交付文件回放在 log step 194 报 stage_index=2，确认首检查点已通过。"
+     },
+     {
+      "t": 1.04,
+      "log_step": 59,
+      "text_zh": "推断：log step 59 的首段动作与 log step 192 保存的交付前缀相同，45 个渐变样本后 hold 6 首次 stage=1，即控制样本 52；按控制周期 0.02 s 得仿真 1.04 s，对照视频 0.92–1.12 s 的停留取视频约 1.04 s 为到达锚点。交付共 242 样本约仿真 4.84 s，与视频 4.92 s 接近；未用 agent 工作时间换算，视频对齐可能有约 0.1 s 偏差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.00–1.12 s，单只白色右手以相向手指夹持蓝球，手指屈伸换位并带动球在手内移动；接触面的细节部分被遮挡。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": 194,
+      "text_zh": "观察：视频 1.12–2.24 s，右手继续换位，蓝球留在相向手指之间；视频 2.00–2.24 s 可见第二段动作的短暂停留。评分器 stages_completed=2，log step 194 对交付文件的回放也报 stage_index=2；前两个检查点按评分器顺序均已完成，之后继续转离不撤销历史完成。"
+     },
+     {
+      "t": 2.2,
+      "log_step": 70,
+      "text_zh": "推断：log step 70 的前 112 个控制样本与 log step 192 保存的交付前缀相同，前缀结束时 stage_index=2；112×0.02=仿真 2.24 s，已对照视频 2.00–2.24 s 的停留及视频约 2.3 s 开始回转核对。将首达时间近似标为视频 2.2 s，精确阶段切换时刻无逐样本记录，误差约 0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 1.12–2.24 s，右手多指继续屈伸换位，相向手指夹持蓝球并在手内调整；无第二只手参与。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.04,
+      "log_step": 192,
+      "text_zh": "观察：视频约 2.3–4.04 s，右手把手指姿态逐步回调，蓝球仍在手指间；视频 4.04–4.88 s 持续夹持，未见掉球。log step 192 保存的动作含回到首段手指目标、再渐变到返回目标并保持 40 个控制样本，log step 193 生成该 242 行交付文件。"
+     },
+     {
+      "t": 4.88,
+      "log_step": 194,
+      "text_zh": "观察：log step 194 读取交付文件并完整回放，结果 success=False、failed=False、stage_index=2、stage_hold=0、terminal_hold=0；评分器也报 stages_completed=2、success=0。log step 190 对同一 242 样本动作序列的回放给出末态 cube_error_3=0.1922 rad、contacts=2，末态哈希与 log step 194 相同。"
+     },
+     {
+      "t": 4.88,
+      "log_step": 190,
+      "text_zh": "推断：末段确实尝试恢复初始朝向，但末态朝向误差仍大于 0.16 rad，且有序第三阶段和末段保持均未通过；因此此节点从未完成。视频开局虽然是初始布局，也未满足该节点包含��有序阶段及保持验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频约 2.3–4.04 s，右手在维持蓝球夹持的同时反向换位、回调姿态；视频 4.04–4.88 s 继续以相向手指夹住球，未见松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_initial_orientation",
+   "t": 4.04,
+   "log_step": 194,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.3–4.04 s，右手执行回转；视频 4.04–4.88 s 进入持续夹持，球仍留手内。log step 192–194 保存并回放该 242 行动作，stage_index 始终未完成第三阶段，末态 stage_hold=0、terminal_hold=0，评分器仅接受 2 个阶段。推断：断点是末段恢复初始朝向的操作；以视频约 4.04 s 返回渐变结束、开始保持作为粗略导航锚点。"
+  },
+  "unmet": {
+   "sphere_first_orientation": true,
+   "sphere_second_orientation": true,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.04,
+    "log_step": 190,
+    "evidence_zh": "观察：视频 3.2–4.88 s，机器人右手持续回调并夹持蓝球，未见离手或外部阻挡；log step 190 的同一交付动作序列回放报末态 cube_error_3=0.1922 rad，log step 194 回放交付文件得到相同末态哈希且 stage_index=2。推断：球虽被带回接近开局的区域，其朝向未恢复到允许范围，属于位姿不准；角度差依赖对应交付回放的物理读数，不能从蓝色轮廓独立量出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 192 的交付控制脚本用固定关节目标渐变完成回转，再保持同一目标 40 个控制样本，没有按球朝向误差修正末段动作；log step 190 的对应回放末态朝向误差仍为 0.1922 rad，log step 194 验证保存文件同样仅完成阶段 2。会话调试 log step 187 在相同返回目标继续保持时，hold 20–70 的 cube_error_3 为 0.2192、0.2008、0.1918、0.1972、0.2215、0.2642 rad，均未进入 0.16 rad 内。推断：返回阶段的关节控制未能把球收敛到目标朝向；证据不足以进一步归为接触布局、反馈跟踪或某一具体参数。"
+   }
+  ],
+  "gap_zh": "无状态日志；总览视频中球的方向标记过小且常被手指遮挡，成功参考的同一视角也不能独立核验精确角度、接触力和子步保持。前两节点的完成依据评分器阶段计数，时间由已核对的相同交付前缀及视频停留估计；第三节点的误差依据同动作且同末态哈希的交付回放。缺少逐样本朝向、速度和接触记录，无法确定更细的控制失效机制；native_metrics 按评分器原始字段填写，未报告的指标均为 null，未将会话回放读数填入评分器指标。"
+ },
+ "summary_zh": "本次交付中，固定腕右手完成球的首轴和次轴朝向检查点，历史进度为 2/3，随后尝试在手内回转到初始朝向。末段球仍在手指之间，但对应交付回放的朝向误差为 0.1922 rad，高于 0.16 rad，第三阶段及末段保持未完成，断点为球回初始朝向，归因为返回阶段控制未收敛。无状态日志且方向标记细小，阶段到达时间为近似值，无法从视频独立核验精确姿态、力和子步计数。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与证据一致：评分器 stages_completed=2、log step 194 回放 stage_index=2，前两节点达成、第三节点未达成，断点在回到初始朝向；视频 4.92 s 内球全程在手指间，未见掉球；时间以控制样本换算并已说明映射与误差，未用 agent 时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:20:58Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--z8sexho/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--z8sexho/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c12720caf326fa00989333af7bec2865767569782a7128ea2a16ae92bad17c2a",
+   "video_sha256": "c5773d1c3aad9446140f48d55fc2a3d8b45e9859175b1ea7be73e00a780b7dcf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--2pnah2w.json

@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--2pnah2w",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 333,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 440,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 19,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 440,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.474,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.375,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--2pnah2w/replay.mp4",
+  "duration_s": 8.84,
+  "fps": 25.0,
+  "frames": 221,
+  "sha256": "becf38ad3bf480ac9e5fa2d71d33f3308ceb6a2c60f78b567628d048a8869fd9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 100,
+      "text_zh": "观察：视频 0.0–1.2 s，右手原先伸出的手指向球周围收拢，蓝球被另外的手指夹持；视频 1.2–8.8 s 手指继续缓慢调整，球始终留在指间可见区域。log step 100 重置到 episode 20 后启动最后回合，log step 106 服务确认该回合共 440 个控制步且以 task_failure 结束；评分字段 live_matches_replay=1。"
+     },
+     {
+      "t": 8.8,
+      "log_step": 102,
+      "text_zh": "推断：首轴检查点未完成。视频 0.0–8.8 s 的放大帧仅见球在紧凑握持区内缓慢变化；最后回合的 agent 图像跟踪脚本输出仍停在 STAGE 1，方向误差估计依次为 78.4°、72.5°、69.2°，之后服务返回 task_failure（log step 101–102），没有转入第二轴的记录。结合动作过程和该回合反馈判为未达，非仅由零分推出；上述角度是 agent 的标记方向估计，不是原生 cube_error_1，画面不能独立核验 0.16 rad 阈值及子步保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–8.8 s，一只右手的相对手指夹持蓝色球，其他手指逐渐收拢，并在保持球处于手内时换位、滚动；没有使用手持工具。总览遮挡了部分接触点，不能确定每个指尖垫的接触力。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 102,
+      "text_zh": "推断：未完成有序的次轴检查点。视频 0.0–8.8 s 只见上述收指及缓慢手内调整；与最后回合 log step 101–102 始终处于首轴循环并随 task_failure 结束一致，未进入脚本的次轴旋转。首轴尚未完成，因此按有序事件验收本节点不成立。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 106,
+      "text_zh": "推断：未完成依次转过两轴后的返回及末段保持。视频 7.8–8.8 s 球仍在指间，但没有完成前两阶段后返回的过程；log step 101–102 的最后回合在首轴循环内终止，log step 106 服务报告 done=True、reason=task_failure，评分字段 live_success=0、replay_success=0。开局几何朝向及末帧仍持球均不等于本节点的有序验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 8.8,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "推断：断在首轴重定向。视频 0.0–8.8 s 右手收指后继续在手内调整蓝球；最后回合 log step 101–102 仍在 STAGE 1、脚本方向误差估计约 69.2°时收到服务 task_failure，此后该回合再无修复。视频末秒逐帧未见球完全离手，不能把 agent 对历次尝试的掉球总结当作本回合的可见失败。"
+  },
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.8,
+    "log_step": 102,
+    "evidence_zh": "推断：右手未将球转到首轴目标朝向便结束回合。视频 1.2–8.8 s 的球仍被手指围住、缓慢调整；同一最终回合的图像跟踪反馈到最后一次记录仍给出约 69.2°的标记方向误差（log step 101–102），随后服务判 task_failure。该估计仅支持明显未转足的判断，不作为原生姿态误差数值；未见足以证明完全掉球或碰撞阻断的画面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：手指控制未能完成所需的手内旋转。log step 65、83、88–100 所记录的脚本用指垫雅可比生成分段关节运动、在分段间按球标记方向修正；最后回合 log step 101 的方向估计仍距首轴目标很远，接着 log step 102 报告服务终止。视频 0.0–8.8 s 可见手指实际执行收拢与滚动调整，但未完成后续序列。证据只支持控制层归因，无法进一步区分接触布局、轨迹、反馈或具体参数问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供总览视频和完整运行日志，没有状态日志或原生 stage_index、cube_error、指尖接触力、速度及细分失败原因。视频及成功参考的球标记均很小且常被手指遮住；本回合首轴未达是结合视频过程和最后回合脚本跟踪反馈的推断，不能独立核验精确姿态、连续子步验收或具体触发的约束。log step 107 对掉球、限位与换指碰撞的总结属于 agent 对多次尝试的解释，未据此标注本回合掉球或限位。所有视频锚点直接取自所看帧，未将 agent 工作时间或脚本循环编号换算为视频时间。"
+ },
+ "summary_zh": "评分回合中，右手先收拢手指，再尝试在手内滚动蓝球；结合视频及最后回合仍停在首轴且方向估计误差很大的日志，推断三个有序检查点均未完成，进度为 0/3。断点为首轴朝向调整，归为位姿不准及控制层失败；没有把早先测试的掉球或碰撞移入本回合。总览无法辨清全部方向标记，缺少原生阶段、接触及细分失败原因，故精确阈值与终止机制无法核验。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个节点 0/3 与评分字段（live_success=0、replay_success=0）及视频一致：视频 0.5–8.8 s 球始终在指间，末帧（视频 8.8 s）仍被手指围住，没有出现首轴 90° 的朝向变化。log step 106 服务读数 control_steps=440 与视频 8.84 s（50 Hz）吻合。断点取首轴重定向、位姿不准、控制（不细分）都有证据且表述保守，没有把 agent 对早先尝试的掉球叙述移入本回合。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:25:25Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--2pnah2w/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--2pnah2w/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ec94c94636c5a5011cad8a462327ab3d8b031a32dbbb97dc5832d520bbc6de9",
+   "video_sha256": "becf38ad3bf480ac9e5fa2d71d33f3308ceb6a2c60f78b567628d048a8869fd9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--cbv2wgw.json

@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--cbv2wgw",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 4,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 160,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 160,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.403,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.301,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--cbv2wgw/replay.mp4",
+  "duration_s": 3.28,
+  "fps": 25.0,
+  "frames": 82,
+  "sha256": "42051630101759833896bea4f2a43e49dcdccf63faeab3dcba886f03994842e7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": 46,
+      "text_zh": "观察：视频 0.00–1.60 s 中右手手指在蓝球周围小幅换位，蓝球保持夹在手内；已查看每隔约 0.08 s 的放大画面。总览中方向标记太小并被手指遮挡，不能辨明首轴目标布局，也没有原生 stage_index 或朝向误差读数。"
+     },
+     {
+      "t": 3.24,
+      "log_step": 48,
+      "text_zh": "观察：视频 1.68–3.24 s 中机器人再次屈伸食指并恢复近开局的手指布局；视频 2.20–3.24 s 已逐帧查看，未见球离手。成功参照视频 0.00–5.96 s 的同一总览也不能可靠显示精确朝向，不能仅凭蓝球轮廓判定本节点为真或假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手相对两侧的手指夹持蓝色球，食指反复屈伸、移开后重新贴回，其他手指维持夹持；在手内尝试拨转球。视频可确认这种接触方式，不能确认每个指尖的接触力或原生接触计数。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 3.24,
+      "log_step": 48,
+      "text_zh": "观察：视频 0.00–3.24 s 只有小幅手指拨动，没有可辨明的次轴标记布局；log step 46、48 的脚本均为食指拨球循环，没有独立的绕次轴动作或原生阶段结果。首检查点也无法核实，因此本节点的历史验收情况未知，不能用总失败反推其未通过。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.24,
+      "log_step": 51,
+      "text_zh": "观察：视频 3.24 s 末帧蓝球仍在手内，方向标记不能可靠辨明；log step 51 的机器人服务状态为 episode=1、control_steps=160、done=False、reason=None，评分器字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 3.24,
+      "log_step": 51,
+      "text_zh": "推断：本节点包含按序通过三阶段并完成末段保持的完整成功验收，达成即终止；本回合末尾仍未成功且未终止，故完整验收未达成。此推断不用于否定前两个中间检查点，开局球朝向相同也不计为已返回。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 1.2,
+   "log_step": 46,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 0.40–1.60 s 及 1.76–3.24 s 中机器人反复拨动手内蓝球；log step 46、48 的脚本都在试图用食指行程产生首轴转动，脚本自己的图像估计分别给出约 -1.12° 和 8.47°，没有后续完成动作。故将仍在处理的首轴调整作为断点，视频 1.20 s 仅为首次拨动附近的导航锚点；精确检查点是否曾被接受仍因缺少原生阶段字段而保留未知。"
+  },
+  "unmet": {
+   "sphere_first_orientation": null,
+   "sphere_second_orientation": null,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 48,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 46、48 中 agent 的控制脚本用预设关节插值驱动食指拨动，同时改变拇指与中指的夹持量，两个循环后均回到初始关节目标；其自身 RGB-D 标记估计显示第一次几乎没有转动，第二次也仅约 8.47°，未形成完成首轴 90° 调整的控制动作。视频 0.40–3.24 s 可见手指运动而球始终被夹持，支持精细手内操作未奏效这一宽类归因；这些自测数值仅作控制归因证据，不当作原生节点判据。现有证据不能区分接触设计、轨迹或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "本次与成功参照均只有总览视频，球的红、绿、橙方向标记在现有分辨率和手指遮挡下无法可靠辨明；没有状态日志，也没有 stage_index、cube_error、接触力、物体速度及阶段保持计数。首两节点的历史验收保留未知；末节点依据包含完整成功条件的判据和服务、评分器结果判为未达。agent 在 log step 46、48 自行计算的角度不是评分器测量，不能替代节点证据，也不足以确定一个可见的失败现象，故现象层留空。原生指标在评分器 reward 中均未报告，全部填 null。"
+ },
+ "summary_zh": "本回合右手两次用食指拨动夹持中的蓝球，视频末尾球仍留在手内；未能确认首、次轴检查点通过，含末段保持的完整验收确定未达。断点定位于仍在处理的首轴调整，日志自测支持宽类控制问题，但不足以细分。总览方向标记不可辨且缺少原生阶段与物理读数，因此保留前两节点未知，失败现象层留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注保守且与证据一致：视频只有 3.28 s、总览中方向标记不可辨，前两节点保持未知合理；末节点依据评分器 live_success=0、done=False 判未达；断点与单一宽类控制根因均由 log step 46/48 支持，现象层留空有 gap_zh。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": "2026-10-30T05:22:04Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--cbv2wgw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--cbv2wgw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8e558c266bd3f0ab6ad695e3a35333a9d4da68f59e118598deb3498db6a5863",
+   "video_sha256": "42051630101759833896bea4f2a43e49dcdccf63faeab3dcba886f03994842e7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--e8kvyun.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--e8kvyun",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 154,
+   "control_steps_total": 4055,
+   "elapsed_s": 1855.545,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 353,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 353,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.163,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.301,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--e8kvyun/replay.mp4",
+  "duration_s": 7.12,
+  "fps": 25.0,
+  "frames": 178,
+  "sha256": "27c73dc06afcbfbaef4743011a7da72c9ea272bfc29b88b59687a9aa8bd96447"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 293,
+      "text_zh": "观察：本次视频 0.0–2.1 s，右手多指弯曲并夹着蓝色球向掌内滚移，视频 1.6–2.1 s 有停顿；放大后仍不能辨明红、绿、橙标记的完整布局。成功参考视频 0.0–2.0 s 的总览同样不能显示精确朝向；log step 293 只报告最终 task_failure，没有 stage_index 或首阶段验收计数，不能确认首检查点，也不能据总失败反推它未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "视频 0.0–2.1 s，右手拇指与对侧屈曲手指夹持蓝色球，手指协调弯曲使球在指间滚移；精确指尖接触数和力不可见。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 290,
+      "text_zh": "观察：视频 2.1–3.8 s，右手继续以多指围住蓝色球，指间位置有小幅变化；球的方向标记被手指遮住，无法核实第二轴转角。log step 290 的最终脚本在首段后执行 q1→q2 并停留，log step 293 确认该段动作行已执行，但没有服务阶段完成字段；脚本中的阶段命名不能替代球朝向及连续保持的验收证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "视频 2.1–3.8 s，右手拇指与对侧手指继续夹持并小幅调整蓝色球；没有第二只手或辅助工具参与。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.08,
+      "log_step": 293,
+      "text_zh": "观察：视频 5.4–7.08 s，右手逐渐回张，蓝色球在指间向下滑移；视频 6.8–7.08 s 球上方与横向手指之间出现间隙，没有出现稳定恢复开局夹持布局的末段。log step 293 的最终回合 episode=21 在 control_steps=353 收到 done=True、reason=task_failure，log step 294 再次确认该终止结果。"
+     },
+     {
+      "t": 6.8,
+      "log_step": 290,
+      "text_zh": "推断：log step 13 给出控制频率 50 Hz，log step 290 的最终脚本将 q1→q_target 返回段安排在控制步 260–360；log step 293 的 353 步对应约 7.06 s，与视频 7.08 s 末帧核对一致，视频约 5.2 s 后也可见手指回张。因此终止发生于返回操作中，预定末段保持尚未开始；结合服务 task_failure，完整的第三阶段及末段保持验收未完成。未用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "视频约 3.8–7.08 s，右手反向调整原有指间夹持，试图将蓝色球转回；视频末段手指回张时球下滑，未维持原来的对向夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_initial_orientation",
+   "t": 6.8,
+   "log_step": 293,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.4–7.08 s，右手在回张过程中让蓝色球向下滑，视频末帧球已离开上方指腹的夹持位置；log step 293 的最终回合在第 353 个控制步以 task_failure 终止。推断：结合 log step 290 的已执行动作段，这是返回初始朝向时未修复的夹持失稳；前两检查点是否曾验收没有记录，故断点定位于可确认出问题的返回操作，不断言前两步已成功。"
+  },
+  "unmet": {
+   "sphere_first_orientation": null,
+   "sphere_second_orientation": null,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 6.8,
+    "log_step": 293,
+    "evidence_zh": "观察：视频 5.8–6.2 s 蓝色球仍靠着上方手指，右手继续回张后，视频 6.8–7.08 s 球向下滑并与上方手指形成可见间隙；原有对向指腹夹持没有保持住。末帧未显示球落到桌面，不能声称触桌；log step 293 只给出 task_failure，没有说明触发的具体约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 6.8,
+    "log_step": 290,
+    "evidence_zh": "推断：log step 290 的最终控制器一次性提交固定关节轨迹，将手指从 q2 退回 q1，再退向带固定弯曲偏置的初始关节目标；执行中不根据球位姿或接触反馈修正夹持。视频 5.8–7.08 s 的回张伴随球下滑，log step 293 在返回段即终止，说明这套返回控制没有维持球的夹持；现有证据不能再区分接触布局与跟踪误差各自的贡献，停在控制类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；本次只有总览视频，球的方向标记细节被手指遮挡或分辨率不足，成功参考总览也无法提供可直接套用的精确朝向判据。最终回合服务未报告 stage_index、stage_hold、terminal_hold、球姿态、指尖接触力或具体失败约束，因此前两个节点均保留未知，不能量化朝向误差或确认全手接触是否完全丢失。会话中其他重置回合的测量与 agent 在 log step 296 的完成性描述不作为本次节点达成证据。"
+ },
+ "summary_zh": "最终评分的是 log step 293 重置后执行的第 21 回合：右手尝试多轴手内调整，但前两个检查点的精确朝向和连续验收均无法确认，返回初始朝向及末段保持未完成。视频约 6.8–7.08 s 可见回张中的球下滑、失去原有对向夹持，服务在第 353 个控制步报告 task_failure，断点为球回初始朝向；固定返回控制未能维持夹持。没有状态日志和原生阶段计数，已确认完成节点为 0，另有 2 个节点未知，不能把会话调试或最终自述当作完成证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注谨慎：前两节点因总览分辨率和标记遮挡保持 unknown，末节点 false 由 live_success=0 与视频末段球下滑支持；断点、现象（接触·没保持住）和控制根因均有证据，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": "2026-10-30T05:26:18Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--e8kvyun/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--e8kvyun/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "caf959dbcbb5df1981b98038f1281cbb9b451bb201df464adb71c81e9df75042",
+   "video_sha256": "27c73dc06afcbfbaef4743011a7da72c9ea272bfc29b88b59687a9aa8bd96447",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--gkluoag.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--gkluoag",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 382,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 260,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 260,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.671,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.355,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--gkluoag/replay.mp4",
+  "duration_s": 5.24,
+  "fps": 25.0,
+  "frames": 131,
+  "sha256": "2abfe2599073b50349533b93471f58bcd3f391cd1d2e68a2713e992a8dc45424"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 66,
+      "text_zh": "观察：视频 0.0 s，蓝色球已夹在白色右手手指之间；视频 0.0–3.0 s，外侧原本伸展的手指逐渐屈起，随后视频 3.0–5.2 s 球在夹持区内向掌侧移动，直到末帧仍留在指间。log step 66 重置为 episode 21，先执行包络屈指，再继续增加食指、中指屈曲；这是最后一次回合。"
+     },
+     {
+      "t": 5.0,
+      "log_step": 66,
+      "text_zh": "推断：视频 3.0 s 的外侧手指屈起与 log step 66 的第一段包络动作结束相符，后续画面也与继续屈指相符，故用该最后回合日志辅助判断。该回合 agent 的标记姿态估计误差从约 90°降至最后一次读数 59.4°，随后服务返回 task_failure，脚本返回 stage1 False；画面没有后续目标停稳或继续转轴动作。综合判定首轴检查点未完成；59.4°是 agent 自己的估计，不是评分器 cube_error_1，不能由此填写原生指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–5.2 s，固定腕的右手以横向弯曲手指和对侧手指夹持蓝色球，在屈指过程中使球在手内移动；末段仍保持可见夹持，没有计划松手或球离手的画面。遮挡使各根指尖的接触力和精确接触数不可辨。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": 66,
+      "text_zh": "推断：视频 0.0–5.2 s 只见同一段屈指包络及后续手内移动，未见进入下一轴目标的独立动作；log step 66 的两次 walk_to 均以 T1 为目标，第二次在服务 task_failure 后结束，未执行 T2。结合首轴检查点未完成，依赖它的第二有序检查点未达到。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 66,
+      "text_zh": "推断：视频 0.0 s 虽是球的重置姿态，但本节点验收包含依次完成前两阶段和末段保持，不能在开局计为完成。"
+     },
+     {
+      "t": 5.2,
+      "log_step": 66,
+      "text_zh": "推断：视频 4.2–5.2 s 已逐帧检查，球仍夹在手指之间，未出现完成前两轴旋转后返回并停稳的过程；log step 66 只运行 T1 目标即失败退出，未执行 T2、T3 或终末保持。因此完整的返回初始朝向验收始终未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 4.8,
+   "log_step": 66,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 4.8 s，机器人仍在首轴手内调整过程中，球已较开局向掌侧移入，视频 5.2 s 末帧仍在指间；该段没有完成后续转轴和保持。log step 66 的最终 episode 21 仅尝试首轴目标，最后一次 agent 姿态估计仍离目标 59.4°，随后服务返回 task_failure 并结束回合；首轴步骤未再修复。视频时间只作末段操作的导航锚点，不等同于原生约束触发时刻。"
+  },
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.8,
+    "log_step": 66,
+    "evidence_zh": "推断：视频 3.0–5.2 s，右手继续屈指时，蓝色球向掌侧移动并逐渐被手指遮住，仍没有形成已完成检查点后的目标保持与转入下一阶段；log step 66 的对应回合在首轴姿态估计仍差 59.4°后结束。结合动作与反馈，失败表现为手内调整未把球转到首轴目标，而非未碰到球。视频末秒没有球完全离手或掉落的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 64 定义的 walk_to 将关节目标按预设分段推进，姿态误差仅用于到达阈值时提前退出；log step 66 的最终回合沿用此函数，先屈起无名指、小指形成包络，再持续增加食指、中指屈曲。该控制执行到服务判失败时仍未达到首轴，且视频 3.0–5.2 s 显示球向掌侧移动，支持手指动作未能实现所需球体重定向的控制归因。没有原生接触、力和姿态轨迹，尚不足细分为接触设计、轨迹求解或反馈控制问题。"
+   }
+  ],
+  "gap_zh": "本作业没有状态日志。已对比成功参考视频 0.0–5.96 s；两段视频均只有远处总览，红、绿、橙色方向标记在本回合的夹持区内无法充分辨认，不能直接测量首轴角误差、双指接触力或所有物理子步的保持条件。首轴未达由最终回合的动作代码、agent 自行计算的姿态反馈及视频联合推断，不把 agent 的估计当作原生阶段计数。评分器未给出 stage_index、具体失败条件或 DAG 所列原生指标，故无法确定服务 task_failure 由哪项条件触发；log step 67 关于阶段时限的说法只是 agent 猜测，未据此归因。"
+ },
+ "summary_zh": "评分回合为 log step 66 最后一次重置后的 episode 21：右手夹持蓝色球并尝试屈指重定向，首轴检查点未完成，最终进度 0/3。断点在首轴操作中，表现为调整未达到目标朝向，结合该回合的预设屈指控制及其反馈归因为控制。总览中的方向标记受遮挡，缺少原生阶段、接触力与失败条件读数，首轴结论属于动作、日志反馈和画面的联合推断，不能指定触发终止的约束。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达到（0/3）与视频末帧、log step 66 的 task_failure 相符；断点在首轴操作中、现象位姿不准、根因停在控制，均有日志与画面支撑且标为推断，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": "2026-10-30T05:24:21Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--gkluoag/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--gkluoag/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ea49f3bab379619f1a3256b5663d1bf80f54a8bbe857f338b9839b0ba4cadfa7",
+   "video_sha256": "2abfe2599073b50349533b93471f58bcd3f391cd1d2e68a2713e992a8dc45424",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--st6qhgb.json

@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--st6qhgb",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 154,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 510,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 510,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.395,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.839,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--st6qhgb/replay.mp4",
+  "duration_s": 10.24,
+  "fps": 25.0,
+  "frames": 256,
+  "sha256": "89d7d0671ffc89ce17d0a8547acb13e09fb18d2b41dade9f6a1e1950a881d6a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 103,
+      "text_zh": "观察：视频 0.0 s 蓝色球已夹在白色右手手指之间；log step 103 是最后一次重置后的 episode 21，之后 log step 103–108 的 control_steps 由 100 增至 510，评分器 n_actions=510、live_matches_replay=1。本视频对应此回合，先前各次重置测试不计入进度。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 108,
+      "text_zh": "观察：视频 0.0–10.2 s 右手手指逐渐屈曲，球从初始指间位置向下移动，视频 9.0–10.2 s 逐帧检查仍见球在手指之间；方向标记被手指及球体自身遮挡，不能辨明完整目标朝向。成功参考视频 0.0–5.8 s 的同一总览视角也不能辨清完整标记布局。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 113,
+      "text_zh": "推断：log step 113 中 agent 自述“第一轴尝试期间 task_failure，第二转、返回和末段保持均未达到”，与视频中单段持续屈指操作相符，可定位正在尝试首节点；但该自述和 log step 103–108 中脚本自行拟合的单个标记方向均不能证明原生 stage_index。没有原生阶段、接触力及速度记录，首检查点是否曾短暂完成仍未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–10.2 s，一只右手的弯曲手指与相向的拇指围住蓝色球，手指逐渐换位并使球在手内移动；末帧球仍在手指之间。接触未发生在桌面上，无法由总览分辨每个指尖垫的接触数量和力。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": 108,
+      "text_zh": "推断：视频 0.0–10.2 s 仅有持续屈指、球向下移动的操作，未见之后另起一段转轴操作；log step 103–107 持续增加拇指 CMC_FE、食指 MCP_FE 和中指 PIP 目标，log step 108 仅尝试减小食指 MCP_AA，即由服务报告 done=true、reason=task_failure。结合 agent 在 log step 113 明确说明未进入第二转，本节点判未达；不由总成功分数反推。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 是重置后的起始持球姿态，本节点要求完成有序旋转后返回并保持，因此开局相同几何姿态不计达成。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 108,
+      "text_zh": "推断：视频末段 9.0–10.2 s 球继续位于较低的指间位置，没有返回开局布局的过程；log step 103–108 的最后回合操作没有返回阶段，服务在 control_steps=510 时报告 task_failure，评分器 live_success=0、replay_success=0。本节点包含最终全部阶段及末段保持验收，终态为未达。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 10.2,
+   "log_step": 108,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 0.0–10.2 s 机器人一直进行同一段手内屈指操作，球逐渐向指间下方移动，未见转入后续阶段。log step 108 中 agent 的脚本在第 21 回合尝试减小食指 MCP_AA，仅执行 10 行即收到服务 done=true、reason=task_failure；log step 113 自述仍在首轴尝试中失败。故断点定位为首轴朝向操作，未将未公开的终止约束当作断点。control_steps=510、dt=0.02 s 对应视频约 10.20 s，与视频 10.0–10.2 s 末段运动及结束核对一致（视频共 256 帧、10.24 s，约一帧差）。"
+  },
+  "unmet": {
+   "sphere_first_orientation": null,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 内有本次和成功参考的总览视频及运行日志，没有状态日志；视频中球的红、绿、橙色方向标记遮挡，放大检查仍不能核实首检查点的精确朝向。服务日志只有 task_failure，未公开 stage_index、stage_hold、失败约束、原生球速或接触力；reward 也未报告 DAG 所列连续指标，因此 native_metrics 全留 null。推断：可以定位正在操作首节点、后两节点未达，但首节点历史是否达成无法可靠判定，保留 unknown。视频末帧球仍在指间，无法区分因滑移、接触力或其他原生条件而终止，不能把球位置下移直接当作脱手；现象与根因均留空。log step 103–108 中 agent 脚本自行估计的单个标记轴未独立验证，不能替代原生朝向和阶段记录；log step 109–113 回合结束后保存的控制脚本未在评分回合执行。"
+ },
+ "summary_zh": "最后评分回合持续尝试首轴手内重定向，蓝色球在右手手指之间逐渐向下移动，于视频约 10.2 s、log step 108 收到 task_failure；后续第二转和返回保持均未达到。未确认任何节点达成，首节点因方向标记遮挡及缺少原生阶段记录保留未知，后两节点为未达。终止的具体物理条件未公开，视频也未显示明确脱手，故不强判失败现象或根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注谨慎且与证据一致：视频 0–10.2 s 球始终在指间，总览看不清标记；log step 108 的服务读数 control_steps=510、done=true、task_failure 与 10.2 s 终点相符，首节点 unknown、后两节点 false、断点在首节点均合理；现象与根因留空并有 gap_zh，因无状态日志和失败约束，无法判定。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:18:51Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--st6qhgb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--st6qhgb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef403e37357a40c1bd6ea48a9e052f62c286443de2c716e193be999d9ba8e360",
+   "video_sha256": "89d7d0671ffc89ce17d0a8547acb13e09fb18d2b41dade9f6a1e1950a881d6a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--wusbio4.json

@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--wusbio4",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 214,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 499,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 19,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 499,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.446,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.986,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-cube-reorient-i00-standard--wusbio4/replay.mp4",
+  "duration_s": 10.04,
+  "fps": 25.0,
+  "frames": 251,
+  "sha256": "76706878d06f837a4e3802ca70275da08e578213058817d04f7a52c03c5da85f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00、0.40 至 8.80 s 的逐段画面以及视频 9.00–10.00 s 的逐帧放大画面显示，固定手掌上的白色手指始终夹持蓝球并小幅换位；未见球掉落。总览中的方向标记大部分被手指遮挡，不能直接量出完整旋转角。"
+     },
+     {
+      "t": 9.96,
+      "log_step": 171,
+      "text_zh": "观察：log step 171 启动最后一次回合，脚本最后打印 s1 +90 palmY attempt 6，自己的橙色标记估计残差为 0.5761 rad，随后服务报告 episode=20、control_steps=499、executed_rows=37、done=true、reason=task_failure；评分器字段 n_actions=499、live_matches_replay=1，与本次回合一致。该残差是脚本的视觉估计，不是评分器的 cube_error_1。"
+     },
+     {
+      "t": 9.96,
+      "log_step": 171,
+      "text_zh": "推断：结合视频 0.00–10.00 s 中持续的同一握持内小幅调整、最后回合仍处于首轴校正且残差尚大的日志，首个 90° 检查点未完成，后续有序检查点也未开始。没有用 success=0 单独推断首节点为假；首轴的精确误差与连续保持条件仍缺原生读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.00–10.00 s，右手拇指与对侧弯曲手指夹住蓝色球，手指在保持夹持的同时小幅换位、滚动球；手掌固定，球未见借用桌面支撑。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.96,
+      "log_step": 171,
+      "text_zh": "推断：视频 0.00–10.00 s 仅显示同一握持内的小幅调整，没有可辨的后续换轴过程；log step 171 的最后回合终止在 s1 +90 palmY 的校正中，未进入脚本的第二轴阶段。结合首检查点未完成，本节点要求的有序第二检查点未达到；此前重置回合不计入本次进度。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": 171,
+      "text_zh": "推断：视频 0.00 s 的开局握持不等于按序返回，视频 10.00 s 球仍夹在手指间也不足以证明完成返回与末段保持。log step 171 最后回合在首轴校正中以 task_failure 结束，评分器 live_success=0、replay_success=0、live_matches_replay=1；未通过前两有序检查点及最终保持，故本节点为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_2",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "cube_error_3",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "contacts",
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "speed_stage",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_invariant",
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "t": 9.96,
+   "log_step": 171,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 9.00–10.00 s 逐帧检查时，机器人仍夹球做首轴调整，未见掉落或后续换轴；log step 171 最后回合在 s1 +90 palmY 校正中收到服务 task_failure，首步未修复。导航时刻取视频 9.96 s 附近：log step 171 的回合控制计数 499，按任务 50 Hz 为 499/50=9.98 s，与视频 9.96–10.00 s 的末段动作核对一致；未使用 agent 工作时间换算。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 9.96,
+    "log_step": 171,
+    "evidence_zh": "推断：视频 0.00–9.96 s 中机器人只持续做小幅手内滚动，蓝球仍在指间；log step 171 最后回合的脚本仍在追逐首轴目标，最后一次动作前自测的标记方向残差为 0.5761 rad，随后在该次调整中被服务终止。结合这些证据判断首轴重定向尚未到位；此处不把自测残差当作评分器完整姿态误差，也不据此声称接触力越界。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "本次没有状态日志。已检查本次总览视频全程、视频 9.00–10.00 s 每帧放大画面，并比较成功参考视频全程；两段总览都不能清楚展示完整方向标记，无法直接复核精确角误差、各指尖接触力、速度及连续子步保持。最后回合服务仅给 task_failure，没有原生 stage_index、stage_hold、terminal_hold 或具体失败约束；首轴未完成是视频与脚本校正记录结合的推断。agent 在 log step 172 自述怀疑力或速度瞬变，但没有对应原生读数，不能把该猜测作为接触力异常、速度违规或控制根因；因此根因层留空。",
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  }
+ },
+ "summary_zh": "本次评分回合中，右手始终夹着蓝球做小幅手内调整；结合最后回合仍停留在首轴校正的日志，推断三个有序节点均未完成。断点是球达首轴朝向的操作中，现象为调姿尚未到位，随后服务以 task_failure 终止。总览方向标记遮挡且没有原生阶段、接触力或速度记录，无法确定触发终止的具体条件及根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注保守且与证据一致：评分回合（episode 20，control_steps=499，对应视频约 10 s）以 task_failure 结束，球仍在指间，三个节点均未达成；断点、钟面换算（499/50 Hz）和空根因层（带 gap_zh）都有依据，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:23:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--wusbio4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--wusbio4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "edef0396ae75bf7cfa1c475a07efb990bf394b7972b9440dcfc391d1f8e3e842",
+   "video_sha256": "76706878d06f837a4e3802ca70275da08e578213058817d04f7a52c03c5da85f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owaavbg.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-privileged--owaavbg",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 320,
+   "sim_steps": 320,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.83,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.979,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-privileged--owaavbg/replay.mp4",
+  "duration_s": 6.44,
+  "fps": 25.0,
+  "frames": 161,
+  "sha256": "4fce33637bdae7909ccea335b7cc0c2d01b815c90982981563e83ccb594e8481"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 100,
+      "text_zh": "观察：视频 0–1.6 s，固定右手的手指抬起、屈曲并围着蓝色笔调整，笔仍悬空留在手内；log step 100 的最终生成脚本先抬中指、屈食指，再改变拇指目标以沿轴拖笔。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.6–3.2 s 的密集放大帧中，手指继续改变姿态，笔相对掌面的轴向移动很小；视频 3.2–6.4 s 未出现明显的进一步前移，末段逐帧检查也未见恢复推进。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 130,
+      "text_zh": "观察：log step 130 重新生成并独立回放最终交付的 320 行文件，返回 stage=0、pen_axial=0.00454 米、pen_angle=0.00478 弧度；评分记录 n_actions=320、stages_completed=0，与视频中仅小幅前移的结果一致。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 130,
+      "text_zh": "推断：结合全片中缺少足够前移及最终交付回放仍处推进阶段，笔未满足沿轴推进 0.024–0.036 米并连续维持指定接触的验收；未把其他会话测试的最大位移计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0–6.4 s，单只右灵巧手的拇指和弯曲手指围住蓝色笔，手指在笔仍留于手内时改变位置并尝试沿轴拖动；未见整笔脱手或另一只手参与。具体指尖接触力与接触点被遮挡，不能逐帧判定。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0–6.4 s，笔始终近似保持开局轴向，没有出现明显斜转；成功参考视频 12–22.08 s 可见的笔轴转向、三指围拢姿态在本次全片及末段放大帧中均未出现。参考视频只用于辨认可见特征。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 130,
+      "text_zh": "观察：视频 5.4–6.4 s 逐帧显示笔仍留在原有近水平持握位置；log step 130 的最终交付回放返回 pen_angle=0.00478 弧度、pen_grip_contacts=1、pen_palm_contacts=1，未进入转向三指握阶段。"
+     },
+     {
+      "t": 6.4,
+      "log_step": 100,
+      "text_zh": "推断：笔转向三指握的状态条件始终未成立；log step 100 的交付动作仅包含抬指、拖笔和保持，视频也未见独立的转向换握尝试，因此不为此节点附加实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 2.4,
+   "log_step": 130,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.4 s，右手仍在做沿轴拖笔的手指调整，但笔仅小幅前移，此后至视频 6.4 s 没有完成推进，也没有进入明显转向换握；log step 130 确认最终交付回放 stage=0、pen_axial=0.00454 米。断点取推进停滞附近的粗略视频锚点。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.4,
+    "log_step": 130,
+    "evidence_zh": "观察：视频 1.6–3.2 s 的放大帧显示手指运动而笔相对手掌仅小幅轴向移动，视频 3.2–6.4 s 未再推进到目标位置；log step 130 的交付回放末值 pen_axial=0.00454 米，低于目标下界 0.024 米。笔仍留在手中，未见掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 100 的交付脚本通过抬中指、屈食指及拇指目标插值尝试接触驱动的轴向拖动；视频 0.8–4.8 s 可见手指确实改变姿态，但未带来所需的笔位移。log step 130 对同一最终交付重新生成并回放，仍只有 pen_axial=0.00454 米且 stage=0，表明这组手指控制未实现推进。现有证据不能区分接触布局、摩擦传力与运动跟踪的具体责任，保留在控制层。"
+   }
+  ],
+  "gap_zh": "没有本次回放的逐子步状态日志；概览相机中笔身与部分接触面被手指遮挡，无法精确核查接触力、握带内接触点及保持样本数。log step 130 是最终交付的重放核验，端点结果与视频相符；log step 121 的掌面接触转储来自参数不同的会话测试，不能据此断言本次发生同样的卡阻。评分器 reward 未报告 DAG 所列连续指标，native_metrics 的 value 均留 null。"
+ },
+ "summary_zh": "本次交付中，固定右手做了抬指和拇指拖笔的手内调整，但蓝色笔仅小幅前移，两个节点均未达成（最终 0/2）。推进在视频约 2.4 s 已明显不足，此后未修复，也未开始明显转向换握；最终交付回放仍为 stage=0，根因归为未能实现目标位移的手指控制。缺少逐子步状态与无遮挡接触视图，不能进一步确定具体传力或阻挡机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、最终0/2，与视频（笔仅小幅前移、无转向）及log step 128/130的回放读数（pen_axial=0.00454、stage=0）一致；断点、现象、根因均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:30:13Z",
+  "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/dexhand-essential-pen-regrasp-i00-privileged--owaavbg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--owaavbg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "441b3f28e9cda062b8ccd571318e63d88f181e64989db7ea34756b2c8f25e608",
+   "video_sha256": "4fce33637bdae7909ccea335b7cc0c2d01b815c90982981563e83ccb594e8481",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owrfzps.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-privileged--owrfzps",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 387,
+   "sim_steps": 387,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.155,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-privileged--owrfzps/replay.mp4",
+  "duration_s": 7.8,
+  "fps": 25.0,
+  "frames": 195,
+  "sha256": "d6fda49209cb940aeafdc1f37a2381062a5dccccea5c99d2076bec0246f9a186"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–2.8 s，右手两侧手指夹着笔移动，蓝色笔端相对固定掌部向前移；视频 2.40–2.96 s 的密集帧显示笔杆先倾斜后回到接近初始朝向。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 80,
+      "text_zh": "推断：推进首次完成取视频约 2.8 s（约有 0.2 s 不确定性）。评分器 reward.stages_completed=1；log step 72 保存的 387 行交付文件在 log step 80 原样重放，服务返回 stage_index=1、samples=387、failure=None，支持推进阶段已完成并锁存；毫米级推进量及逐子步保持不能由远景独立测定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0–3.6 s，单只右灵巧手的拇指与对侧手指夹持蓝色笔并改变其在手内的位置，笔随手指前移，掌部保持固定；笔没有被另一只手或工具操作。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6–5.6 s，右手继续围拢手指并使笔转向；视频 5.60–7.76 s 密集帧中，右手手指逐渐抬起，露出的蓝色笔端及相连杆段在画面中转至近乎竖直。笔身大部分被手指遮挡，无法从这些帧确认笔杆相对指尖滑移。"
+     },
+     {
+      "t": 7.76,
+      "log_step": 80,
+      "text_zh": "推断：视频 6.4–7.76 s 的笔姿继续偏转，末帧笔在画面中近乎竖起，未形成成功参考视频 20–22.08 s 所示的稳定握姿。结合本次评分器仅完成一阶段，以及 log step 80 对交付文件的重放返回 stage_index=1、stage_hold=0、terminal_hold=0，判定完整转向三指握持及保持未达成；不能将日志中其他调参试验的瞬时接触数当作本次节点完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 3.6–7.76 s，单只右手多指围住笔，食指侧手指加入围拢，手指在持续持笔过程中改变笔轴方向；末段笔仍在手指之间，可见杆段近乎竖直，接触区域被遮挡，无法确认相对指尖滑移或各指尖是否落在握带内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_tripod_grip",
+   "t": 6.4,
+   "log_step": 80,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.4 s 起，右手抬起手指，露出的蓝色笔端及相连杆段转至近乎竖直；直到视频 7.76 s，未恢复成功参考视频 19–21 s 所示的握姿。log step 80 对已保存交付文件的原样重放返回 stage_index=1、stage_hold=0、terminal_hold=0、failure=None；评分器 reward.stages_completed=1。推断：转向三指握及保持未达成；末段转向过冲是候选解释，相对指尖滑移无法确认。"
+  },
+  "unmet": {
+   "pen_advanced": true,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.60–7.76 s，右手指尖围住笔并抬起，露出的蓝色笔端及相连杆段在画面中转到近乎竖直，视频 7.76 s 仍保持这一方向；成功参考视频 19–21 s 的蓝色笔端靠近围拢的指尖，握姿与本次末段明显不同。推断：结合任务要求相对初始笔轴转向 0.65–0.92 rad，末段疑似转角过冲；二维投影不能精确测定三维转角或独立证实超过 0.92 rad。笔身与接触处被遮挡，相对指尖滑移无法确认，不据此标注没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：问题可归于手指对笔的接触运动控制，尚不能细分。log step 72 将基于指尖逆解的推进及转向控制器生成的 387 行动作保存，log step 80 原样重放得到相同终态哈希、仅完成推进；视频 6.40–7.76 s 可见手指带笔抬起、露出杆段转至近乎竖直，未恢复成功参考视频 19–21 s 所示握姿。log step 69 的调参试验曾在其输出控制索引 136 同时达到转角、三指握带及离掌条件，但 pen_axial 仅 0.0137 m；该试验只作控制困难的会话证据，不作为本次视频的数值。缺少交付轨迹逐步力、接触位置和三维笔姿记录，不能将滑移或转角过冲的具体机制确认为抓取几何、跟踪反馈或参数问题。"
+   }
+  ],
+  "gap_zh": "无 inputs/states.jsonl；本次视频只有概览，笔身及笔与指尖、掌面的接触部分被遮挡，无法确认笔杆相对指尖滑移，亦无法精确测定三维转角、接触力、握带局部坐标、逐子步速度及保持计数。末段近竖直是画面观察，转角过冲及超出 0.92 rad 仅为推断，不能当作已测数值。推进到达时间为视觉近似，阶段达成以评分器及交付文件重放结果佐证；各原生连续指标未在 reward 中报告，均填 null。日志包含大量复位调参，相关数值未移植为本次视频的节点值；根因可归于控制，但具体子类证据不足。"
+ },
+ "summary_zh": "右手在视频约 2.8 s 完成笔沿轴前移，随后尝试转向三指换握，最终完成 1/2 个节点；交付文件重放仅达推进阶段，失败断点仍为笔转向三指握。视频约 6.4–7.76 s 可见露出杆段转到近乎竖直，标为位姿不准；转角过冲为推断，接触遮挡使相对指尖滑移无法确认。置信度由 7 降为 5，因为缺少状态日志，精确转角、接触条件及控制子类均不能独立核实。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（推进约2.8 s达成、三指握未达成）与断点 pen_tripod_grip 与评分器 stages_completed=1 相符，无异议。但失败现象“没保持住”所述“笔杆相对指尖滑动、露出杆段增加”在视频中并不可见（笔大部分被手指遮挡），而可见的是笔被转到接近竖直，明显超过 0.65–0.92 rad 的目标区间，应改为位姿不准或把滑移降为推断。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（推进约 2.8 s 达成、三指握未达成）、断点 pen_tripod_grip 与评分器 stages_completed=1 相符；第一轮修改后现象为位姿不准、转角过冲标为推断，遮挡与证据缺口已如实说明，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": "2026-10-30T05:46:37Z",
+  "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/dexhand-essential-pen-regrasp-i00-privileged--owrfzps/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--owrfzps/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--owrfzps/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--owrfzps/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "edcef261e6e767e796c6c6d17c7c5ac20676af42fd1d28afc9b72b6bbc0c02d3",
+   "video_sha256": "d6fda49209cb940aeafdc1f37a2381062a5dccccea5c99d2076bec0246f9a186",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-privileged--umqmbvn",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 272,
+   "sim_steps": 272,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.067,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.837,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn/replay.mp4",
+  "duration_s": 5.48,
+  "fps": 25.0,
+  "frames": 137,
+  "sha256": "8ee1ab027da4e02026eb7a6e402139b61b5fc617280094d69845f56b21a6c6c0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.44,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 蓝色笔位于右灵巧手内；视频 0.8–3.6 s 拇指与中指附近的笔身相对固定掌部逐渐向指端方向移动，笔未完全脱手。"
+     },
+     {
+      "t": 5.44,
+      "log_step": 144,
+      "text_zh": "推断：评分器 reward.stages_completed=1 确认沿轴推进阶段完成。log step 63 的脚本在 stage 首次达到 1 时截取并保存 stage1v，log step 144 将该文件的 272 行动作原样交付；控制率为 50 Hz，272/50=5.44 s，与视频 5.44 s 的末帧及 5.48 s 总长吻合。视频 4.40–5.44 s 逐帧检查显示笔保持前移后的近初始朝向，故将推进事件锁存起点置于视频约 5.44 s；图像不能独立分辨毫米级阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右灵巧手的拇指与中指夹持蓝色笔并协调伸展，使笔相对掌部向前滑移；视频 0.8–3.6 s 可见手指与笔共同移动，末段仍在手中。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–5.44 s 的概览及手部放大图显示推进后没有接续明显转向和食指围拢；视频 4.40–5.44 s 每帧中食指仍伸在笔旁，笔未形成目标三指握姿。成功参考视频约 12–22 s 同一视角可见食指弯曲围住笔、笔明显转向，区别在本次画面可辨。"
+     },
+     {
+      "t": 5.44,
+      "log_step": 144,
+      "text_zh": "观察：log step 144 交付文件仅含 stage1v 的 272 行，log step 155 继续由同一嵌入数据生成文件；log step 157 agent 明确自述仅完成 advance_pen、未完成 turn_and_tripod_grip 与末段保持。评分器 stages_completed=1、success=0，与视频末态相符；会话后续转向分支没有交付，不能算本次换握尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "pen_angle_advance",
+   "value": null,
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "pen_angle_tripod",
+   "value": null,
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "speed_terminal",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "value": null,
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_height",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "palm_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_tripod_grip",
+   "t": null,
+   "log_step": 144,
+   "where": "首步前",
+   "evidence_zh": "推断：本次断在笔转向三指握的启动之前。视频 0.00–5.44 s 只显示推进和持笔，末段视频 4.40–5.44 s 无明显转向或食指围拢；log step 63 的 stage1v 截止于推进首次通过，log step 144 交付的正是该 272 行前缀。没有第二步失手的可定位瞬间，故时间留空；首步前指该断点步骤尚未启动。"
+  },
+  "unmet": {
+   "pen_advanced": true,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 144,
+    "evidence_zh": "观察：视频 0.00–5.44 s 内右手推进笔后保持近初始朝向，食指未开始围拢成三指握；log step 144 从仅完成推进的 stage1v 保存交付，log step 157 agent 也说明所交付轨迹不含完成转向换握及末段保持。这里仅标交付中未启动第二步，会话转向测试不作为本次物理现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：未形成可交付的换握控制延续，根因保留在控制大类。会话测试 log step 143 中，agent 的食指转向脚本使 pen_angle 从约 0.45 增至 0.688 rad，却使 pen_axial 从约 0.024 降至约 0.007 m，握带接触及离掌条件仍未同时建立；log step 152 的耦合拇指推进与食指转向测试最终仍为 stage_index=1，pen_axial 约 0.011 m、pen_angle 约 0.73 rad，pen_grip_index/middle 为 0、pen_palm_contacts 为 1。agent 因而仍保留 log step 144 的第一阶段轨迹并在 log step 157 如实承认未成功；这些是会话控制困难的证据，不是本次视频的节点进度或接触事实。"
+   }
+  ],
+  "gap_zh": "没有状态日志，概览中笔身和指尖接触点部分遮挡，无法逐子步核实推进阈值、接触力或握带接触。推进完成由评分器阶段数与交付前缀截断逻辑确认，到达时间按交付控制步数与视频末帧推断；第二步缺少本次执行片段，控制根因仅有会话试验支持，尚不能可靠区分接触设计、逆解或反馈控制。评分器未报告 DAG 中九项连续指标的数值，native_metrics.value 均留空。"
+ },
+ "summary_zh": "本次交付在视频约 5.44 s 完成并锁存笔沿轴前移，最终达到 1/2 个节点，未启动后续转向三指握。agent 的会话测试未能同时保持轴向位置、转角和三指握带接触，最终交付只含推进阶段的 272 行前缀，不能把后续测试中的旋转或脱手算入本次失败现象。无状态日志，精确接触与推进首次通过的时间主要依赖评分器阶段数和交付截断逻辑。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分器 stages_completed=1、272 行交付前缀（log step 144）与 272/50=5.44 s 的映射一致，pen_advanced 在约视频 5.44 s、pen_tripod_grip 未达成、断点首步前/没尝试均有据；未发现需修改的错误。视频中手与笔很小，概览仅能粗略确认末态。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:26:07Z",
+  "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/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5779d07f355edf86644f7bfb6737203fa9156621424cd1db14a47fe95c472666",
+   "video_sha256": "8ee1ab027da4e02026eb7a6e402139b61b5fc617280094d69845f56b21a6c6c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--wtilqms.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-privileged--wtilqms",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 790,
+   "sim_steps": 790,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.66,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.488,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-privileged--wtilqms/replay.mp4",
+  "duration_s": 15.84,
+  "fps": 25.0,
+  "frames": 396,
+  "sha256": "179eee74798e115c3a9693b576bb8a36a995d9d8d516856b681a7520cb040b44"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4.28 s，右手固定，手指逐渐改变姿态，笔相对掌面的轴向移动很小；视频 4.40–5.60 s，笔杆已明显翘转，未先出现保持开局朝向的约三厘米前移。视频 8–15.80 s，笔继续斜置于手指之间，未恢复开局朝向再完成推进。"
+     },
+     {
+      "t": 15.8,
+      "log_step": 91,
+      "text_zh": "观察：log step 91 对最终交付的 790×28 actions 独立重放，服务返回 success=False、failed=False、stage=0、steps=790；评分器字段 stages_completed=0、deterministic=1，与视频中未完成先直移再转向相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右灵巧手拇指和弯曲的中指接触笔杆并运动，使笔在手内移动、翘转；初段笔还靠在掌面，整个交付轨迹未见完全放开笔。具体被遮挡接触点及力值无法从概览精测。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": 83,
+      "text_zh": "观察：视频 8–15.80 s，笔已斜转，但食指仍向前伸展，未形成拇指、食指、中指共同围拢握带的姿态；逐帧检查视频 14.80–15.80 s 也未见这一变化。成功参照视频 12、16、20、22.08 s 可见食指弯回、三指围拢的不同姿态，仅用于外观比较。"
+     },
+     {
+      "t": null,
+      "log_step": 83,
+      "text_zh": "观察：log step 83 的最终生成脚本只执行初始等待、拇指/中指推进路径及末段保持，没有后续三指收拢阶段；log step 91 重放仍为 stage=0。推断：交付动作始终在尝试推进，笔的转向是该尝试中的偏离，并未另行开展三指换握，因此本节点不填实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 4.4,
+   "log_step": 83,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.40–5.60 s，机器人右手仍在执行手指推进动作，笔已明显翘转，而此前视频 0–4.28 s 未见保持初始朝向的目标前移；此后到视频 15.80 s 未修复。log step 83 的��付脚本确为推进路径加保持，log step 91 重放最终 stage=0。断点时间为可见明显偏转的粗略锚点，不是精确阈值越界时刻。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.40、4.76、5.12、5.60 s，笔在手指动作下明显改变轴向，随后视频 8–15.80 s 一直斜置；此前未见以近似开局方向完成目标轴移，机器人也未将笔摆回重做推进。偏转先于所需直移完成，使推进姿态不符合要求。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 4.4,
+    "log_step": 83,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 83 的交付生成器插值执行预先规划的拇指/中指关节路径，correct() 仅以指垫到实时笔轴的垂直距离误差修正关节，没有以笔的轴向位移及相对开局角度误差闭环纠偏；视频 4.40–8 s 可见笔在该推进过程中不断翘转，log step 91 独立重放为 stage=0。推断：该手指控制未能在推进时维持所需笔轴方向；证据可支持控制层归因，但不足以分清接触几何、轨迹与反馈各自的贡献。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；概览中笔和部分指垫相互遮挡，不能精测轴向毫米数、角度阈值、握带接触点、接触力和子步保持计数。推进未达由可见提前转向及最终交付重放的 stage=0 共同支持，三指握持未达有可见姿态证据；控制根因的具体子类型仍不确定。log step 75 的 e11 数值属于开发实验，log step 88、90 的脱手或速度越界也不是最终交付轨迹，均未用于判定本次节点或失败现象。"
+ },
+ "summary_zh": "右手持续接触悬空的笔并用拇指、中指尝试手内推进，但笔在约视频 4.4 s 已明显翘转，未先完成保持初始朝向的轴移，最终两个节点均未达成。交付脚本的推进控制未纠正笔轴偏转，独立重放完成全部 790 个控制步仍为 stage=0；末段也未形成三指围拢握带。无状态日志且概览存在遮挡，精确接触阈值和控制问题的具体子类型不能确定。",
+ "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、断点在 pen_advanced、位姿不准加控制根因，与视频（0、4、5、8、15.8 s）和 log step 83/88/91 一致；未发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:28:43Z",
+  "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/dexhand-essential-pen-regrasp-i00-privileged--wtilqms/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--wtilqms/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4978d7ca2caca1dda6b420fcd5aea4cbd5b31d59d742bad21286a107c7b1e61",
+   "video_sha256": "179eee74798e115c3a9693b576bb8a36a995d9d8d516856b681a7520cb040b44",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--etdxdtm.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--etdxdtm",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 190,
+   "control_steps_total": 2200,
+   "elapsed_s": 3400.215,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 938,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 938,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.369,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-standard--etdxdtm/replay.mp4",
+  "duration_s": 18.84,
+  "fps": 25.0,
+  "frames": 471,
+  "sha256": "e4e0035fab8b977db9da115582a2d290b091f13b91fe20152824353de51065da"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–9.4 s，右手手指逐渐围拢笔杆，蓝色握带仍位于掌部前端附近；视频 9.8–11.0 s 手指抬起时笔随之上移，但没有沿开局笔轴推进约三厘米的可见过程。"
+     },
+     {
+      "t": 13.4,
+      "log_step": 61,
+      "text_zh": "观察：视频 11.8–14.0 s，右手弯曲手指相对笔杆移动，蓝色握带相对固定掌根几乎停在同一位置，没有随手指向掌根方向推进到位；视频 14.2–16.4 s 随后的动作使笔滑转并伸向指端，未补做保持开局朝向的轴向推进。"
+     },
+     {
+      "t": 13.4,
+      "log_step": 61,
+      "text_zh": "推断：以上可见位移不足以完成轴向推进，故此事件未达到，并非由总分为零反推。作为辅助，log step 61 中 agent 自编视觉跟踪器在 P5_slide 输出握带掌坐标 [0.0529,0.0366,0.1572]、相对脚本目标的轴向误差 0.0352 米，亦显示推进动作没有带动笔到位；这些是 agent 的估计，不能代替原生 pen_axial 或阶段计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 3.5–11.0 s，单只右灵巧手弯曲手指围住并托夹笔杆，抬指时带动笔上移；视频 11.8–14.0 s 手指继续相对笔杆滑动，尝试使笔沿轴移动。笔始终在该手内，未见完成稳定轴向推进；不据此宣称三个指定指尖均接触握带。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": 61,
+      "text_zh": "观察：视频 14.2–16.4 s，右手手指改变姿态时笔杆滑转，笔尾向掌根上方翘出，蓝色握带向指端下移，随后笔横搭在手指和掌部上，未形成拇指、食指、中指同时围住握带的稳定姿态。"
+     },
+     {
+      "t": 18.72,
+      "log_step": null,
+      "text_zh": "观察：视频 17.92、18.08、18.24、18.40、18.56、18.72 s 均保持上述横搭姿态，没有恢复三指握带夹持。参考成功视频 12–22 s 可见三指在握带周围围拢并保持的姿态，本次末段没有出现该可见结果；参考视频仅用于辨认完成外观。"
+     },
+     {
+      "t": 18.72,
+      "log_step": 61,
+      "text_zh": "观察：log step 61 的机器人服务状态为 episode 21、control_steps 938、resets_left 0；评分器 reward 的 n_actions 与 sim_steps 均为 938，graded_by_live 为 1、success 为 0。log step 62、64 中 agent 也明确将此最后一回合识别为评分回合并报告笔滑移；节点未达的判断依据仍为本次视频中的握持结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 14.2–16.4 s，单只右灵巧手继续屈伸、转移手指位置并带动笔转向，笔在手内滑转，最后搭在张开的手指上；这是实际发生的手内调整，未观察到稳定的三指握带抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 12.4,
+   "log_step": 61,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.8–14.0 s，机器人右手正在通过手指滑动推进笔，但蓝色握带相对固定掌根几乎未随动；随后视频 14.2–16.4 s 笔滑转到指端并横搭，至视频 18.72 s 未恢复或补做轴向推进。推断：第一个尝试后始终没有完成的步骤是 pen_advanced，断点约取视频 12.4 s；后续转向尝试不修复此推进事件。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 12.4,
+    "log_step": 61,
+    "evidence_zh": "观察：视频 9.8–10.6 s，右手抬起手指能带动笔上移；视频 11.8–14.0 s 手指继续移动时握带却基本停留原位，笔相对手指发生滑动，视频 14.4–16.4 s 又滑转成横搭姿态，至视频 18.72 s 未重新稳住。推断：已有承载接触未能保持对笔的夹持，推进和后续转向时发生手内滑移；不是一次完全脱手，也不是计划松手后的放置失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 61,
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：右手尚未建立可靠的对向夹持就抬举并移动笔，实际承载接触布局不足以带动轴向推进。依据为视频 9.8–14.0 s 的抬起后相对滑动，以及视频 14.4–16.4 s 笔从手指间滑转；log step 57、58 的脚本显示拇指 creep 接近循环结束后直接进入 P3_lift，没有成功建立夹持的强制检查，log step 61 的 Q4 四次接近 effort 为 0.189、0.177、0.171、0.167，均未超过该脚本的基线 1.203 加阈值 0.04，仍继续抬举。agent 自述“拇指未实际接触，力矩基线使接触检测失效”（log step 62、64），与可见滑移相符；拇指的精确接触状态和该基线的物理来源未独立测得。"
+   }
+  ],
+  "gap_zh": "本目录提供完整运行日志、本次视频和成功参考视频，但没有状态日志，评分器字段也未报告 pen_axial、pen_angle、逐指接触力、握带接触点或阶段/保持计数。概览画面的笔身及部分接触面受手指遮挡，因此不能精确量出位移、角度或断言某个指尖在每一物理子步接触；轴向推进未达依据可见握带未随动及滑移，agent 跟踪值仅作辅助。拇指接触检测失效的具体机理来自脚本与 agent 自述，未当作原生传感器测量，也未用早先复位回合的失败现象替代本次评分回合。"
+ },
+ "summary_zh": "右手围拢并略微抬起笔，继续尝试轴向推进与转向，但两个目标节点均未完成，最终为 0/2。首个未修复断点是笔沿轴前移：不稳定的夹持未能传递推进动作，笔在手指间滑移，随后横搭在手指和掌部上，至视频 18.72 s 未恢复。没有状态日志或逐阶段评分记录，精确接触阈值及拇指未接触的具体机理仍有证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点未达与评分器 success=0 一致；视频中笔先被手指围住抬起，随后滑转并横搭在手指上，至末段未恢复，标注与可见过程相符。断点 pen_advanced、现象与根因均有视频和日志依据且标明为推断，未发现需改动之处。概览画面很小，笔与握带细节遮挡，无法独立推翻。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:34:52Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--etdxdtm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--etdxdtm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b287dfa4ec38bbe9a0c3a0b49767fc946c10eec10916e8ac3b9eaf14c557134",
+   "video_sha256": "e4e0035fab8b977db9da115582a2d290b091f13b91fe20152824353de51065da",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--hetayu6.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--hetayu6",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 190,
+   "control_steps_total": 13758,
+   "elapsed_s": 3640.399,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 4955,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 11,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 4955,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.654,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.027,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-standard--hetayu6/replay.mp4",
+  "duration_s": 49.64,
+  "fps": 25.0,
+  "frames": 1241,
+  "sha256": "aae42c0aa8f5d04a7cb344c661af3fa925e0bed13028fbcaab1faa83c8e2f61c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4.0 s，固定的右手掌位置不变，拇指和中指随蓝色笔向手指前端伸展；笔的蓝色端部相对掌面前移，笔杆尚近似保持初始朝向。视频 3.8–4.5 s，笔停在前移后的位置，未完全脱手。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 124,
+      "text_zh": "推断：视频约 4.0 s 的前移后持笔姿态符合轴向推进节点，首次到达时间估计误差约 0.5 s。log step 124–125 显示最后一次复位后重复执行 path34、保持、grip_band、lift_band，且三段均未终止；视频开头的前移、停留、抬笔顺序与之吻合。此前回合对同一 path34 的视觉估计为轴向约 25 mm、转角约 0.18 rad（log step 114、116），仅作旁证，不将此前回合另计为本次进度；无原生阶段或逐子步接触记录，精确验收仍有不确定性。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：视频后段虽有回滑、抬升和转向，轴向推进节点是已完成后锁存的 event，因此不因视频 49.6 s 的末态改变而撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手拇指与中指夹持笔杆并协同前伸，笔相对掌面在手内滑移；食指随后靠近笔的前端参与支承。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": 132,
+      "text_zh": "观察：视频 8.5–20.0 s，右手食指反复弯曲靠近蓝色笔，拇指和中指抬高笔端；笔有转动但未形成成功参考视频 16–21 s 所示的明显转向后的紧凑三指持笔姿态。视频 20–35 s，右手继续挪动手指，笔仍保持较小转向。"
+     },
+     {
+      "t": 49.6,
+      "log_step": 164,
+      "text_zh": "观察：视频 36–49.6 s，右手继续抬起和调整笔，末秒的笔仍夹在手指间、悬在桌面上方，笔轴向上倾斜；未见成功参考末段的握持姿态。log step 164 的服务返回最后回合 episode=12、control_steps=4955、done=False；run.json 的 n_actions=4955、graded_by_live=1、live_success=0，与该最后回合相符。"
+     },
+     {
+      "t": 49.6,
+      "log_step": 164,
+      "text_zh": "推断：结合全程可见的逐次调整、末态与成功参考的差异，以及最后回合未获成功的服务结果，转向三指握持节点未完成。agent 的相机点云跟踪脚本在 log step 152、158、162、164 分别估计转角约 0.47、0.52、0.62、0.61 rad，最后估计轴向约 21 mm；这些是 agent 自己的估计而非评分器真值，只用于辅助解释视频中抬笔同时回滑、未稳定到达目标的表现，不能核定握带内的精确接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "单只右手的拇指、中指夹持笔杆，食指反复弯曲、靠拢并参与换握；实际产生抬升、转动和手内回滑，远景不能确认三个指定���尖是否同时接触握带。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_tripod_grip",
+   "t": 17.0,
+   "log_step": 132,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.5–20.0 s，右手已在抬笔和转向换握，笔端升高但转向不足，随后仍反复挪动手指。视频 36–49.6 s 的继续调整也未形成目标握姿；log step 124–164 表明这些动作属于最后一次复位后的 episode=12，log step 165 的 agent 最终自述未完成，评分器 live_success=0。断点取首次明显转向不足处的粗略视频锚点，未把前一回合 log step 123 的 task_failure 算成本回合断点。"
+  },
+  "unmet": {
+   "pen_advanced": true,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 17.0,
+    "log_step": 132,
+    "evidence_zh": "观察：视频约 17–35 s，机器人已夹住笔并不断改变手指位置，笔却主要被抬高、仅小幅转向；视频 36–49.6 s，右手继续抬升和调整笔，笔轴明显上翘，仍未形成成功参考视频 16–21 s 的转向三指握姿。笔始终可见于手指之间，未见掉笔。inputs/run.json 的 log step 152–164 中，agent 的点云跟踪脚本估计转角约 0.47–0.62 rad，仍低于目标下界 0.65 rad；轴向估计在约 19.5–27.1 mm 间往返，多次低于目标下界 24 mm。这些读数仅为 agent 脚本估计，作为旁证，不是评分器真值。推断：结合视频，后段表现为转向增加但仍不足、同时轴向回滑不稳，未同时进入两个目标区间并保持，故记录目标位姿未到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 17.0,
+    "log_step": 132,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 129–134 的脚本依次执行三指抬升、绕握持位置转动和抬高，log step 145–146 又命令食指与中指相向侧移；视频 14.5–35 s 中手指确实多次调整，但笔的转向很小，后续视频 36–49.6 s 则出现抬升伴随手内回滑。目标和先推进再换握的顺序明确，执行中的手指—笔接触控制未能同时维持轴向位置并实现目标转向；无接触力及跟踪误差真值，不能进一步区分接触设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志，run.json 的 reward 也未报告原生位移、转角、阶段及保持计数，故 native_metrics 全部留空值。视频只有远景概览，笔杆被手指部分遮挡，不能独立核实毫米级推进、握带内三个指尖的有效接触、中央掌面脱离及全部 2 毫秒子步保持；推进完成为视频与动作记录支持的推断，非原生阶段确认。日志含十一回合先前复位测试，只有 log step 124 复位后的最后回合与本视频对应；未将 agent 时间或控制步数换算为视频时间，也未把其点云估计当成评分器指标。"
+ },
+ "summary_zh": "本次评分回合中，右手先在掌内推进笔，约视频 4.0 s 推断达到轴向推进节点；该事件随后锁存，终态进度为 1/2。机器人在转向三指握持时反复调整，笔主要抬升并伴随回滑，未形成目标握姿，归为位姿不准及控制问题。没有状态日志和原生阶段读数，远景遮挡使精确推进量、握带接触和逐子步保持无法独立核实。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（pen_advanced 约 4.0 s 推断达到、pen_tripod_grip 未达）、断点和类别总体可接受��远景画面无法独立核实毫米级量，但 log 的 track 读数与之相容。仅 phenomenon 的证据文字对 36–49.6 s 转向幅度的描述与同一日志读数不符，需要修正措辞。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（pen_advanced 约 4.0 s 推断达到并锁存、pen_tripod_grip 未达）、断点（pen_tripod_grip，操作中）、位姿不准 + 控制均有视频与 log 的 track 读数支持；远景画面看不到毫米/弧度量，文件已如实标注为推断，第一轮的措辞问题已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:46:57Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--hetayu6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--hetayu6/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--hetayu6/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--hetayu6/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "504c39b748fef3f2fd9935b4366273fbb327af5ce1d4415e98f03157db4e3e27",
+   "video_sha256": "aae42c0aa8f5d04a7cb344c661af3fa925e0bed13028fbcaab1faa83c8e2f61c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--jdqozyq.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--jdqozyq",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 183,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 564,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 564,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.42,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.294,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-standard--jdqozyq/replay.mp4",
+  "duration_s": 11.32,
+  "fps": 25.0,
+  "frames": 283,
+  "sha256": "0a22c98de9cbd5c7c7fcf507e1a5054aadb52c930d5e59972f3a96bad9b4a510"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 56,
+      "text_zh": "观察：视频 0.0–3.2 s 中固定右手的手指带着笔向指端前移；对比视频 0.0 s 与视频 2.8–3.2 s，蓝色笔端相对掌面明显向前，笔杆从推进中的倾斜回到近似开局方向，仍夹在手指间。log step 56 从最后一次 reset 开始执行，返回 episode=21、resets_left=0；该脚本自己的相机估计在推进段末报 axial=0.027 m、ang=0.074 rad，这不是评分器的阶段确认。"
+     },
+     {
+      "t": 3.2,
+      "log_step": 56,
+      "text_zh": "推断：视频可见前移和近初始朝向，并与本回合脚本的相机估计相符，据此将前移事件约记为视频 2.8 s（约有 0.3 s 不确定性）；精确子步接触阈值无记录。视频 3.4–6.0 s 随后抬笔，视频 6.2–11.28 s 转向时笔位置有所回退，但此节点是已完成后锁存的事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.6–3.2 s，单只右手的拇指与弯曲中指围夹笔杆并向前换位，食指在笔下方抬起；笔随手指在手内滑移，没有整个放开后重抓。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 58,
+      "text_zh": "观察：视频 3.4–6.0 s 右手抬起笔，视频 6.2–8.4 s 手指开始调整朝向，但笔杆仍大致沿原方向伸向指端，只有小幅转向；视频 8.6–11.28 s 继续调整也未出现明显斜转后的三指握带姿态。成功参考视频 12.0–22.08 s 在同一概览视角可见笔轴明显转向、食指弯起与另两指围拢；本回合没有出现这种可见结果。"
+     },
+     {
+      "t": 11.28,
+      "log_step": 64,
+      "text_zh": "观察：逐帧检查视频 10.28–11.28 s，笔仍位于手指间，未形成所需大角度转向，末帧也没有掉到桌面。log step 64 的机器人服务状态为 episode=21、control_steps=564、done=True、reason=task_failure；评分字段 live_matches_replay=1、live_success=0、replay_success=0。log step 63 中脚本自己的末次相机估计 ang=0.181 rad，不是原生评分器指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 3.4–11.28 s，右手保持笔在拇指、中指附近的夹持区域，抬笔并移动手指尝试重定向，食指从下方靠近；实际发生的是同一只手的手内换位尝试，不能据此确认三个指定指尖都接触了标记握带。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_tripod_grip",
+   "t": 8.4,
+   "log_step": 58,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.2–8.4 s 右手正在带笔转向，手指已换位而笔轴仅有小幅偏转；视频 8.6–11.28 s 的后续调整未修复这一结果。log steps 58–63 是最后回合中连续的转向尝试，log step 64 确认该回合以 task_failure 结束。"
+  },
+  "unmet": {
+   "pen_advanced": true,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.4,
+    "log_step": 58,
+    "evidence_zh": "观察：视频 6.2–11.28 s，右手尝试转笔，但笔杆保持接近原方向而非目标的明显斜向；对照成功参考视频 16.0–22.08 s 可见的转向和三指围拢，本回合停在小角度转向的姿态。未观察到目标末姿态后再失去的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 58 的控制脚本把三指目标整体旋转 -0.25 rad，log step 59 再命令旋转 -0.4 rad，但该脚本自己的相机估计角度仅从约 0.019 rad 增至 0.054 rad、再到 0.164 rad；视频 6.2–10.8 s 也只见笔小幅转向。log steps 62–63 调整接触目标后，求解器报告目标位置误差很小，实际动作仍未形成目标笔姿，故支持手指动作未有效控制笔的转向；没有足够证据细分接触设计、实际关节跟踪或力控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志；评分字段不报告阶段锁存、保持计数、逐子步笔位姿、接触点或接触力。前移达成及其时刻由可见运动结合本回合脚本的相机估计推断，无法独立核验全部子步条件。概览遮挡了部分指尖和握带，无法判明最后触发哪条终止条件；log step 66 中 agent 猜测速度尖峰，缺少服务读数支持，不作为归因。"
+ },
+ "summary_zh": "评分回合先将笔在右手内沿轴前移，约视频 2.8 s 达到前移节点，随后抬笔并尝试转向；最终保留 1/2 个节点。断点是转向三指握，视频 6.2–11.28 s 中笔轴仅小幅偏转，未形成目标姿态，动作和日志支持控制未有效带动笔转向。缺少原生阶段及接触、速度记录，前移精确验收与最终终止条件不能独立核验。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "逐帧对照（视频 0、1、2、2.8、3.4、5、6.4、8、11.2 s 的手部放大裁切）：笔在约 2.8 s 相对手掌前移并回到近开局朝向，之后抬笔、转向幅度小，未形成三指握带。pen_advanced 为推断（依据可见前移加脚本的相机估计），已标注为推断；三指握未达成、断点与位姿不准/控制的归因都有 log step 59、63 的角度读数支持。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": "2026-10-30T05:28:24Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--jdqozyq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--jdqozyq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b37b5e671b8e284345e59d206f91010f9a71696d08cb21d750e95c286fa8df38",
+   "video_sha256": "0a22c98de9cbd5c7c7fcf507e1a5054aadb52c930d5e59972f3a96bad9b4a510",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--meh8gne.json

@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--meh8gne",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "control_steps_total": 1969,
+   "elapsed_s": 1847.439,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
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+   "sim_steps": 89,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
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+   "resource_monitor_missing": 0,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-standard--meh8gne/replay.mp4",
+  "duration_s": 1.84,
+  "fps": 25.0,
+  "frames": 46,
+  "sha256": "92928444bac99648dee7d7e86e0059b1cd696dcd20204186d833be433ddfe74f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00 s 蓝色笔位于右手掌指之间；逐帧检查视频 0.00–1.80 s，手腕固定，拇指和中指改变姿态，蓝色外露笔端仅小幅向指端移动，末段仍停在掌指之间。"
+     },
+     {
+      "t": 1.6,
+      "log_step": 266,
+      "text_zh": "推断：视频 1.28–1.80 s 的推进幅度小于成功参考的推进姿态；log step 266 的脚本将首冲程描述为约 15.5 毫米（agent 的设计值，非实测），还须回撤再做第二冲程才拟达到 30 毫米。log step 269 显示受评 episode 21 只执行 89 行，按脚本顺序仅进入拇指张开段，尚未执行第二冲程；结合画面判定推进目标未完成，不能将早先复位测试的位移记入本回合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.00–1.80 s，单只右手的拇指与屈曲中指在笔两侧接触并改变指姿，使笔在手内小幅换位；末段拇指逐渐张开，笔仍留在掌指之间。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 269,
+      "text_zh": "观察：视频 0.00–1.80 s 未出现笔相对开局明显斜转、脱离中央掌面后三指围拢稳定保持的组合姿态；成功参考同视角可见明显转向及三指围拢，本次末帧仍是原来的掌指间笔姿。log step 269 的服务输出为 episode 21、executed_rows=89、task_failure，log step 266 中安排在回撤和第二冲程之后的转向段未执行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 1.6,
+   "log_step": 269,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 1.60–1.80 s，机器人仍在推进过程中的拇指张开动作，���只小幅前移，尚未达到轴向推进目标，也未开始目标转向；log step 266 的第二冲程位于更后面，log step 269 的服务输出确认最后回合仅执行 89 行即 task_failure，后续未恢复。断点锚在末段约视频 1.6 s，不将未执行的转向段当作失败步骤。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1.6,
+    "log_step": 269,
+    "evidence_zh": "推断：视频 0.00–1.80 s 的外露蓝色笔端仅向前移动一小段，末段未达到成功参考所示的充分前移姿态；结合 log step 266 的首冲程设计及 log step 269 只执行到拇指张开段，轴向目标位置未达成。画面未显示笔掉落，不据 task_failure 猜测完全脱手或力越界。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 266 用预先插值的手指关节序列推进并回撤，没有依据笔位姿或接触状态调整这段动作；视频 0.00–1.80 s 显示手指运动仅带来有限笔位移，log step 269 在这段手内操作中判负。会话中 log step 122、125、138、157、164 的多种推进/回撤试验也分别提前 task_failure，支持问题在精细手内操控；这些测试不计为本回合进度。现有证据不能进一步区分接触几何、跟踪或力控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；本次仅有远景概览，笔身和具体接触点部分被手指遮挡，无法精测 pen_axial、pen_angle、指尖接触力及连续子步保持计数。log step 269 仅返回 task_failure，未报告触发判负的具体不变量；因此不推断力越界、完全脱手等终止原因，控制根因保留在大类。原生指标均未由评分字段报告，值填 null。"
+ },
+ "summary_zh": "受评最后回合仅发生小幅手内推进，两个目标节点均未完成；此前各次复位测试及最终报告中的后续动作不计入本次进度。断点为笔沿轴前移的操作中，表现为推进位置不足，日志和视频支持精细手内控制未完成。远景遮挡及缺少状态、接触力和具体判负字段，使精确推进量与控制子类无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点均未完成、断点 pen_advanced（操作中）与最终回合仅执行 89 行即 task_failure 的日志（log step 269）和视频（共 1.84 s）一致；现象位姿不准与根因控制（未细分）均标为推断，证据范围内可接受。远景下笔很小，画面无法反驳也无法进一步证明，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": "2026-10-30T05:28:40Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--meh8gne/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--meh8gne/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6aa1eef5cfc8d5f3061133cbf5a3c0a13bf7a9759e1d59495bb15545b637d7e6",
+   "video_sha256": "92928444bac99648dee7d7e86e0059b1cd696dcd20204186d833be433ddfe74f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yk9mraz.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--yk9mraz",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 36,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 405,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 405,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.418,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.305,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-pen-regrasp-i00-standard--yk9mraz/replay.mp4",
+  "duration_s": 8.16,
+  "fps": 25.0,
+  "frames": 204,
+  "sha256": "91875791495944dbd040c61f82a96c8cb78616c723a3d0f5d88fff98a3d85658"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.16–0.32 s 笔接近开局朝向，视频 0.40–1.60 s 手指向前运动时笔尾逐渐上翘、蓝色笔尖下摆；未见先保持开局朝向完成整段轴向推进。"
+     },
+     {
+      "t": 1.8,
+      "log_step": 42,
+      "text_zh": "推断：log step 38 是本回合首次提交，执行 90 行、每行 0.02 s；90×0.02=视频约 1.80 s，已与视频 1.60–1.80 s 首段动作停顿核对。log step 42 中 agent 的图像重建估计为轴向 25.4 mm、转角 0.498 rad，仅作辅助；视频可见此时笔已明显倾转，不能满足推进时近似保向的联合判据。"
+     },
+     {
+      "t": 8.0,
+      "log_step": 45,
+      "text_zh": "观察：视频 2.40–4.60 s 笔杆逐渐回落，视频 5.00–8.00 s 及末段视频约 8.08 s 笔仍夹在手指间，未见重新完成一段保向的约三厘米前移。log step 45 的 agent 重建估计轴向为 18.0 mm；评分器未报告推进阶段锁存值，不能将该估计当原生测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.20–1.80 s，单只右手的拇指与中指在笔杆两侧接触并协调前移，笔在手内移动并倾转，未整体松脱。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 44,
+      "text_zh": "观察：视频 1.80–3.40 s 右手食指屈曲靠向蓝色笔尖后方的握带区域，拇指、中指继续接触并调整笔杆；笔尾由上翘逐渐回落。视频 4.60–8.00 s 及末段视频约 8.08 s 笔轴接近开局方向，未出现所需明显转向并稳定保持的三指握结果。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：已对照参考成功视频 12.00–20.00 s 及其末帧，参考中的笔在屈曲的三指间明显转向；本次全段视频 0.00–8.08 s 未见该结果。早段笔虽翘转，食指仍伸展在笔尖外侧，后段食指参与时笔轴又回落，故该节点无达成区间；不能仅凭总成功值为零作此判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 1.80–8.00 s，单只右手保持笔在手内，拇指、中指调整笔杆，食指屈曲进入握带附近并参与接触调整；未见最终要求的转向三指稳定握持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 0.6,
+   "log_step": 38,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.40–0.80 s，右手正进行首段前移，笔尾却上翘、蓝色笔尖下摆；视频 1.40–1.80 s 首段结束时倾转仍在。推断：这是先保向推进这一步首次出现且后续视频至约 8.08 s 未修复的偏差，故断点为 pen_advanced，而非后来尝试的换握。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 0.6,
+    "log_step": 38,
+    "evidence_zh": "观察：视频 0.40–1.80 s，机器人向前调整手指时，笔杆同时显著倾转，笔尾抬高、笔尖下摆，未保持推进步骤所需的初始轴向姿态。后续视频 2.40–8.08 s 也未补成该推进结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 0.6,
+    "log_step": 38,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 38 的控制脚本把拇指、中指上的选定点各沿初始笔轴移动 0.030 m，并施加相向挤压和小幅抬升，以关节位置序列一次提交；优化项只约束选定点的位置与关节变化，没有按执行中的笔朝向闭环修正。视频 0.40–1.80 s 实际得到明显倾转，说明这套指间协同未实现保向推进。缺少接触力和逐步跟踪记录，不能进一步区分接触几何与跟踪误差，故停在控制类。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；概览视频能辨认笔的运动及主要手指接触，但无法测出逐子步接触力、各指尖握带接触标志、精确轴向位移和阶段保持计数，agent 的图像重建估计也不是评分器原生指标，因此 native_metrics 全部为 null。log step 48 最后一次提交仍返回 done=false、reason=None，log step 53 出现模型提供方过滤中断，不能把会话终止解释为主动放弃或误以为完成；上述标注只描述中断前视频已显示且未修复的推进姿态偏差，未推断若继续操作会怎样。"
+ },
+ "summary_zh": "本次右手持续接触笔并进行了轴向推进和三指换握尝试，但推进时笔先明显翘转，后续又回落，两个节点均未达成，最终为 0/2。最早未修复的断点为保向推进，现象是位姿不准，日志中的指间位置控制与视频结果支持保守归因于控制。缺少精确接触和阶段计数，且 log step 53 的模型过滤中断发生在服务仍未结束回合之后，不能据此推断主动停止动机。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成（视频 0.6–1.8 s 笔明显翘转，后段回落，无三指转向握），断点 pen_advanced、位姿不准、控制 均有帧和 log step 38/42 支持；校验通过，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": "2026-10-30T05:33:43Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--yk9mraz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--yk9mraz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "02a2f0f4486dd02cb3ef22b602a348ea25358b930a742ec496c5c947302c9396",
+   "video_sha256": "91875791495944dbd040c61f82a96c8cb78616c723a3d0f5d88fff98a3d85658",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yv8kztb.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--yv8kztb",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 746,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 726,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 726,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.643,
+   "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/dexhand-essential-pen-regrasp-i00-standard--yv8kztb/replay.mp4",
+  "duration_s": 14.56,
+  "fps": 25.0,
+  "frames": 364,
+  "sha256": "5adc4f699d70c81389adb1b0721f33e9beb64731bfd6df671f68bc593bba1ab2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 笔横卧于固定右手掌上，蓝色端头在手指前方；视频 3.2、4.0、5.0、6.4 s 食指卷曲后伸展，蓝色端头相对掌根向后回移，未出现向指端的明显推进。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：对照本次视频 0–8.0 s 的半秒间隔画面及成功参考视频 0、4、8 s（参考蓝端先向指端移出），本次轴向移动方向相反；视频 9.0–14.52 s 笔又明显转向，未在转向前完成要求的沿初始轴前移。判为未达成，不是从总分零推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手食指卷曲、伸展并与原已围住笔的手指配合，使笔在手内回移；随后拇指靠拢。笔始终留在同一只手中，未见整体释放。"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.24,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–11.24 s 拇指和中指围拢时，蓝色笔端向掌侧下移，白色笔杆向上翘起；视频 12.74、13.94、14.52 s 仍为蓝端朝下、笔杆竖起的握姿。成功参考视频 12、20、22 s 的笔端位置和三指围握姿态明显不同。"
+     },
+     {
+      "t": 14.52,
+      "log_step": 217,
+      "text_zh": "推断：本次笔端回缩后转起，没有形成所需轴向位置与转向后三指握带稳定保持的组合，末秒逐帧抽查也未见修正，故此节点始终不成立。观察：log step 217 中机器人服务在 turn_3、control_steps=726 报 done=true、reason=task_failure；评分字段 n_actions=726、live_matches_replay=1，与本段视频相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手拇指、食指、中指在笔周围先后收拢、伸展，改变笔在手内的朝向；末段其余手指也屈伸。可见笔夹在指间，但不能据远景确认三枚指尖均落在标记握带。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_advance",
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "pen_angle_tripod",
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_displacement",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "object_height",
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 6.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 3.2–6.4 s 右手正在用食指卷曲、伸展搬动笔，蓝端却向掌根回移，先沿初始轴向指端推进的步骤未完成；视频 8.0–14.52 s 随后转向也未修复该步。断点锚定在这段推进尝试结束附近，而非将视频末端的 task_failure 当作独立步骤。"
+  },
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0、3.2、6.4 s 固定掌根位置不变，蓝色笔端在食指卷伸后向掌根侧退回，未向指端伸出；视频 9.0–12.74 s 笔杆进一步翘起。推断：推进尝试产生了错误方向的位移，之后的转向没有补上要求的轴向前移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 202 的控制脚本以预设 roll/carry 手指关节目标搬动笔，每段仅用关节位置更新插值起点，没有按笔的实际轴向位移修正目标；视频 3.2–6.4 s 可见该接触动作将笔向掌根带回。目标是推进笔，但手指动作未产生所需方向的物体运动，支持控制层失败；现有证据不足以进一步区分接触布局与轨迹跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频仅为概览远景，不能量出毫米级 pen_axial、三维 pen_angle、握带内的各指接触点、接触力或逐子步保持计数。评分字段只报告整体失败，未给出 stage_index 或具体不变量触发原因，故不能确定最终 task_failure 的物理触发项；节点未达成依据可见的回移与错误末姿态判定。log step 212–214 的较大转向属于前一回合，不用于本次节点进度。"
+ },
+ "summary_zh": "本次最后一回合中，右手完成了食指卷伸、拇指靠拢和转向尝试，但笔先向掌根回移，未完成沿初始轴前移，两个节点最终均未达成。最早未修复的断点是笔沿轴前移，现象为位姿不准，证据支持预设手指动作未正确控制笔的位移。缺少状态日志及分阶段评分，精确接触和最终失败触发条件无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点均未达成、断点 pen_advanced（操作中）、位姿不准 + 控制 与视频和 log 相符；远景下蓝端在 0–3.2 s 向掌根回移、9 s 后笔翘起均可见，graded 回合 log step 217 的 turn_3 task_failure 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": "2026-10-30T05:32:05Z",
+  "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/dexhand-essential-pen-regrasp-i00-standard--yv8kztb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--yv8kztb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "91507f00595e84958d2debf08bf75e47b364964112fa8bcdb5d424a5349aa107",
+   "video_sha256": "5adc4f699d70c81389adb1b0721f33e9beb64731bfd6df671f68bc593bba1ab2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--kfnzwhr",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 41555,
+   "sim_steps": 227,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.043,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.988,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr/replay.mp4",
+  "duration_s": 4.6,
+  "fps": 25.0,
+  "frames": 115,
+  "sha256": "53b2642b6581d4f6a0bdebbedfa8f17a5aa8dc0829815c757a268b993ecc2dd1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–4.20 s，固定手腕的白色右手以伸出的手指贴在黑色旋钮下半部，手指逐渐改变姿态，金色短标记一直在上方附近；视频 4.24–4.56 s 逐帧可见旋钮仅转过一段，未出现累计正转两圈的过程。"
+     },
+     {
+      "t": 4.56,
+      "log_step": 185,
+      "text_zh": "观察：log step 185 对随后保存的同一份 41555 行动作文件从 reset 回放前 300 行，原生 Session.status 返回 stage_index=0、steps=227、failure=invariant:rotor_hand_contacts；评分器也记录 sim_steps=227、stages_completed=0、deterministic=1，与视频短回合结束相符。推断：该交付回合在正转目标验收前已因手与旋钮承载接触中断结束；会话其他测试中的大转角不计入本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.00–4.56 s，右手伸出的指腹贴压黑色旋钮下半部，随手指屈曲换位而发生小段拨转；记录实际的贴压接触，不据此声称已完成四次重叠接力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.56,
+      "log_step": 185,
+      "text_zh": "观察：视频 0.00–4.56 s 只有初始贴触、手指换位及末段的小幅转动，没有先正转两圈再反转一圈并停稳的过程；log step 185 同交付动作的原生回放 status 为 stage_index=0、terminal_hold=0，评分器 stages_completed=0。推断：要求先通过正转验收的反转保持节点从未成立；该回合尚未开始反转操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knob_forward_720",
+   "t": 4.52,
+   "log_step": 185,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.24–4.56 s，右手手指在旋钮下缘附近屈曲换位，金色标记从上方移向斜上方，回合随即结束，尚未正转两圈。log step 185 对最终保存动作的原生回放在 control step 227 报 invariant:rotor_hand_contacts，评分器 sim_steps 同为 227、stages_completed=0。推断：不可恢复的接触中断发生在正转准备及操作过程中，断点记正转节点；视频 4.52 s 为末段目测导航锚点。"
+  },
+  "unmet": {
+   "knob_forward_720": false,
+   "knob_reversed_360_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 4.52,
+    "log_step": 185,
+    "evidence_zh": "观察：视频 0.00–4.20 s 右手指腹一直贴靠旋钮，视频 4.24–4.56 s 手指变姿并带动旋钮小幅转动后回合结束；log step 185 对最终交付动作的原生回放明确返回 failure=invariant:rotor_hand_contacts，且在第 227 个控制步结束，与评分器 sim_steps=227 一致。推断：已有的手与旋钮承载接触在换位过程中未能保持；不是从未碰到旋钮，也没有把会话后续动作当成本次评分动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 53,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 53 的自制 Fast.contacts 在确认另一几何体属于手指之前就执行 nhand+=1，故 rc 不限定为手部接触；Fast.step 直接推进物理，每控制步返回最后一个子步的接触计数。log step 180–181 用该 Fast 生成最终动作，先用 500 个控制步改变中指等手指姿态；log step 185 改用原生 Session.step 回放最终文件时，尚在这段换位中便于 control step 227 接触判负。推断：自制控制和接触监测未能保障换位期间真实、连续的手部承载接触；现有证据足以归为控制问题，但不足以细分具体的接触几何或跟踪失稳。",
+    "note_zh": "接触监测实现存在计数对象与子步覆盖问题；未将会话作者工具给出的接触数量当作评分回合状态。"
+   }
+  ],
+  "gap_zh": "无状态日志；总览中指腹与旋钮的微小接触有遮挡，无法独立量出 0.005 N 阈值、2 ms 子步失触、精确转角或接力次数。接触中断判据取自 log step 185 对最终交付动作的原生回放，并以评分器 sim_steps=227 和视频末段相互核对；视频 4.52 s 仅为目测锚点。各 native_metrics 未由评分器报告数值，均保留 null。"
+ },
+ "summary_zh": "本次评分回合只执行了固定手腕下的手指贴触和换位，视频末段旋钮转过一小段，正转两圈与反转保持均未达到，最终为 0/2。断点在正转操作中：同交付动作的原生回放于 control step 227 报手与旋钮接触中断，自制控制的接触计数未限定手部且未覆盖全部子步，未能保证换位时连续承载。会话中约 10.8 rad 的作者测试结果不是评分回合进度；无状态日志，微小失触由匹配的原生回放结果佐证，不能由画面单独定量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点均未达成（0/2）、断点记正转节点、接触失去的现象与控制根因均有 log step 185 的原生回放（control step 227，invariant:rotor_hand_contacts）和评分器 sim_steps=227 支持；交付文件在 step 187–192 未被改动，未把会话测试当作评分回合事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:16:25Z",
+  "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/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e46a6cdafbbb8f1e318467ef73d65d047ffdcdaf4492ed551835e800e9c4ebf6",
+   "video_sha256": "53b2642b6581d4f6a0bdebbedfa8f17a5aa8dc0829815c757a268b993ecc2dd1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--mfwparj.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--mfwparj",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 380,
+   "sim_steps": 380,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.895,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.241,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-privileged--mfwparj/replay.mp4",
+  "duration_s": 7.64,
+  "fps": 25.0,
+  "frames": 191,
+  "sha256": "722a3f174783959700783c9f0847f01a8289d2b0b0a56802bf5bcf549942b0c7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.00–0.80 s，右手指腹拨动黑色旋钮，金色短标记从近竖直方向转至右上斜向，只经过一小段圆弧；视频 1.0–7.60 s 未出现继续绕行两圈的运动。"
+     },
+     {
+      "t": 7.6,
+      "log_step": 70,
+      "text_zh": "观察：视频 6.60–7.60 s 逐帧中旋钮标记保持同一斜向，手指仍贴近旋钮下缘。log step 69 的最终生成脚本只执行一次中指 PIP 拨转并保持；log step 70 的该次生成输出 turn=0.7025 rad，log step 71 确认交付为 380 行动作，评分器 reward.stages_completed=0；这些记录与视频仅小幅拨转相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 0.0–0.8 s，固定手腕的右手以指腹贴住黑色旋钮前面下部并拨动，未合手包夹；随后一根手指向上伸起，其他指端留在旋钮下缘附近。推断：结合 log step 69 的动作代码，主动拨转者为右手中指；画面不足以确定每根手指的承载接触力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": 69,
+      "text_zh": "观察：视频 0.0–7.60 s 只出现开始时的小角度拨转，随后标记基本保持在右上斜向，没有先正转两圈再反向回转一圈的过程；log step 69 的最终交付脚本也只有一次正向拨转和保持，没有反转动作。推断：正转前提未完成，末尾的静止不能计为反转到 +360° 后的保持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knob_forward_720",
+   "t": 0.8,
+   "log_step": 69,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.8 s 后，旋钮金色标记停在右上斜向，至视频 7.60 s 未继续累计旋转；右手随后虽有手指伸起，却未形成重复拨转。log step 69–71 显示最终交付只有一次中指拨转及保持，与该段视频一致；正转两圈这一步从未补成。"
+  },
+  "unmet": {
+   "knob_forward_720": false,
+   "knob_reversed_360_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 0.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.0–0.8 s 中旋钮只转过约四十多度，视频 1.0–7.60 s 标记基本停在同一斜向；要求的累计正转两圈没有发生，角度明显不足。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 58,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 未能实现可持续累积角度的换指控制，因而最终只交付单次有效拨转。会话测试 log step 58 的连续循环增量从 +0.284 rad 变为 -0.063、-0.070 rad；log step 63–65 的食指泵动测试触发 invariant:speed，log step 66 的较缓测试触发 invariant:rotor_hand_contacts。log step 69 的最终脚本因此保留单次中指拨转及保持，log step 70 输出 turn=0.7025 rad，与视频 0.0–7.60 s 的有限转动相符；这些测试仅用于解释控制能力缺口，不作为评分视频中发生超速或失去接触的证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志；总览中旋钮和接触区域较小，无法精确核对承载接触力、重叠接力次数、角速度及逐 2 ms 子步验收。约四十多度是视频粗估，turn=0.7025 rad 来自 log step 70 的交付生成输出，不是评分器原生指标；评分器未报告 DAG 所列指标数值，故 native_metrics 的 value 均为 null。会话测试能支持控制类根因，但不足以区分接触设计、轨迹求解或反馈控制子类。"
+ },
+ "summary_zh": "评分轨迹中右手只把旋钮拨转一小段后保持，正转两圈和反转停稳两个节点均未达成，最终为 0/2。断点是旋钮正转两圈，现象为角度不足；会话测试显示连续换指拨转未能稳定累积角度，最终交付退回单次拨转，支持控制类根因。无状态日志，具体接触力、接力次数和子步条件无法精确核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点在正转两圈、0/2 与视频一致：视频 0–0.8 s 旋钮标记转过小角度后到 7.6 s 不再变化，log step 69-71 的交付脚本只有一次中指拨转。现象（位姿不准）与根因（控制，子类不明已在 gap_zh 说明）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": "2026-10-30T05:18:34Z",
+  "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/dexhand-essential-rotary-gait-i00-privileged--mfwparj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--mfwparj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c6cb044150857fc33769bf1d23304389f20513d44747e3a4364a975cb5405e52",
+   "video_sha256": "722a3f174783959700783c9f0847f01a8289d2b0b0a56802bf5bcf549942b0c7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--snb7mtf.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--snb7mtf",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2533,
+   "sim_steps": 2533,
+   "stages_completed": 2,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.876,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.242,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-privileged--snb7mtf/replay.mp4",
+  "duration_s": 50.72,
+  "fps": 25.0,
+  "frames": 1268,
+  "sha256": "7951d4f04922f15ced1ac6203f5b3ea902eb11d11d492ddbd0c1554101b12a40"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–23.5 s，右手手掌位置基本不变，靠近旋钮的手指反复拨动、抬起回位，另一指仍贴近轮缘；金色标记随这些拨动累计正转，在视频约 11 s 和约 23.5 s 两次回到上方。视频 22.8–24.2 s 的密集帧显示第二圈终点附近短暂停顿，随后手指换位准备反转。"
+     },
+     {
+      "t": 23.5,
+      "log_step": 59,
+      "text_zh": "推断：将正转验收时刻估为视频 23.5 s（约 ±0.5 s），该事件之后锁存。log step 56 保存的交付文件含 2533 行，log step 59 对同一文件的两次独立重放均报告 stage_index=2、success=true 且末状态哈希相同，评分器 reward 也记录 stages_completed=2、deterministic=1；结合视频的两圈运动，确认正转角度、至少四次重叠接力及阶段停稳条件已通过。总览不能单独分辨每次承载接触及子步窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0–23.5 s，单只右手靠旋钮侧的手指在黑色旋钮轮缘交替拨转和回位，换位时另有手指留在轮缘。结合 log step 55 的交付控制脚本，这两指为食指和中指；同一只手持续接触下完成手指接力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.68,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 50.68,
+      "log_step": null,
+      "text_zh": "观察：视频约 26–50 s，金色标记沿与前段相反的方向回转，手指继续交替拨动和回位；视频 49.68–50.68 s 逐帧检查显示标记最后回到上方，随后朝向基本不变，右手仍有手指贴住旋钮，末帧没有全部离开。"
+     },
+     {
+      "t": 50.68,
+      "log_step": 59,
+      "text_zh": "观察：log step 59 的重放器对 log step 56 保存的交付文件两次均返回 steps=2533、stage_index=2、terminal_hold=25、failed=false、success=true，且 state_sha 相同；评分器 reward 的 success=1、stages_completed=2 与视频末尾停住相符。"
+     },
+     {
+      "t": 50.68,
+      "log_step": 56,
+      "text_zh": "推断：节点包含反转阶段之后另计的完整终末保持窗口，因此将完成锚点放在视频最后可见帧 50.68 s，而非金色标记刚接近目标朝向的时刻。log step 56 的已保存回合最终输出 turn=6.397 rad、fing=1、hof=79、spd=0.01 rad/s、stage=2、success=True，且该文件经 log step 59 验证；据此确认反转终点及保持验收完成，精确子步达标时刻未记录，时间为末帧附近的估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频约 26–50.68 s，右手手指在旋钮轮缘交替施力、抬离回位，旋钮向反方向累计回转；末尾仍有手指接触并使旋钮停住。log step 55 的控制脚本表明食指执行拨动，中指在食指回位时维持接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "按 D11 当前两个有序目标的读法，右手通过食指与中指交替拨转、接力，约在视频 23.5 s 完成正转两圈，随后反转，视频末帧 50.68 s 已完成停稳保持，两个节点最终均为真。评分器记录成功且完成两个阶段，log step 59 的两次独立重放均以 terminal_hold=25 成功结束，没有失败断点。无状态日志且本次 oracle 即本运行，总览无法精确量出累计角度、微小承载接触和逐子步保持窗口，节点时刻为视频估计并由交付文件的验收结果佐证；reward 未报告 DAG 的八项原生指标值，均填 null。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，两节点均为真、无断点；评分器 stages_completed=2、success=1 与 log step 59 重放一致，时间标注为估计并已说明，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T05:15:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--snb7mtf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--snb7mtf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b23416d8f196ef3b0b0539f13bf7736b5a8edfe2e55ba2f5c805c4e19b1c8cba",
+   "video_sha256": "7951d4f04922f15ced1ac6203f5b3ea902eb11d11d492ddbd0c1554101b12a40",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--c9euzdz.json

@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-standard--c9euzdz",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 452,
+   "control_steps_total": 22682,
+   "elapsed_s": 3525.175,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1885,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1885,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.599,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.877,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-standard--c9euzdz/replay.mp4",
+  "duration_s": 37.76,
+  "fps": 25.0,
+  "frames": 944,
+  "sha256": "209ddab145e4f8bf65ab4b10a22156eb7a89e92f139d7af6f07c11b21c905f39"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 218,
+      "text_zh": "观察：视频 0.0–11.0 s，右手手腕保持原位，中指、无名指及食指先后屈伸，指端贴住黑色旋钮并使金色短标记从近上方缓慢转向右上方；视频 11.0–25.0 s 换指时标记又回退，视频 25.0–37.72 s 仍只在这一区域转动，没有绕轴完成一整圈，更未累计正转两圈。log step 218 是最后一次重置及该回合的起始指令，前面回合的动作不计入本视频。"
+     },
+     {
+      "t": 37.6,
+      "log_step": 229,
+      "text_zh": "观察：视频 37.52–37.72 s，旋钮标记在食指屈曲靠近时突然向右侧滑转，录像随即结束；log step 229 的机器人服务状态为 episode=21、control_steps=1885、done=True、reason=task_failure，评分字段 live_success=0。推断：连续跟踪标记未见累计两圈，故正转节点始终未达成；不以零分单独判定未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–37.72 s，单只右手的中指、无名指、食指在黑色旋钮边缘交替屈伸、施力与换位，拇指也改变姿态；可见旋钮随指端动作转动。此处记录实际多指换位尝试，不能由总览确认每根手指的承载接触或四次合格重叠接力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.72,
+      "log_step": 225,
+      "text_zh": "观察：视频 0.0–37.72 s 未出现累计正转两圈，末段仍是右手食指重新靠近旋钮的动作；log step 225 的脚本调用名为 index_reengage，未发出完成正转后的反转保持动作。推断：视频 11.0–25.0 s 的局部回退发生在首次正转目标之前，不能算作本节点要求的先正转验收、再反转一圈并停稳，因此本节点始终不成立，且没有进入该阶段的尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knob_forward_720",
+   "t": 37.6,
+   "log_step": 225,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 37.52–37.72 s，右手食指屈曲重新作用于旋钮时，金色标记从此前接近上方的位置突然转向右上至右侧，随后视频结束；整个回合尚未正转一圈。log step 225 记录食指重新接触的关节目标，log step 227 中 agent 自述该动作使旋钮打滑并结束回合，log step 229 的服务状态确认第 21 回合以 task_failure 结束。推断：未修复的失败发生在正转两圈的接力操作中，而非之后的反转停稳阶段。"
+  },
+  "unmet": {
+   "knob_forward_720": false,
+   "knob_reversed_360_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 37.6,
+    "log_step": 225,
+    "evidence_zh": "推断：视频 36.64–37.52 s 旋钮标记基本稳定，视频 37.56–37.72 s 在食指重新屈曲时相对指端突然滑转，原有稳定承载未能保持；log step 227 中 agent 也自述末次食指重新接触时旋钮打滑。此标签指旋钮相对手指的滑转，不声称旋钮掉落或所有手指完全离开。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 218、221、223、225 的脚本依次命令中指、无名指换位及食指重新接触，视频 11.0–25.0 s 可见换指伴随角度回退，视频 37.56–37.72 s 再次出现末段突转；机器人没有稳定保持并延续指间传递的转角。证据支持多指接触控制未成功，但不足以区分接触几何、摩擦负载或轨迹跟踪的具体责任，故仅标控制。",
+    "source_zh": "视频"
+   }
+  ],
+  "gap_zh": "无状态日志；总览可跟踪标记并排除正转两圈，但不足以测量各指承载力、合格接力次数、角速度峰值及 2 ms 子步条件。log step 229 的服务只报告 task_failure，未说明触发哪一项不变量，不能把可见滑转进一步断定为全部接触中断或接触力、速度超限；log step 230 的约 +51° 是 agent 自述，未作为原生指标数值。评分字段未报告 DAG 所列各项物理指标，故 native_metrics 的 value 均为 null。"
+ },
+ "summary_zh": "右手已实际接触并尝试以多指换位拨转旋钮，但视频 0.0–37.72 s 中金色标记只作局部前进与回退，未完成正转两圈，两个节点均未达成。视频约 37.6 s 食指重新接触时旋钮滑转，正转接力未能保持，服务随后确认该回合 task_failure；根因保守归为控制。缺少逐指接触、角速度及子步检查记录，不能确定触发判负的具体不变量。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点均未达成、断点在 knob_forward_720、时钟（视频 37.72 s 对应 1885 控制步 / 50 Hz）与 log step 229 的服务读数一致；现象“没保持住”和根因“控制”均已标为推断且保守，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": "2026-10-30T05:19:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--c9euzdz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--c9euzdz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--jpsw6qm.json

@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-standard--jpsw6qm",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 80,
+   "control_steps_total": 2478,
+   "elapsed_s": 3269.926,
+   "finalized": 1,
+   "gave_up": 0,
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+   "n_actions": 888,
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+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 12,
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+   "sim_startups": 1,
+   "sim_steps": 888,
+   "success": 0,
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+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.308,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-rotary-gait-i00-standard--jpsw6qm/replay.mp4",
+  "duration_s": 17.84,
+  "fps": 25.0,
+  "frames": 446,
+  "sha256": "888983472bb93e618a64577652c6be187fe543eee4a76ba8ef584dc01e8f5532"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 59,
+      "text_zh": "观察：视频 0.0–17.8 s 为固定右手在灰色控制器前交替屈伸手指拨动黑色旋钮的一个连续回合；log step 59 启动第 13 回合，log step 61 的服务状态确认该回合 done=True、reason=task_failure。评分器字段 graded_by_live=1、n_actions=888，与这段短回合相符；此前各次重置测试不计入本轨迹。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 59,
+      "text_zh": "观察：已按视频约每 0.2 s 检查旋钮与手指，金色短标记从视频 0.0 s 的近上方，经视频 4.6–5.8 s 的右上方、视频 10.0–15.2 s 的近右方，到视频 15.6–17.8 s 的右下方，始终未绕轴一整圈，更未累计正转两圈。log step 59 的脚本视觉估计六个已完成周期累计 Phi=1.686 rad，仅作为与可见小幅正转一致的辅助证据，不当作评分器原生 turn。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：视频 0.0–17.8 s，单只右手的相邻手指在黑色旋钮下缘和侧缘交替屈伸、拨动与换位，手掌位置基本固定；结合 log step 34、59 的动作脚本可将主要工作指识别为中指和无名指。视频未证实四次满足力阈值和稳定窗口的有效重叠接力。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": 59,
+      "text_zh": "观察：视频 0.0–17.8 s 未见金色标记累计完成正转两圈后再反向一圈的过程，末帧标记位于右下方；log step 59 记录的动作均为正转 cycMR，随后服务返回 task_failure。推断：本回合没有进入正转阶段验收后的反转停稳步骤，其有序阶段及终末保持条件均未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "turn:two_forward_turns",
+   "unit": "rad",
+   "threshold": 12.566370614359172,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "turn:one_reverse_turn",
+   "unit": "rad",
+   "threshold": 6.283185307179586,
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed:stage",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:terminal",
+   "unit": "rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed:invariant",
+   "unit": "rad/s",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knob_forward_720",
+   "t": 15.6,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.4–15.8 s 的末段拨动��把标记从近右方转到右下方，此后至视频 17.8 s 仍远未完成累计两圈；log step 59 的第 13 回合在正转周期中返回 task_failure，log step 61 确认回合已结束。推断：失败位于旋钮正转两圈的操作中；视频 15.6 s 为末段转动不足的导航锚点，具体不可逆判负的子步时刻未报告。"
+  },
+  "unmet": {
+   "knob_forward_720": false,
+   "knob_reversed_360_held": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 15.6,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 0.0–17.8 s 连续追踪金色短标记，机器人多次拨指后，标记仅从近上方转到右下方，中间视频 6.0–9.4 s、10.0–15.2 s 的朝向变化尤其小，没有完整绕圈；末段拨动仍未把旋钮送到累计两圈的角度。此处记录可见的转角不足，不由 task_failure 反推接触中断或数值超限。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 34–36 的脚本以中指、无名指交替屈伸驱动旋钮，log step 59 在第 13 回合使用该脚本的固定参数版本，六个周期的视觉角增量分别为 0.242、0.564、0.080、0.075、0.116、0.610 rad，同时记录非零关节力矩峰值 effM=1.18–1.62、effR=0.91–1.86；视频 0.0–17.8 s 也显示拨指动作只产生断续的小幅转动。两者支持手指驱动未形成稳定有效的旋转控制；证据不足以进一步区分接触几何、轨迹或反馈子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无本回合状态日志；评分器 reward 未报告各阶段 turn、speed、force、接触指集合或细化的 failure，log step 59、61 的服务结果只有 task_failure。总览能够排除完成整圈，但细小接触及逐 2 ms 子步条件不可见，末秒也未见明显的手指全部脱离；因此不能确定终止是力超限、速度超限还是微小接触中断，也不能确认四次有效接力。原生指标全部留 null，agent 在 log step 62 自述的滑动和超限解释未作为已证实的终止原因。"
+ },
+ "summary_zh": "第 13 回合中，右手实际交替拨动了旋钮，但金色标记只从近上方转至右下方；正转两圈和后续反转停稳均未达成，最终为 0/2。断点为旋钮正转两圈的操作中，表现为转角不足，日志与视频支持旋转控制未能持续有效驱动。没有状态日志或具体判负字段，无法确认接触、力或转速中的哪项触发终止。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频、log 一致：视频 0–17.8 s 是第 13 回合（graded），旋钮正转远未到两圈，两个节点均 false、0/2 合理；断点在 knob_forward_720 的操作中，位姿不准加控制根因有证据支持且已说明无法区分终止触发项。未发现会改变读者理解的错误。",
+    "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": "2026-10-30T05:16:44Z",
+  "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/dexhand-essential-rotary-gait-i00-standard--jpsw6qm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--jpsw6qm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a35b573f0a4fd1383e8f615aa7a1f227beabe4d56503eccbf5aaf44e438e060",
+   "video_sha256": "888983472bb93e618a64577652c6be187fe543eee4a76ba8ef584dc01e8f5532",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}